From d8a9b76a6bb2824c1e9fb0d17938c926472dd78b Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期二, 03 二月 2026 13:44:27 +0800
Subject: [PATCH] 支持帧消息协议并改进 TCP 服务器
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs | 131 +++++++++++++++++++++++++++++++++++++++++--
1 files changed, 123 insertions(+), 8 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs
index 9f186e4..a0b8a91 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs
@@ -1,16 +1,23 @@
-using HslCommunication.Core.IMessage;
-using System;
using System.Net.Sockets;
using System.Text;
using System.Text.Json;
-using System.Threading;
-using System.Threading.Tasks;
-using WIDESEAWCS_QuartzJob;
+using System.IO;
namespace WIDESEAWCS_Tasks.SocketServer
{
public partial class TcpSocketServer
{
+ /// <summary>
+ /// 异步处理与已连接的TCP客户端的通信，处理机器人起重机会话中的传入消息和客户端状态更新。
+ /// </summary>
+ /// <remarks>此方法管理客户端连接的生命周期，包括读取消息、更新客户端状态和调用相关事件。
+ /// 当处理结束时，客户端和相关的网络资源将被释放。如果启用心跳或空闲超时选项，
+ /// 将应用额外的取消逻辑。事件调用期间的异常将被捕获并抑制，以确保会话处理的鲁棒性。</remarks>
+ /// <param name="client">表示要处理的远程连接的TCP客户端。方法完成后将释放此对象。</param>
+ /// <param name="clientId">已连接客户端的唯一标识符。用于在整个会话中跟踪和更新客户端状态。</param>
+ /// <param name="cancellationToken">可用于取消客户端处理操作的取消令牌。如果请求取消，方法将立即终止处理。</param>
+ /// <param name="robotCrane">表示与客户端关联的机器人起重机的当前状态对象。用于为消息处理和事件调用提供上下文。</param>
+ /// <returns>表示处理客户端连接的异步操作的任务。当客户端断开连接或请求取消时任务完成。</returns>
public async Task HandleClientAsync(TcpClient client, string clientId, CancellationToken cancellationToken, RobotSocketState robotCrane)
{
using (client)
@@ -32,7 +39,8 @@
try
{
var ct = localCts?.Token ?? cancellationToken;
- message = await reader.ReadLineAsync().WaitAsync(ct);
+ message = await ReceiveFullMessageAsync(networkStream, _textEncoding, ct);
+ //message = await reader.ReadLineAsync().WaitAsync(ct);
}
catch (OperationCanceledException)
{
@@ -55,7 +63,13 @@
if (MessageReceived != null)
{
- try { _ = MessageReceived.Invoke(message, false, client, robotCrane); } catch { }
+ try
+ {
+ // 判断是否为 JSON 格式
+ bool isJsonFormat = TryParseJsonSilent(message);
+ _ = MessageReceived.Invoke(message, isJsonFormat, client, robotCrane);
+ }
+ catch { }
}
}
}
@@ -68,6 +82,18 @@
}
}
+ /// <summary>
+ /// 尝试处理来自客户端的设备注册请求。返回一个值指示该消息是否被作为注册请求处理。
+ /// </summary>
+ /// <remarks>如果消息是有效的注册请求且包含非空的设备标识符，
+ /// 则将设备绑定到客户端并发送确认信息。此方法不会因无效消息而抛出异常；
+ /// 它仅返回 false。</remarks>
+ /// <param name="messageLower">客户端消息的小写版本，用于判断消息是否为注册请求。</param>
+ /// <param name="message">包含注册命令和设备标识符的原始客户端消息。</param>
+ /// <param name="clientId">发送注册请求的客户端的唯一标识符。</param>
+ /// <param name="client">与客户端通信的TCP客户端连接。</param>
+ /// <param name="cancellationToken">可用于取消注册操作的取消令牌。</param>
+ /// <returns>如果消息被识别并作为注册请求处理，则返回 true；否则返回 false。</returns>
private bool TryHandleRegister(string messageLower, string message, string clientId, NetworkStream networkStream, CancellationToken cancellationToken)
{
if (!messageLower.StartsWith("register,"))
@@ -89,6 +115,11 @@
return true;
}
+ /// <summary>
+ /// 更新客户端状态
+ /// </summary>
+ /// <param name="clientId"></param>
+ /// <param name="message"></param>
private void UpdateClientStatus(string clientId, string message)
{
lock (_syncRoot)
@@ -110,6 +141,14 @@
}
}
+ /// <summary>
+ /// 写入消息到客户端
+ /// </summary>
+ /// <param name="clientId"></param>
+ /// <param name="networkStream"></param>
+ /// <param name="message"></param>
+ /// <param name="cancellationToken"></param>
+ /// <returns></returns>
private async Task WriteToClientAsync(string clientId, NetworkStream networkStream, string message, CancellationToken cancellationToken)
{
SemaphoreSlim? sem = null;
@@ -125,7 +164,8 @@
if (sem != null) await sem.WaitAsync(cancellationToken);
try
{
- var data = enc.GetBytes(message + "\n");
+ var framedMessage = BuildFramedMessage(message);
+ var data = enc.GetBytes(framedMessage);
await networkStream.WriteAsync(data, 0, data.Length, cancellationToken);
}
finally
@@ -134,6 +174,23 @@
}
}
+ /// <summary>
+ /// 添加消息帧头尾
+ /// </summary>
+ /// <param name="message"></param>
+ /// <returns></returns>
+ private string BuildFramedMessage(string message)
+ {
+ var header = _options.MessageHeader ?? string.Empty;
+ var footer = _options.MessageFooter ?? string.Empty;
+ return header + (message ?? string.Empty) + footer;
+ }
+
+ /// <summary>
+ /// JSON格式尝试解析（静默失败）
+ /// </summary>
+ /// <param name="message"></param>
+ /// <returns></returns>
private static bool TryParseJsonSilent(string message)
{
if (string.IsNullOrWhiteSpace(message)) return false;
@@ -142,6 +199,11 @@
try { JsonDocument.Parse(message); return true; } catch { return false; }
}
+ /// <summary>
+ /// utf-8 可能性检测
+ /// </summary>
+ /// <param name="data"></param>
+ /// <returns></returns>
private static bool IsLikelyUtf8(byte[] data)
{
int i = 0;
@@ -171,5 +233,58 @@
}
return true;
}
+
+ /// <summary>
+ /// 读取完整消息
+ /// </summary>
+ /// <param name="networkStream">字节流</param>
+ /// <param name="encoding">编码格式</param>
+ /// <param name="cancellationToken"></param>
+ /// <returns></returns>
+ private async Task<string?> ReceiveFullMessageAsync(NetworkStream networkStream, Encoding encoding, CancellationToken cancellationToken)
+ {
+ var header = _options.MessageHeader ?? string.Empty;
+ var footer = _options.MessageFooter ?? string.Empty;
+
+ var buffer = new byte[1024];
+ var builder = new StringBuilder();
+
+ while (true)
+ {
+ int bytesRead = await networkStream.ReadAsync(buffer.AsMemory(0, buffer.Length), cancellationToken);
+ if (bytesRead <= 0)
+ {
+ if (builder.Length == 0) return null;
+ return string.IsNullOrEmpty(header) && string.IsNullOrEmpty(footer) ? builder.ToString() : null;
+ }
+
+ builder.Append(encoding.GetString(buffer, 0, bytesRead));
+
+ if (string.IsNullOrEmpty(header) && string.IsNullOrEmpty(footer))
+ {
+ if (!networkStream.DataAvailable)
+ {
+ break;
+ }
+ continue;
+ }
+
+ var data = builder.ToString();
+ var headerIndex = string.IsNullOrEmpty(header) ? 0 : data.IndexOf(header, StringComparison.Ordinal);
+ if (headerIndex < 0)
+ {
+ continue;
+ }
+
+ var startIndex = headerIndex + header.Length;
+ var footerIndex = string.IsNullOrEmpty(footer) ? data.Length : data.IndexOf(footer, startIndex, StringComparison.Ordinal);
+ if (footerIndex >= 0)
+ {
+ return data.Substring(startIndex, footerIndex - startIndex);
+ }
+ }
+
+ return builder.ToString();
+ }
}
}
\ No newline at end of file
--
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