smart-bow-infrared/Assets/LightGlue/Scripts/Roma/Networking/RomaDeviceInfoReceiver.cs

using System;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using UnityEngine;

namespace LightGlue.Unity.Roma.Networking
{
    /// <summary>
    /// 接收 Python 上报的设备信息（JSON over UDP）。
    /// 典型用途：ESP32 无广播时，从 Python 收图线程“学到”的 source_ip/source_port 回填到 Unity UI。
    /// JSON 示例：{"device_ip":"192.168.0.16","device_port":12346,"ts":1710000000.0}
    /// </summary>
    public sealed class RomaDeviceInfoReceiver : MonoBehaviour
    {
        [Header("Listen")]
        public string bindIp = "0.0.0.0";
        public int port = 12350;
        public bool autoStartOnEnable = true;

        [Header("State (readonly)")]
        [SerializeField] private string latestDeviceIp;
        [SerializeField] private int latestDevicePort;
        [SerializeField] private bool hasLatest;

        public string LatestDeviceIp => latestDeviceIp;
        public int LatestDevicePort => latestDevicePort;
        public bool HasLatest => hasLatest;

        public event Action<string, int> OnDeviceInfoUpdated;

        private UdpClient _client;
        private Thread _thread;
        private volatile bool _running;
        private readonly object _lock = new object();
        private string _pendingIp;
        private int _pendingPort;
        private bool _hasPending;

        [Serializable]
        private class DeviceInfoMsg
        {
            public string device_ip;
            public int device_port;
            public double ts;
        }

        private void OnEnable()
        {
            if (autoStartOnEnable)
                StartListening();
        }

        private void OnDisable()
        {
            StopListening();
        }

        private void Update()
        {
            string ip = null;
            int p = 0;
            bool has = false;
            lock (_lock)
            {
                if (_hasPending)
                {
                    ip = _pendingIp;
                    p = _pendingPort;
                    has = true;
                    _hasPending = false;
                }
            }

            if (!has || string.IsNullOrWhiteSpace(ip)) return;
            latestDeviceIp = ip;
            latestDevicePort = p;
            hasLatest = true;
            OnDeviceInfoUpdated?.Invoke(ip, p);
        }

        public void StartListening()
        {
            if (_running) return;
            try
            {
                var ip = IPAddress.Parse(string.IsNullOrWhiteSpace(bindIp) ? "0.0.0.0" : bindIp);
                _client = new UdpClient(new IPEndPoint(ip, port));
                _client.Client.ReceiveTimeout = 200;
                _running = true;
                _thread = new Thread(ReceiveLoop) { IsBackground = true, Name = "RomaDeviceInfoReceiver" };
                _thread.Start();
                Debug.Log($"[RomaDevInfo] Listening on {bindIp}:{port}");
            }
            catch (Exception ex)
            {
                Debug.LogWarning($"[RomaDevInfo] Start failed: {ex.Message}");
                Cleanup();
            }
        }

        public void StopListening()
        {
            _running = false;
            try { _client?.Close(); } catch { /* ignore */ }
            try { _client?.Dispose(); } catch { /* ignore */ }
            _client = null;

            if (_thread != null && _thread.IsAlive)
            {
                if (!_thread.Join(500))
                {
                    try { _thread.Interrupt(); } catch { /* ignore */ }
                }
            }
            _thread = null;
        }

        private void ReceiveLoop()
        {
            var remote = new IPEndPoint(IPAddress.Any, 0);
            while (_running)
            {
                try
                {
                    byte[] data = _client.Receive(ref remote);
                    if (data == null || data.Length == 0) continue;
                    string json = Encoding.UTF8.GetString(data);
                    DeviceInfoMsg msg = JsonUtility.FromJson<DeviceInfoMsg>(json);
                    if (msg == null || string.IsNullOrWhiteSpace(msg.device_ip)) continue;
                    int p = msg.device_port;
                    lock (_lock)
                    {
                        _pendingIp = msg.device_ip;
                        _pendingPort = p;
                        _hasPending = true;
                    }
                }
                catch (SocketException)
                {
                    continue;
                }
                catch (ObjectDisposedException)
                {
                    break;
                }
                catch (ThreadInterruptedException)
                {
                    break;
                }
                catch (Exception ex)
                {
                    Debug.LogWarning($"[RomaDevInfo] Receive error: {ex.Message}");
                }
            }
        }

        private void Cleanup()
        {
            _running = false;
            try { _client?.Close(); } catch { /* ignore */ }
            try { _client?.Dispose(); } catch { /* ignore */ }
            _client = null;
        }
    }
}