forked from CPL/Simulator
Добавлен сервер для отправки телеметрии
This commit is contained in:
258
DroneClient/TelemetryServer.cs
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258
DroneClient/TelemetryServer.cs
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using DroneClient.Models;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.IO;
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using System.Linq;
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using System.Net;
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using System.Net.Sockets;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using TelemetryIO;
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using TelemetryIO.Models;
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namespace TelemetryIO
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{
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internal class TelemetryServer : TelemetryIO.BaseCommHandler
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{
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ConcurrentQueue<byte[]> sendQueue = new ConcurrentQueue<byte[]>();
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Telemetry telemetry = Telemetry.Instance;
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MonitorContainer monitoring = MonitorContainer.Instance;
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private bool isClientConnected = false;
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public event EventHandler OnTeleClientConnected = delegate { };
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public event EventHandler OnTeleClientDisconnected = delegate { };
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public bool isClientAvailable { get { return isClientConnected; } }
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public TelemetryServer()
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{
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}
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public override void Close()
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{
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throw new NotImplementedException();
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}
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public override void CloseConnection()
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{
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throw new NotImplementedException();
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}
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public override bool IsOpen()
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{
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return true;
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}
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public async override Task Open()
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{
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await StartServerAsync();
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//Console.ReadLine();
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}
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public async Task StartServerAsync()
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{
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var listener = new TcpListener(IPAddress.Any, Port);
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listener.Start();
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Console.WriteLine("Server is running");
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try
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{
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while (true)
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{
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//if (isClientConnected) await Task.Delay(25);
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var client = await listener.AcceptTcpClientAsync();
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StrikeOnTeleClientConnected();
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isClientConnected = true;
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Debug.WriteLine("Client is connected");
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//this.client = client;
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var readTask = StartReadingAsync(client);
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var writeTask = SendMessageAsync(client);
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await readTask;
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await writeTask;
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}
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}
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catch (IOException ex) when (IsNetworkError(ex))
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{
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// Специальная обработка сетевых ошибок
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Debug.WriteLine($"Ошибка при запуске сервера: {ex.Message}");
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}
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catch (Exception ex)
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{
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Debug.WriteLine("An error occurred: " + ex.Message);
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}
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finally
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{
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listener.Stop();
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}
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}
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public async Task SendMessageAsync(TcpClient c)
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{
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if (c.GetStream() == null || !c.Connected)
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{
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Console.WriteLine("Not connected to server");
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return;
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}
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while (c.Connected)
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{
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if (sendQueue.TryDequeue(out byte[] buffer))
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{
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try
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{
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await c.GetStream().WriteAsync(buffer, 0, buffer.Length);
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Debug.WriteLine($"Sent");
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}
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catch (IOException ex) when (IsNetworkError(ex))
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{
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// Специальная обработка сетевых ошибок
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Debug.WriteLine($"Клиент отключился: {ex.Message}");
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HandleDisconnectedClient(c);
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error sending message: {ex.Message}");
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}
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}
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}
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}
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public async override Task StartReadingAsync(object C)
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{
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TcpClient client;
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if (C is TcpClient) client = (TcpClient)C;
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else
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{
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return;
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}
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try
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{
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using NetworkStream stream = client.GetStream();
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while (client.Connected)
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{
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byte[] buffer = new byte[1024];
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int bytesRead = await stream.ReadAsync(buffer, 0, buffer.Length);
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//string response = await reader.ReadLineAsync();
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if (bytesRead > 0)
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{
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EnqueueData(buffer, bytesRead);
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}
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data_extract();
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}
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}
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catch (IOException ex) when (IsNetworkError(ex))
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{
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// Специальная обработка сетевых ошибок
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Debug.WriteLine($"Клиент отключился: {ex.Message}");
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HandleDisconnectedClient(client);
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error sending message: {ex.Message}");
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}
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}
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protected override void ProcessCommand(int cmd, int slot, byte[] data, int offset, int len)
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{
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Debug.WriteLine(@"server cmd = " + cmd);
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switch (cmd)
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{
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case TELE_CMD_HELLO:
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byte[] load = telemetry.getSlot(cmd, offset, len);
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putRequest(prepareTelegram(cmd, 0, load, 0, load.Length));
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break;
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case TELE_CMD_RD_ONCE:
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byte[] load1 = telemetry.getSlot(slot, offset, len);
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putRequest(prepareTelegram(cmd, slot, load1, offset, load1.Length));
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break;
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case TELE_CMD_WR:
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setData(data, slot, offset, len);
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sendVoidAnswer(TELE_CMD_WR);
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break;
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case TELE_CMD_RD_MON_ON:
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monitoring.isMonitor = 1;
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sendVoidAnswer(TELE_CMD_RD_MON_ON);
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break;
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case TELE_CMD_RD_MON_OFF:
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monitoring.isMonitor = 0;
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sendVoidAnswer(TELE_CMD_RD_MON_OFF);
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break;
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case TELE_CMD_RD_MON_ADD:
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int id = monitoring.monitorPut(slot, offset, 4);
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sendIntAnswer(TELE_CMD_RD_MON_ADD, id);
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monitoring.isMonitor = 1;
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break;
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case TELE_CMD_RD_MON_REMOVE:
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id = monitoring.monitorRemove(offset);//in this case offset == id
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if(monitoring.monitorFillLevel == 0)monitoring.isMonitor = 0;//if monitor_fill_level == 0 there is no item to monitor
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if (monitoring.isMonitor > 0) sendIntAnswer(TELE_CMD_RD_MON_REMOVE, id);
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else sendVoidAnswer(TELE_CMD_RD_MON_REMOVEALL);
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break;
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}
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}
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private void setData(byte[] load, int slot, int offset, int len)
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{
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telemetry.setSlot(slot, load, offset, len);
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}
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private void sendVoidAnswer(int command)
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{
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putRequest(prepareTelegram(command, 0, new byte[0], 0));
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}
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private void sendIntAnswer(int command, int param)
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{
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putRequest(prepareTelegram(command, 0, new byte[0], param));
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}
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protected override void sendData(byte[] data)
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{
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sendQueue.Enqueue(data);
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}
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public override void setCommParams(iCommParams commParams)
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{
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if (commParams.GetType() == typeof(TCPCommParams))
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{
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var comm = (TCPCommParams)commParams;
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IP = comm.IP;
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Port = comm.Port;
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}
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}
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private void HandleDisconnectedClient(TcpClient client)
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{
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isClientConnected = false;
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StrikeOnTeleClientDisconnected();
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}
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private bool IsNetworkError(Exception ex)
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{
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// Проверяем типичные сетевые ошибки при разрыве соединения
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return ex is IOException
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|| ex is SocketException
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|| ex.InnerException is SocketException;
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}
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public void StrikeOnTeleClientConnected()
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{
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OnTeleClientConnected?.Invoke(this, EventArgs.Empty);
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}
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public void StrikeOnTeleClientDisconnected()
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{
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OnTeleClientDisconnected?.Invoke(this, EventArgs.Empty);
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}
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}
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}
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