FlyShotHost/src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs

using System.Net.Sockets;

namespace Flyshot.Runtime.Fanuc.Protocol;

/// <summary>
/// FANUC TCP 10010 状态通道客户端，持续接收状态帧并缓存最新快照。
/// </summary>
public sealed class FanucStateClient : IDisposable
{
    private readonly object _stateLock = new();
    private TcpClient? _tcpClient;
    private NetworkStream? _stream;
    private CancellationTokenSource? _receiveCts;
    private Task? _receiveTask;
    private FanucStateFrame? _latestFrame;
    private bool _disposed;

    /// <summary>
    /// 获取当前是否已建立连接。
    /// </summary>
    public bool IsConnected => _tcpClient?.Connected ?? false;

    /// <summary>
    /// 建立到 FANUC 控制柜 TCP 10010 状态通道的连接并启动后台接收循环。
    /// </summary>
    /// <param name="ip">控制柜 IP 地址。</param>
    /// <param name="port">状态通道端口，默认 10010。</param>
    /// <param name="cancellationToken">取消令牌。</param>
    public async Task ConnectAsync(string ip, int port = 10010, CancellationToken cancellationToken = default)
    {
        ObjectDisposedException.ThrowIf(_disposed, this);

        if (string.IsNullOrWhiteSpace(ip))
        {
            throw new ArgumentException("IP 不能为空。", nameof(ip));
        }

        if (_tcpClient is not null)
        {
            throw new InvalidOperationException("状态通道已经连接，请先 Disconnect。");
        }

        _tcpClient = new TcpClient { NoDelay = true };
        await _tcpClient.ConnectAsync(ip, port, cancellationToken).ConfigureAwait(false);
        _stream = _tcpClient.GetStream();

        _receiveCts = new CancellationTokenSource();
        _receiveTask = Task.Run(() => ReceiveLoopAsync(_receiveCts.Token), _receiveCts.Token);
    }

    /// <summary>
    /// 断开状态通道并停止后台接收循环。
    /// </summary>
    public void Disconnect()
    {
        ObjectDisposedException.ThrowIf(_disposed, this);

        _receiveCts?.Cancel();

        try
        {
            _receiveTask?.Wait(TimeSpan.FromSeconds(2));
        }
        catch (AggregateException)
        {
            // 后台循环可能因取消而抛出 OperationCanceledException，忽略即可。
        }

        _receiveTask?.Dispose();
        _receiveTask = null;
        _receiveCts?.Dispose();
        _receiveCts = null;

        _stream?.Dispose();
        _stream = null;
        _tcpClient?.Dispose();
        _tcpClient = null;

        lock (_stateLock)
        {
            _latestFrame = null;
        }
    }

    /// <summary>
    /// 获取最近一次解析的状态帧；若尚未收到任何帧则返回 null。
    /// </summary>
    /// <returns>最新状态帧或 null。</returns>
    public FanucStateFrame? GetLatestFrame()
    {
        ObjectDisposedException.ThrowIf(_disposed, this);

        lock (_stateLock)
        {
            return _latestFrame;
        }
    }

    /// <summary>
    /// 释放客户端资源。
    /// </summary>
    public void Dispose()
    {
        if (_disposed)
        {
            return;
        }

        _disposed = true;
        _receiveCts?.Cancel();

        try
        {
            _receiveTask?.Wait(TimeSpan.FromSeconds(2));
        }
        catch (AggregateException)
        {
            // 忽略取消异常。
        }

        _receiveTask?.Dispose();
        _receiveCts?.Dispose();
        _stream?.Dispose();
        _tcpClient?.Dispose();
    }

    /// <summary>
    /// 后台循环：持续从流中读取固定长度状态帧并更新缓存。
    /// </summary>
    private async Task ReceiveLoopAsync(CancellationToken cancellationToken)
    {
        if (_stream is null)
        {
            return;
        }

        var buffer = new byte[FanucStateProtocol.StateFrameLength];

        try
        {
            while (!cancellationToken.IsCancellationRequested)
            {
                await ReadExactAsync(buffer, cancellationToken).ConfigureAwait(false);

                var frame = FanucStateProtocol.ParseFrame(buffer);
                lock (_stateLock)
                {
                    _latestFrame = frame;
                }
            }
        }
        catch (OperationCanceledException)
        {
            // 正常取消，无需处理。
        }
        catch (IOException)
        {
            // 连接断开，退出循环。
        }
        catch (InvalidDataException)
        {
            // 解析到异常帧，退出循环由上层重连。
        }
    }

    /// <summary>
    /// 从流中精确读取固定长度字节。
    /// </summary>
    private async Task ReadExactAsync(byte[] buffer, CancellationToken cancellationToken)
    {
        if (_stream is null)
        {
            throw new InvalidOperationException("状态通道未连接。");
        }

        var totalRead = 0;
        while (totalRead < buffer.Length)
        {
            var read = await _stream.ReadAsync(buffer.AsMemory(totalRead), cancellationToken).ConfigureAwait(false);
            if (read == 0)
            {
                throw new IOException("状态通道已断开，读取到 EOF。");
            }

            totalRead += read;
        }
    }
}