BR_YKC/上位机/YKC/UdpClient.cs

using System;
using System.Collections.Concurrent;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;

namespace YKC
{
    public class UdpClient : IDisposable
    {
        private Socket _sock;
        private readonly object _lock = new object();
        private readonly ConcurrentDictionary<string, Action<JObject>> _callbacks = new ConcurrentDictionary<string, Action<JObject>>();
        private bool _running;
        private const int FixedId = 7;

        public event Action<JObject> OnActiveReport;

        public UdpClient()
        {
            try
            {
                _sock = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
                _sock.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
                _sock.Bind(new IPEndPoint(IPAddress.Any, Config.LocalPort));
                _sock.ReceiveTimeout = 1000;
                _running = true;
                Console.WriteLine($"[UDP] 监听端口 {Config.LocalPort}");
                Task.Run(() => ListenLoop());
            }
            catch (Exception e)
            {
                Console.WriteLine($"[UDP] 初始化失败: {e.Message}");
            }
        }

        private void ListenLoop()
        {
            var buffer = new byte[4096];
            EndPoint remoteEp = new IPEndPoint(IPAddress.Any, 0);

            while (_running)
            {
                try
                {
                    int recv = _sock.ReceiveFrom(buffer, ref remoteEp);
                    string json = Encoding.UTF8.GetString(buffer, 0, recv);
                    var msg = JObject.Parse(json);
                    Dispatch(msg);
                }
                catch (SocketException) { }
                catch (Exception e)
                {
                    Console.WriteLine($"[UDP] 接收异常: {e.Message}");
                }
            }
        }

        private void Dispatch(JObject msg)
        {
            string reqId = msg.Value<string>("request_id");
            Console.WriteLine($"[UDP] 收到回复: {msg}");

            if (reqId != null && _callbacks.TryRemove(reqId, out var cb))
            {
                try { cb(msg); }
                catch (Exception e) { Console.WriteLine($"[UDP] 回调异常: {e.Message}"); }
            }
            else
            {
                HandleActiveReport(msg);
            }
        }

        private void HandleActiveReport(JObject msg)
        {
            string cmd = msg.Value<string>("cmd");
            if (cmd == "report_data" || cmd == "pile_metrics" || cmd == "real_time_data")
            {
                Console.WriteLine($"[UDP] 收到主动上报, cmd={cmd}");
                OnActiveReport?.Invoke(msg);
            }
        }

        public void Send(JObject payload, Action<JObject> callback = null, string requestId = null)
        {
            if (requestId == null)
                requestId = $"{payload.Value<string>("cmd")}_{DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()}";

            payload["id"] = FixedId;
            payload["request_id"] = requestId;

            if (callback != null)
            {
                _callbacks[requestId] = callback;
                StartTimeoutCleaner(requestId);
            }

            try
            {
                if (_sock == null)
                {
                    Console.WriteLine("[UDP] 套接字未就绪");
                    callback?.Invoke(new JObject { ["success"] = false, ["error"] = "socket_not_ready", ["request_id"] = requestId });
                    return;
                }
                byte[] data = Encoding.UTF8.GetBytes(payload.ToString(Formatting.None));
                _sock.SendTo(data, new IPEndPoint(IPAddress.Parse(Config.TargetIp), Config.TargetPort));
                Console.WriteLine($"[UDP] 发送: {payload}");
            }
            catch (Exception e)
            {
                Console.WriteLine($"[UDP] 发送失败: {e.Message}");
                _callbacks.TryRemove(requestId, out _);
            }
        }

        public JObject SendSync(JObject payload, int timeoutSec = 4)
        {
            JObject result = null;
            var evt = new ManualResetEvent(false);

            Send(payload, (msg) =>
            {
                result = msg;
                evt.Set();
            });

            evt.WaitOne(TimeSpan.FromSeconds(timeoutSec));
            return result ?? new JObject { ["success"] = false, ["error"] = "设备无响应" };
        }

        private void StartTimeoutCleaner(string requestId)
        {
            Task.Run(async () =>
            {
                await Task.Delay(TimeSpan.FromSeconds(Config.UdpTimeout));
                if (_callbacks.TryRemove(requestId, out var cb))
                {
                    Console.WriteLine($"[UDP] 请求超时: {requestId}");
                    try
                    {
                        cb(new JObject
                        {
                            ["success"] = false,
                            ["error"] = "timeout",
                            ["request_id"] = requestId
                        });
                    }
                    catch { }
                }
            });
        }

        public void Dispose()
        {
            _running = false;
            _sock?.Close();
        }
    }

    public static class UdpClientHolder
    {
        public static readonly UdpClient Instance = new UdpClient();
    }
}