TeamAAS-2.5/TeamAAS.Core/TeamAAS.Robot/Core/RobotTcpClient.cs

using System;
using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS.Robot.Enums;
using TeamAAS.Communication.Enums;

namespace TeamAAS.Robot.Core
{
    /// <summary>
    /// 机器人 TCP 通讯封装类。
    /// 支持 Client/Server 双模式、结束符分割、请求-响应、断线重连。
    /// </summary>
    public class RobotTcpClient : IDisposable
    {
        private readonly string _ip;
        private readonly int _port;
        private readonly TCPConnectType _connectType;
        private readonly Terminator _terminator;
        private readonly DataEncoding _dataEncoding;

        private TcpClient _tcpClient;
        private TcpListener _tcpListener;
        private TcpClient _serverSession;
        private NetworkStream _serverStream;

        private readonly AutoResetEvent _receiveEvent = new AutoResetEvent(false);
        private byte[] _receivedData;
        private readonly object _sendLock = new object();
        private readonly object _sessionLock = new object();

        private Task _reconnectTask;
        private CancellationTokenSource _reconnectCts;
        private bool _isDisposed;

        private string _terminatorString;
        private byte[] _terminatorBytes;

        public bool IsConnected
        {
            get
            {
                if (_connectType == TCPConnectType.Client)
                    return _tcpClient?.Connected ?? false;
                else
                    return _serverSession?.Connected ?? false;
            }
        }

        public RobotTcpClient(
            string ip,
            int port,
            TCPConnectType connectType,
            Terminator terminator,
            DataEncoding dataEncoding)
        {
            _ip = ip;
            _port = port;
            _connectType = connectType;
            _terminator = terminator;
            _dataEncoding = dataEncoding;

            _terminatorString = terminator switch
            {
                Terminator.CR => "\r",
                Terminator.LF => "\n",
                Terminator.CRLF => "\r\n",
                _ => "\r\n"
            };

            _terminatorBytes = GetEncoding().GetBytes(_terminatorString);
        }

        public void Connect()
        {
            if (_connectType == TCPConnectType.Client)
                ConnectClient();
            else
                ConnectServer();
        }

        public async Task ConnectAsync()
        {
            if (_connectType == TCPConnectType.Client)
            {
                await ConnectClientAsync();
            }
            else
            {
                ConnectServer();
            }
        }

        private void ConnectClient()
        {
            _tcpClient = new TcpClient();
            _tcpClient.Connect(IPAddress.Parse(_ip), _port);
            StartReconnectLoop();
            StartReceiveLoop();
            OnConnected?.Invoke(null);
        }

        private async Task ConnectClientAsync()
        {
            _tcpClient = new TcpClient();
            await _tcpClient.ConnectAsync(IPAddress.Parse(_ip), _port);
            StartReconnectLoop();
            StartReceiveLoop();
            OnConnected?.Invoke(null);
        }

        private void ConnectServer()
        {
            _tcpListener = new TcpListener(IPAddress.Any, _port);
            _tcpListener.Start();
            AcceptClientLoop();
        }

        private async void AcceptClientLoop()
        {
            while (!_isDisposed && _tcpListener != null)
            {
                try
                {
                    var client = await _tcpListener.AcceptTcpClientAsync();
                    lock (_sessionLock)
                    {
                        _serverSession = client;
                        _serverStream = client.GetStream();
                    }
                    StartServerReceiveLoop(client);
                    OnConnected?.Invoke(null);
                }
                catch (ObjectDisposedException) { break; }
                catch (Exception)
                {
                    if (!_isDisposed)
                        await Task.Delay(1000);
                }
            }
        }

        private void StartReceiveLoop()
        {
            var stream = _tcpClient.GetStream();
            Task.Run(() => ReceiveDataLoop(stream));
        }

        private void StartServerReceiveLoop(TcpClient client)
        {
            var stream = client.GetStream();
            Task.Run(() => ReceiveDataLoop(stream));
        }

        private async void ReceiveDataLoop(NetworkStream stream)
        {
            byte[] buffer = new byte[4096];
            MemoryStream ms = new MemoryStream();

            while (!_isDisposed)
            {
                try
                {
                    int bytesRead = await stream.ReadAsync(buffer, 0, buffer.Length);
                    if (bytesRead == 0) break;

                    ms.Write(buffer, 0, bytesRead);

                    while (ContainsTerminator(ms))
                    {
                        byte[] message = ExtractMessage(ms);
                        ProcessReceivedData(message);
                    }
                }
                catch (IOException)
                {
                    break;
                }
                catch (Exception)
                {
                    if (!_isDisposed)
                        await Task.Delay(100);
                    else
                        break;
                }
            }

            if (_connectType == TCPConnectType.Client)
            {
                OnDisconnected?.Invoke(null);
            }
            else
            {
                lock (_sessionLock)
                {
                    if (_serverSession != null && _serverSession == GetCurrentSession())
                    {
                        _serverSession = null;
                        _serverStream = null;
                    }
                }
                OnDisconnected?.Invoke(null);
            }
        }

        private TcpClient GetCurrentSession()
        {
            return _serverSession;
        }

        private bool ContainsTerminator(MemoryStream ms)
        {
            if (ms.Length < _terminatorBytes.Length) return false;

            byte[] data = ms.ToArray();
            for (int i = 0; i <= data.Length - _terminatorBytes.Length; i++)
            {
                bool match = true;
                for (int j = 0; j < _terminatorBytes.Length; j++)
                {
                    if (data[i + j] != _terminatorBytes[j])
                    {
                        match = false;
                        break;
                    }
                }
                if (match) return true;
            }
            return false;
        }

        private byte[] ExtractMessage(MemoryStream ms)
        {
            byte[] data = ms.ToArray();
            int endIndex = -1;

            for (int i = 0; i <= data.Length - _terminatorBytes.Length; i++)
            {
                bool match = true;
                for (int j = 0; j < _terminatorBytes.Length; j++)
                {
                    if (data[i + j] != _terminatorBytes[j])
                    {
                        match = false;
                        break;
                    }
                }
                if (match)
                {
                    endIndex = i + _terminatorBytes.Length;
                    break;
                }
            }

            byte[] message;
            if (endIndex > 0)
            {
                message = new byte[endIndex];
                Array.Copy(data, message, endIndex);
                ms.Position = 0;
                ms.SetLength(0);
                if (endIndex < data.Length)
                {
                    ms.Write(data, endIndex, data.Length - endIndex);
                }
            }
            else
            {
                message = data;
                ms.Position = 0;
                ms.SetLength(0);
            }

            return message;
        }

        private void ProcessReceivedData(byte[] data)
        {
            _receivedData = data;
            OnReceived?.Invoke(data);
            _receiveEvent.Set();
        }

        private void StartReconnectLoop()
        {
            _reconnectCts = new CancellationTokenSource();
            _reconnectTask = Task.Run(async () =>
            {
                while (!_reconnectCts.Token.IsCancellationRequested)
                {
                    await Task.Delay(1000, _reconnectCts.Token);
                    if (_reconnectCts.Token.IsCancellationRequested) break;

                    if (_connectType == TCPConnectType.Client && !IsConnected)
                    {
                        try
                        {
                            _tcpClient?.Close();
                            _tcpClient = new TcpClient();
                            _tcpClient.Connect(IPAddress.Parse(_ip), _port);
                            StartReceiveLoop();
                        }
                        catch { }
                    }
                }
            });
        }

        public void Disconnect()
        {
            _isDisposed = true;
            _reconnectCts?.Cancel();
            _tcpClient?.Close();
            _tcpListener?.Stop();
            _serverSession?.Close();
        }

        public string SendAndReceive(string message, int timeoutMs = 5000)
        {
            byte[] data = SendAndReceiveBytes(GetEncoding().GetBytes(message + _terminatorString), timeoutMs);
            return GetEncoding().GetString(data).TrimEnd('\r', '\n');
        }

        public async Task<string> SendAndReceiveAsync(string message, int timeoutMs = 5000)
        {
            byte[] data = await SendAndReceiveBytesAsync(GetEncoding().GetBytes(message + _terminatorString), timeoutMs);
            return GetEncoding().GetString(data).TrimEnd('\r', '\n');
        }

        private byte[] SendAndReceiveBytes(byte[] data, int timeoutMs)
        {
            lock (_sendLock)
            {
                SendBytesInternal(data);
                OnSent?.Invoke(GetEncoding().GetString(data));

                if (!_receiveEvent.WaitOne(timeoutMs))
                    throw new TimeoutException($"等待机器人响应超时（{timeoutMs}ms）：已发送 \"{GetEncoding().GetString(data).Trim()}\"");

                return _receivedData ?? Array.Empty<byte>();
            }
        }

        private async Task<byte[]> SendAndReceiveBytesAsync(byte[] data, int timeoutMs)
        {
            await Task.Run(() =>
            {
                lock (_sendLock)
                {
                    SendBytesInternal(data);
                    OnSent?.Invoke(GetEncoding().GetString(data));

                    if (!_receiveEvent.WaitOne(timeoutMs))
                        throw new TimeoutException($"等待机器人响应超时（{timeoutMs}ms）：已发送 \"{GetEncoding().GetString(data).Trim()}\"");
                }
            });

            return _receivedData ?? Array.Empty<byte>();
        }

        public void Send(string message)
        {
            byte[] data = GetEncoding().GetBytes(message + _terminatorString);
            SendBytesInternal(data);
            OnSent?.Invoke(message);
        }

        public async Task SendAsync(string message)
        {
            byte[] data = GetEncoding().GetBytes(message + _terminatorString);
            await SendBytesInternalAsync(data);
            OnSent?.Invoke(message);
        }

        private void SendBytesInternal(byte[] data)
        {
            if (_connectType == TCPConnectType.Client)
            {
                if (_tcpClient != null && _tcpClient.Connected)
                {
                    var stream = _tcpClient.GetStream();
                    stream.Write(data, 0, data.Length);
                    stream.Flush();
                }
            }
            else
            {
                lock (_sessionLock)
                {
                    if (_serverStream != null && _serverSession != null && _serverSession.Connected)
                    {
                        _serverStream.Write(data, 0, data.Length);
                        _serverStream.Flush();
                    }
                }
            }
        }

        private async Task SendBytesInternalAsync(byte[] data)
        {
            if (_connectType == TCPConnectType.Client)
            {
                if (_tcpClient != null && _tcpClient.Connected)
                {
                    var stream = _tcpClient.GetStream();
                    await stream.WriteAsync(data, 0, data.Length);
                    await stream.FlushAsync();
                }
            }
            else
            {
                lock (_sessionLock)
                {
                    if (_serverStream != null && _serverSession != null && _serverSession.Connected)
                    {
                        _serverStream.Write(data, 0, data.Length);
                        _serverStream.Flush();
                    }
                }
            }
        }

        public Encoding GetEncoding()
        {
            return _dataEncoding switch
            {
                DataEncoding.ASCII => Encoding.ASCII,
                DataEncoding.UTF7 => Encoding.UTF7,
                DataEncoding.UTF8 => Encoding.UTF8,
                DataEncoding.UTF32 => Encoding.UTF32,
                DataEncoding.Unicode => Encoding.Unicode,
                _ => Encoding.Default
            };
        }

        public void Dispose()
        {
            Disconnect();
            _tcpClient?.Dispose();
            _serverSession?.Dispose();
            _serverStream?.Dispose();
            _receiveEvent.Dispose();
            _reconnectCts?.Dispose();
        }

        public event Action<byte[]> OnConnected;
        public event Action<byte[]> OnDisconnected;
        public event Action<byte[]> OnReceived;
        public event Action<string> OnSent;
    }
}