SWRIS-HD/Core/TcpServerFrame.cs

using ScottPlot.Colormaps;
using SWRIS.Enums;
using SWRIS.Events;
using SWRIS.Extensions;
using SWRIS.Models;
using SWRIS.Models.Data;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Security.Cryptography;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace SWRIS.Core
{
    public class TcpServerFrame : IDisposable
    {
        // 定义事件
        public event EventHandler<ClientConnectedEventArgs> ClientConnected;
        public event EventHandler<ClientDisconnectedEventArgs> ClientDisconnected;
        public event EventHandler<LiveStreamReceivedEventArgs> LiveStreamReceived;
        public event EventHandler<AlarmDataReceivedEventArgs> AlarmDataReceived;
        public event EventHandler<FaultDataReceivedEventArgs> FaultDataReceived;
        public event EventHandler<DetectionDataReceivedEventArgs> DetectionDataReceived;
        public event EventHandler<RealTimeDataReceivedEventArgs> RealTimeDataReceived;
        public event EventHandler<DetectionRawDataReceivedEventArgs> DetectionRawDataReceived;
        public event EventHandler<ResetSystemDataReceivedEventArgs> ResetSystemDataReceived;
        public event EventHandler<SetAbsolutePositionDataReceivedEventArgs> SetAbsolutePositionDataReceived;
        public event EventHandler<DetectionRawDataResultReceivedEventArgs> DetectionRawDataResultReceived;
        public event EventHandler<DetectionStatusResultReceivedEventArgs> DetectionStatusResultReceived;
        public event EventHandler<UpgradedResultReceivedEventArgs> UpgradedRequestResultReceived;
        public event EventHandler<ClockResultReceivedEventArgs> ClockResultReceived;
        public event EventHandler<EncoderDirectionResultReceivedEventArgs> EncoderDirectionResultReceived;
        public event EventHandler<HeartbeatReceviedEventArgs> HeartbeatReceived;
        public event EventHandler<DebugMessageReceivedEventArgs> DebugMessageReceived;

        private Socket _listener;
        private bool _isRunning;
        private readonly string _ipAddress;
        private readonly int _port;
        private readonly ByteTransform byteTransform;
        private const string PASSWORD = "WNDTM4";
        private static ConcurrentDictionary<string, ClientState> _connectedClients;
        public TcpServerFrame(string ipAddress, int port)
        {
            _ipAddress = ipAddress;
            _port = port;
            byteTransform = new ByteTransform(DataFormat.DCBA);
            _connectedClients = new ConcurrentDictionary<string, ClientState>();
        }
        public void Start()
        {
            _isRunning = true;
            _listener = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
            try
            {
                // 使用指定的IP地址和端口
                IPAddress ipAddress = IPAddress.Parse(_ipAddress);
                _listener.Bind(new IPEndPoint(ipAddress, _port));

                _listener.Listen(10);

                // 启动心跳检测线程
                StartHeartbeatCheck();

                // 开始接受客户端连接（异步）
                _listener.BeginAccept(OnClientConnected, null);

                DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"服务已在 {_ipAddress}:{_port} 上启动"));
            }
            catch (SocketException ex)
            {
                LogHelper.Error($"启动服务时发生错误: {ex.Message}");
                if (ex.SocketErrorCode == SocketError.AddressAlreadyInUse)
                {
                    LogHelper.Error("端口已被占用，请更换端口或关闭占用该端口的程序", ex);
                }
                else if (ex.SocketErrorCode == SocketError.AddressNotAvailable)
                {
                    LogHelper.Error($"IP地址 {_ipAddress} 不可用，请检查网络配置", ex);
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error($"TCP服务启动时发生未知错误: {ex.Message}", ex);
            }
        }

        public void Stop()
        {
            _isRunning = false;
            _listener.Shutdown(SocketShutdown.Both);
            _listener?.Close();
        }

        private void OnClientConnected(IAsyncResult ar)
        {
            if (!_isRunning)
                return;
            try
            {
                Socket clientSocket = _listener.EndAccept(ar);
                string ipAddress = (clientSocket.RemoteEndPoint as IPEndPoint)?.Address?.ToString();
                var equipmentData = App.Config.Equipments.FirstOrDefault(c => c.IpAddress == ipAddress);
                if (equipmentData != null)
                {
                    ClientState client = new ClientState(clientSocket, ipAddress, equipmentData.SerialNo);
                    // 添加到连接列表
                    _connectedClients.TryAdd(client.IpAddress, client);
                    // 开始异步接收数据
                    clientSocket.BeginReceive(client.Buffer, 0, client.Buffer.Length, SocketFlags.None, OnDataReceived, client);
                    // 触发客户端连接事件
                    ClientConnected?.Invoke(this, new ClientConnectedEventArgs(clientSocket, ipAddress));
                }
                // 继续接受新连接
                _listener.BeginAccept(OnClientConnected, null);
            }
            catch (Exception ex)
            {
                Console.WriteLine($"Error accepting client: {ex.Message}");
            }
        }
        private void StartHeartbeatCheck()
        {
            ThreadPool.QueueUserWorkItem(act =>
            {
                while (_isRunning)
                {
                    Thread.Sleep(TimeSpan.FromSeconds(5)); // 每5秒检测一次

                    foreach (var client in _connectedClients.ToArray())
                    {
                        if ((DateTime.UtcNow - client.Value.LastActiveTime).TotalSeconds > 15)
                        {
                            SafeCloseClient(client.Value);
                            DebugMessageReceived?.Invoke(this,
                                new DebugMessageReceivedEventArgs($"心跳超时，强制断开", ipAddress: client.Value.IpAddress));
                        }
                    }
                }
            });
        }

        private async void OnDataReceived(IAsyncResult ar)
        {
            var state = (ClientState)ar.AsyncState;
            if (state == null || state.ClientSocket == null || !state.ClientSocket.Connected)
            {
                return;
            }

            try
            {
                int bytesRead = state.ClientSocket.EndReceive(ar);
                if (bytesRead > 0)
                {
                    // 将接收到的数据添加到缓冲区
                    state.ReceiveBuffer.Write(state.Buffer, 0, bytesRead);

                    // 处理缓冲区中的所有数据包
                    while (state.ReceiveBuffer.Length > 0)
                    {
                        byte packetType = state.ReceiveBuffer.PeekByte();

                        if (packetType == 0xC0) // 心跳包
                        {
                            ProcessHeartbeatPacket(state);
                        }
                        else if (packetType == 0x30) // 数据包
                        {
                            bool processed = await ProcessDataPacket(state);
                            if (!processed) break; // 数据包不完整，等待更多数据
                        }
                        else
                        {
                            // 未知包类型，跳过1字节继续检查
                            DebugMessageReceived?.Invoke(this,
                                new DebugMessageReceivedEventArgs($"未知包类型: 0x{packetType:X2}", state.IpAddress));
                            state.ReceiveBuffer.Remove(1);
                        }
                    }

                    // 继续接收数据
                    if (state.ClientSocket?.Connected == true)
                    {
                        Array.Clear(state.Buffer, 0, state.Buffer.Length);
                        state.ClientSocket.BeginReceive(state.Buffer, 0, state.Buffer.Length,
                            SocketFlags.None, OnDataReceived, state);
                    }
                }
                else
                {
                    // 客户端断开连接
                    DebugMessageReceived?.Invoke(this,
                        new DebugMessageReceivedEventArgs((bytesRead == 0 ? "设备主动断开连接" : "连接异常或错误") + $"({bytesRead})", state.IpAddress));
                    SafeCloseClient(state);
                }
            }
            catch (SocketException sex)
            {
                HandleSocketException(sex, state);
            }
            catch (Exception ex)
            {
                var message = $"接收数据时错误: {ex.Message}";
                LogHelper.Error(message, ex);
                SafeCloseClient(state);
            }
        }
        private void HandleSocketException(SocketException sex, ClientState client)
        {
            string message;

            switch (sex.SocketErrorCode)
            {
                case SocketError.ConnectionReset:
                    message = "设备强制断开连接 (Connection Reset)";
                    break;

                case SocketError.OperationAborted:
                    message = "操作被中止";
                    break;

                case SocketError.ConnectionAborted:
                    message = "连接被中止";
                    break;

                case SocketError.TimedOut:
                    message = "连接超时";
                    break;

                case SocketError.Shutdown:
                    message = "连接已关闭";
                    break;

                case SocketError.NetworkReset:
                    message = "网络连接被重置";
                    break;

                case SocketError.HostUnreachable:
                    message = "主机不可达";
                    break;

                default:
                    message = $"Socket错误: {sex.SocketErrorCode} - {sex.Message}";
                    break;
            }

            DebugMessageReceived?.Invoke(this,
                new DebugMessageReceivedEventArgs(message, client.IpAddress));
            LogHelper.Error(message, sex);
            SafeCloseClient(client);
        }
        private void ProcessHeartbeatPacket(ClientState client)
        {
            // 心跳包固定长度为2字节: 0xC0 + 0x00
            if (client.ReceiveBuffer.Length < 2)
                return; // 等待更多数据

            byte[] heartBeatData = new byte[2];
            client.ReceiveBuffer.Read(heartBeatData, 0, 2);

            client.LastActiveTime = DateTime.UtcNow;
            RespondHeartbeat(heartBeatData, client.IpAddress, client.ClientSocket);

            HeartbeatReceived?.Invoke(this, new HeartbeatReceviedEventArgs(client.IpAddress));

        }

        private async Task<bool> ProcessDataPacket(ClientState client)
        {
            // 检查是否有足够的数据读取长度信息
            if (client.ReceiveBuffer.Length < 5) // 至少需要包类型 + 最小长度信息
                return false;

            // 窥探前10个字节来解析长度
            byte[] peekData = new byte[Math.Min(client.ReceiveBuffer.Length, 10)];
            int peeked = client.ReceiveBuffer.Peek(peekData, 0, peekData.Length);

            // 解析剩余长度
            (int byteLength, int remainingLength) = GetRemainingLength(peekData);
            if (byteLength == 0 || remainingLength == 0)
            {
                // 长度解析失败，可能是数据损坏，跳过1字节
                client.ReceiveBuffer.Remove(1);
                return true;
            }

            // 计算完整包长度
            int totalPacketLength = 1 + byteLength + remainingLength;

            // 检查是否收到完整包
            if (client.ReceiveBuffer.Length < totalPacketLength)
                return false;

            // 读取完整数据包
            byte[] packetData = new byte[totalPacketLength];
            client.ReceiveBuffer.Read(packetData, 0, totalPacketLength);

            // 提取事件类型和有效载荷
            int payloadStart = 1 + byteLength;
            if (payloadStart >= packetData.Length)
            {
                DebugMessageReceived?.Invoke(this,
                    new DebugMessageReceivedEventArgs($"数据异常", client.IpAddress));
                return true;
            }

            byte eventType = packetData[payloadStart];
            byte[] payload = new byte[remainingLength];
            Buffer.BlockCopy(packetData, payloadStart, payload, 0, remainingLength);

            // 处理数据包
            await ProcessEventByType(eventType, payload, client);

            return true;
        }
        /// <summary>
        /// 根据事件类型处理数据
        /// </summary>
        /// <param name="eventType"></param>
        /// <param name="payload"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        private async Task ProcessEventByType(byte eventType, byte[] payload, ClientState client)
        {
            switch (eventType)
            {
                case 0x01:
                    await ProcessSyncParameters(payload, client);
                    break;
                case 0x06:
                    await ProcessDetectionStatus(payload, client);
                    break;
                case 0x07:
                    await ProcessFaultData(payload, client);
                    break;
                case 0x08:
                    await ProcessAlarmData(payload, client);
                    break;
                case 0x09:
                    await ProcessDetectionData(payload, client);
                    break;
                case 0x10:
                    await ProcessClockData(payload, client);
                    break;
                case 0x11:
                    await ProcessUpgradedData(payload, client);
                    break;
                case 0x12:
                    await ProcessEncoderDirectionData(payload, client);
                    break;
                case 0x13:
                    await ProcessTwistFactorData(payload, client);
                    break;
                case 0x0A:
                    await ProcessOpenOrClosedRealtimeData(payload, client);
                    break;
                case 0x0B:
                    await ProcessRealTimeData(payload, client);
                    break;
                case 0x0D:
                    await ProcessLiveStreamData(payload, client);
                    break;
                case 0x0C:
                    await ProcessTurnLiveStreamData(payload, client);
                    break;
                case 0x0E:
                    await ProcessDetectionRawResultData(payload, client);
                    break;
                case 0x0F:
                    await ProcessDetectionRawData(payload, client);
                    break;
                case 0x14:
                    await ProcessSystemResetData(payload, client);
                    break;
                case 0x15:
                    await ProcessSetAbsolutePositionData(payload, client);
                    break;
                case 0x16:
                    await ProcessSerialNoData(payload, client);
                    break;
            }
        }
        /// <summary>
        /// 设置实时位置
        /// </summary>
        /// <param name="buffer"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        private async Task ProcessSetAbsolutePositionData(byte[] buffer, ClientState client)
        {
            var resetSystemData = ReceiveSetAbsolutePositionData(buffer);
            if (resetSystemData != null)
            {
                // 设置当前实时位置应答
                SetAbsolutePositionDataReceived?.Invoke(this,
                    new SetAbsolutePositionDataReceivedEventArgs(client.IpAddress, resetSystemData));
            }
            await Task.CompletedTask;
        }
        /// <summary>
        /// 主板复位
        /// </summary>
        /// <param name="buffer"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        private async Task ProcessSystemResetData(byte[] buffer, ClientState client)
        {
            var resetSystemData = ReceiveResetSystemData(buffer);
            if (resetSystemData != null)
            {
                // 主板复位结果
                ResetSystemDataReceived?.Invoke(this,
                    new ResetSystemDataReceivedEventArgs(client.IpAddress, resetSystemData));
            }
            await Task.CompletedTask;
        }

        private async Task ProcessDetectionRawData(byte[] buffer, ClientState client)
        {
            await Task.Run(() =>
            {
                var detectionRawData = ReceiveDetectionRawData(buffer);
                if (detectionRawData != null)
                {
                    // 处理检测原始数据
                    DetectionRawDataReceived?.Invoke(this,
                        new DetectionRawDataReceivedEventArgs(client.IpAddress, detectionRawData));
                }
            });
            await Task.CompletedTask;
        }
        private async Task ProcessDetectionRawResultData(byte[] buffer, ClientState client)
        {
            await Task.Run(() =>
            {
                var detectionRawResultData = ReceiveDetectionRawResultData(buffer);
                if (detectionRawResultData != null)
                {
                    DetectionRawDataResultReceived?.Invoke(this,
                        new DetectionRawDataResultReceivedEventArgs(client.IpAddress, detectionRawResultData));
                }
            });
            await Task.CompletedTask;
        }
        private async Task ProcessTurnLiveStreamData(byte[] buffer, ClientState client)
        {
            var liveStreamStatus = ReceiveTurnLiveStreamData(buffer);
            if (liveStreamStatus > 0)
            {
                // 开启/关闭结果，0=成功，>0=失败-原因码
                LogHelper.Error($"开启/关闭实时流数据失败，原因码：{liveStreamStatus}");
            }
            await Task.CompletedTask;
        }
        private async Task ProcessLiveStreamData(byte[] buffer, ClientState client)
        {
            await Task.Run(() =>
            {
                var liveStreamData = ReceiveLiveStreamDataModel(buffer);
                if (liveStreamData != null && liveStreamData.Data.Any())
                {
                    Console.WriteLine($"接收实时流数据: {liveStreamData.ToString()}");
                    // 触发事件
                    LiveStreamReceived?.Invoke(this,
                        new LiveStreamReceivedEventArgs(client.IpAddress, liveStreamData));
                }
            });
            await Task.CompletedTask;
        }

        private async Task ProcessRealTimeData(byte[] buffer, ClientState client)
        {
            await Task.Run(() =>
            {
                var realTimeData = ReceiveRealTimeData(buffer);
                if (realTimeData != null)
                {
                    // 触发实时数据接收事件
                    RealTimeDataReceived?.Invoke(this,
                        new RealTimeDataReceivedEventArgs(client.IpAddress, realTimeData));
                }
            });
            await Task.CompletedTask;
        }
        private async Task ProcessOpenOrClosedRealtimeData(byte[] buffer, ClientState client)
        {
            var openOrClosed = ReceiveOpenOrClosedRealtimeData(buffer);
            if (openOrClosed > 0)
            {
                LogHelper.Error("开启或关闭实时数据失败，原因码：" + openOrClosed);
            }
            await Task.CompletedTask;
        }
        private async Task ProcessTwistFactorData(byte[] buffer, ClientState client)
        {
            var twistFactorData = ReceiveTwistFactorData(buffer);
            if (twistFactorData != null)
            {
                var equipmentData = App.Config.Equipments.FirstOrDefault(c => c.IpAddress == client.IpAddress);
                if (equipmentData != null && equipmentData.Parameter != null)
                {
                    // 处理判伤捻距系数数据
                    equipmentData.Parameter.TwistFactor = twistFactorData.TwistFactor;
                }
            }
            await Task.CompletedTask;
        }
        private async Task ProcessEncoderDirectionData(byte[] buffer, ClientState client)
        {
            var encoderDirection = ReceiveEncoderDirectionData(buffer);
            if (encoderDirection != null)
            {
                var equipmentData = App.Config.Equipments.FirstOrDefault(c => c.IpAddress == client.IpAddress);
                if (equipmentData != null && equipmentData.Parameter != null)
                {
                    // 处理编码器方向数据
                    equipmentData.Parameter.EncoderDirection = encoderDirection.Direction;
                    // 编码器方向结果返回事件
                    EncoderDirectionResultReceived?.Invoke(this,
                        new EncoderDirectionResultReceivedEventArgs(client.IpAddress, encoderDirection.Direction));
                }
            }
            await Task.CompletedTask;
        }
        private async Task ProcessClockData(byte[] buffer, ClientState client)
        {
            var clockData = ReceiveClockData(buffer);
            if (clockData != null)
            {
                ClockResultReceived?.Invoke(this,
                    new ClockResultReceivedEventArgs(client.IpAddress, clockData.Time));
            }
            await Task.CompletedTask;
        }
        private async Task ProcessDetectionData(byte[] buffer, ClientState client)
        {
            var detectionData = ReceiveDetectionData(buffer);
            if (detectionData != null)
            {
                // 回复检测结果确认
                if (SendDetectionConfirm(detectionData.StartTime, detectionData.EndTime, client.SerialNo, client.ClientSocket))
                {
                    if (detectionData.DamageCount <= 0)
                    {
                        DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"检测结果未发现损伤，本次结果不记录",
                            serialNo: client.SerialNo));
                    }
                    else
                    {
                        // 发送获取原始数据请求
                        SendGetDetectionRawData(client.SerialNo, client.ClientSocket);
                        // 处理检测数据
                        DetectionDataReceived?.Invoke(this,
                            new DetectionDataReceivedEventArgs(client.IpAddress, detectionData));
                    }
                }
            }
            await Task.CompletedTask;
        }
        private async Task ProcessFaultData(byte[] buffer, ClientState client)
        {
            var faultData = ReceiveFaultData(buffer);
            if (faultData != null)
            {
                var equipmentData = App.Config.Equipments.FirstOrDefault(c => c.IpAddress == client.IpAddress);
                if (equipmentData != null)
                {
                    equipmentData.InUseSensor = faultData.WorkingSensors;
                }
                // 处理故障数据
                FaultDataReceived?.Invoke(this, new FaultDataReceivedEventArgs(client.IpAddress, faultData));
            }
            await Task.CompletedTask;
        }
        private async Task ProcessAlarmData(byte[] buffer, ClientState client)
        {
            var alarmData = ReceiveAlarmData(buffer);
            if (alarmData != null)
            {
                //处理报警数据
                AlarmDataReceived?.Invoke(this, new AlarmDataReceivedEventArgs(client.IpAddress, alarmData));
            }
            await Task.CompletedTask;

        }
        private async Task ProcessSyncParameters(byte[] data, ClientState client)
        {
            var (serialNo, parametersData) = ReceiveSyncParameters(data);
            if (parametersData != null)
            {
                var equipmentData = App.Config.Equipments.FirstOrDefault(c => c.IpAddress == client.IpAddress);
                if (equipmentData != null)
                {
                    equipmentData.SerialNo = serialNo;
                    equipmentData.Parameter = parametersData;

                    await Task.Run(() =>
                    {
                        lock (App.Config.Equipments)
                        {
                            ConfigHelper.SetEquipment(equipmentData);
                        }
                    });
                }
            }
        }
        private async Task ProcessDetectionStatus(byte[] buffer, ClientState client)
        {
            byte code = ReceiveStartOrStopDetectionResultData(buffer);
            if (code == 0)
            {
                // 启动/停止检测结果，0=成功，>0=失败-原因码
                DetectionStatusResultReceived?.Invoke(this,
                    new DetectionStatusResultReceivedEventArgs(client.IpAddress, code));
            }
            else
            {
                LogHelper.Error($"启动/停止检测结果失败，原因码：{code}");
            }
            await Task.CompletedTask;
        }
        public async Task ProcessUpgradedData(byte[] buffer, ClientState client)
        {
            byte code = ReceiveUpgradedResultData(buffer);

            // 程序更新请求，0=成功，>0=拒绝-原因码
            UpgradedRequestResultReceived?.Invoke(this,
                new UpgradedResultReceivedEventArgs(client.IpAddress, code));

            await Task.CompletedTask;
        }
        public byte ReceiveTurnLiveStreamData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            return bytes[0];
        }
        public byte ReceiveOpenOrClosedRealtimeData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            return bytes[0]; // 开启/关闭结果，0=成功，>0=失败-原因码
        }
        public LiveStreamDataModel ReceiveLiveStreamDataModel(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var liveStreamData = new LiveStreamDataModel()
            {
                SensorCount = bytes[0],
                SampleCount = byteTransform.TransUInt16(bytes, 1)
            };

            var data = bytes.Skip(3).ToArray(); // 跳过前3个字节
            liveStreamData.Data = ParseSensorData(data, liveStreamData.SensorCount, liveStreamData.SampleCount);
            return liveStreamData;
        }

        public TwistFactorDataModel ReceiveTwistFactorData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var twistFactorData = new TwistFactorDataModel
            {
                Type = bytes[0],
                TwistFactor = byteTransform.TransSingle(bytes, 1) // 判伤捻距系数
            };
            return twistFactorData;
        }
        /// <summary>
        /// 发送获取编码器方向请求
        /// </summary>
        /// <param name="serialNo"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        public bool SendGetEncoderDirectionData(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x00); // 操作，0 = 获取编码器方向，1 = 设置编码器方向
                    ms.WriteByte(0x01); // 编码器方向，1=正向，2=反向
                    byte[] buffer = CreateData(0x12, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"获取设备编码器方向", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送获取编码器方向数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送设置编码器方向数据命令
        /// </summary>
        /// <param name="direction"></param>
        /// <param name="serialNo"></param>
        /// <param name="stream"></param>
        /// <returns></returns>
        public bool SendSetEncoderDirectionData(EncoderDirection direction, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x01); // 操作，0 = 获取编码器方向，1 = 设置编码器方向
                    ms.WriteByte((byte)direction); // 编码器方向，1=正向，2=反向
                    byte[] buffer = CreateData(0x12, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"设置设备编码器方向", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送设置编码器方向数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送检测结果原始数据请求
        /// </summary>
        /// <param name="serialNo"></param>
        /// <param name="clientSocket"></param>
        /// <returns></returns>
        private bool SendGetDetectionRawData(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0); // 数据类型，0=正常，1=报警，2=故障
                    WriteBytes(ms, (short)2048); // 单包数据大小，单位：Byte
                    ms.WriteByte(0x00); // 传输速度控制，单位：KB/s（B/ms），为0则不控速
                    byte[] buffer = CreateData(0x0E, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"获取检测结果原始数据", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送获取编码器方向数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 接收获取原始数据结果
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public DetectionRawResultDataModel ReceiveDetectionRawResultData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var detectionRawResultData = new DetectionRawResultDataModel
            {
                Code = bytes[0],
                Timestamp = byteTransform.TransInt32(bytes, 1),
                SamplingStep = byteTransform.TransSingle(bytes, 5),
                StartAbsolutePosition = byteTransform.TransSingle(bytes, 9),
                EndAbsolutePosition = byteTransform.TransSingle(bytes, 13),
                SensorCount = bytes[17]
            };
            return detectionRawResultData;
        }
        /// <summary>
        /// 获取原始数据包
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public DetectionRawDataModel ReceiveDetectionRawData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var detectionRawData = new DetectionRawDataModel
            {
                PacketNumber = byteTransform.TransUInt32(bytes, 0),
                TotalPackets = byteTransform.TransUInt32(bytes, 4),
                DataLength = byteTransform.TransUInt16(bytes, 8),
                Data = bytes.Skip(10).ToArray() // 跳过前10个字节
            };

            return detectionRawData;
        }
        /// <summary>
        /// 发送开启实时流数据命令
        /// </summary>
        /// <param name="isOpen">是否开启</param>
        /// <param name="serialNo">设备序列号</param>
        /// <param name="client"></param>
        /// <returns></returns>
        public bool SendTurnLiveStreamData(bool isOpen, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte((byte)(isOpen ? 1 : 0)); // 0=关闭，1=开启
                    byte[] buffer = CreateData(0x0C, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"{(isOpen ? "开启" : "关闭")}设备实时流", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送开启实时流数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送获取判伤捻距系数数据命令
        /// </summary>
        /// <param name="serialNo"></param>
        /// <param name="client"></param>
        /// <returns></returns>
        public bool SendGetTwistFactorData(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x00); // 操作，0=获取判伤捻距系数，1=设置判伤捻距系数
                    WriteBytes(ms, 0); // 判伤捻距系数
                    byte[] buffer = CreateData(0x13, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this,
                        new DebugMessageReceivedEventArgs($"获取设备判伤捻距系数", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送获取判伤捻距系数数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 设置判伤捻距系数
        /// </summary>
        /// <param name="twistFactor"></param>
        /// <param name="serialNo"></param>
        /// <param name="stream"></param>
        /// <returns></returns>
        public bool SendSetTwistFactorData(float twistFactor, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x01); // 操作，0=获取判伤捻距系数，1=设置判伤捻距系数
                    WriteBytes(ms, twistFactor); // 判伤捻距系数
                    byte[] buffer = CreateData(0x13, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"设置设备判伤捻距系数", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送设置判伤捻距系数数据命令时错误", ex);
                return false;
            }
        }

        /// <summary>
        /// 返回编码器方向
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public EncoderDirectionDataModel ReceiveEncoderDirectionData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var encoderDirection = new EncoderDirectionDataModel
            {
                Code = bytes[0],
                Type = bytes[1],
                Direction = (EncoderDirection)bytes[2] // 编码器方向，1=正向，2=反向
            };
            return encoderDirection;
        }
        /// <summary>
        /// 接收返回系统时钟数据
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public ClockDataModel ReceiveClockData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            ClockDataModel clockData = new ClockDataModel
            {
                Code = bytes[0],
                Type = bytes[1],
                Time = byteTransform.TransInt32(bytes, 2)
            };
            return clockData;
        }

        /// <summary>
        /// 主板复位应答
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public ResetSystemDataModel ReceiveResetSystemData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var resetSystemData = new ResetSystemDataModel
            {
                Code = bytes[0]
            };
            return resetSystemData;
        }

        /// <summary>
        /// 设置当前实时位置应答
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public SetAbsolutePositionDataModel ReceiveSetAbsolutePositionData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            var setAbsolutePositionData = new SetAbsolutePositionDataModel
            {
                Code = bytes[0]
            };
            return setAbsolutePositionData;
        }
        /// <summary>
        /// 发送获取时钟数据命令
        /// </summary>
        /// <param name="serialNo"></param>
        /// <param name="stream"></param>
        /// <returns></returns>
        public bool SendGetClockData(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x00); // 操作，0=获取时钟，1=设置时钟
                    WriteBytes(ms, 0);// 设置时间戳
                    byte[] buffer = CreateData(0x10, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"获取设备时钟", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送获取时钟数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送设置时钟数据命令
        /// </summary>
        /// <param name="timestamp">时间戳</param>
        /// <param name="serialNo">序列号</param>
        /// <param name="stream">网络数据流</param>
        /// <returns></returns>
        public bool SendSetClockData(int timestamp, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(0x01); // 操作，0=获取时钟，1=设置时钟
                    WriteBytes(ms, timestamp);// 设置时间戳
                    byte[] buffer = CreateData(0x10, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"设置设备时钟", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送设置时钟数据命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 接收实时数据
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public RealTimeDataModel ReceiveRealTimeData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            RealTimeDataModel realTimeData = new RealTimeDataModel
            {
                Status = (RunningStatus)bytes[0],
                Speed = byteTransform.TransSingle(bytes, 1),
                AbsolutePosition = byteTransform.TransSingle(bytes, 5),
                Position = byteTransform.TransSingle(bytes, 9)
            };
            return realTimeData;
        }
        /// <summary>
        /// 接收检测结果
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public DetectionDataModel ReceiveDetectionData(byte[] buffer)
        {
            var verifyData = GetVerifyDataAndCheckCaption(buffer);
            if (!verifyData.IsValid)
            {
                LogHelper.Error("接收检测结果时验证码校验失败");
                return null;
            }
            var data = verifyData.Data;
            DetectionDataModel detectionData = new DetectionDataModel
            {
                StartTime = byteTransform.TransInt32(data, 0),
                EndTime = byteTransform.TransInt32(data, 4),
                StartPoint = byteTransform.TransSingle(data, 8),
                EndPoint = byteTransform.TransSingle(data, 12),
                DetectionLength = byteTransform.TransSingle(data, 16),
                DetectedSpeed = byteTransform.TransSingle(data, 20),
                DamageCount = byteTransform.TransInt16(data, 24),
                Damages = new List<DamageModel>()
            };
            for (int i = 0; i < detectionData.DamageCount; i++)
            {
                int offset = 26 + i * 10; // 每个损伤数据占8字节
                if (offset + 10 > data.Length) break; // 防止越界
                var damageData = new DamageModel
                {
                    RopeNumber = data[offset],
                    DamagePoint = byteTransform.TransSingle(data, offset + 1),
                    DamageValue = byteTransform.TransSingle(data, offset + 5),
                    DamageLevel = (DamageLevel)data[offset + 9]
                };
                detectionData.Damages.Add(damageData);
            }
            return detectionData;
        }
        /// <summary>
        /// 接收损伤信息
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public AlarmDataModel ReceiveAlarmData(byte[] buffer)
        {
            var verifyData = GetVerifyDataAndCheckCaption(buffer);
            if (!verifyData.IsValid)
            {
                LogHelper.Error("接收同步参数时验证码校验失败");
                return null;
            }
            var data = verifyData.Data;
            AlarmDataModel alarmData = new AlarmDataModel
            {
                RopeNumber = data[1],
                DamagePosition = byteTransform.TransSingle(data, 2),
                DamageValue = byteTransform.TransSingle(data, 6),
                DamageLevel = (DamageLevel)data[10]
            };
            return alarmData;
        }
        /// <summary>
        /// 接收故障信息
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public FaultDataModel ReceiveFaultData(byte[] buffer)
        {
            var verifyData = GetVerifyDataAndCheckCaption(buffer);
            if (!verifyData.IsValid)
            {
                LogHelper.Error("接收设备故障时验证码校验失败");
                return null;
            }
            FaultDataModel faultData = new FaultDataModel();
            var data = verifyData.Data;
            faultData.FaultType = (FaultType)data[0];
            faultData.FaultCode = byteTransform.TransInt32(data, 1);
            return faultData;
        }
        public byte ReceiveStartOrStopDetectionResultData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            return bytes[0];
        }
        public byte ReceiveUpgradedResultData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            return bytes[0];
        }
        public byte ReceiveChangeSerialNoResultData(byte[] buffer)
        {
            (string serialNo, byte[] bytes) = GetSerialNoAndData(buffer);
            return bytes[0];
        }
        /// <summary>
        /// 回复心跳
        /// </summary>
        /// <returns></returns>
        private void RespondHeartbeat(byte[] buffer, string ipAddress, Socket clientSocket)
        {
            if (buffer[1] == 0x00)
            {
                byte[] response = new byte[] { 0xD0, 0x00 };
                clientSocket.Send(response); // 直接使用Socket发送
            }
        }
        private async Task ProcessSerialNoData(byte[] buffer, ClientState client)
        {
            byte code = ReceiveChangeSerialNoResultData(buffer);
            if (code == 0)
            {
                DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"修改设备序列号成功", serialNo: client.SerialNo));
            }
            else
            {
                LogHelper.Error($"修改设备序列号结果失败，原因码：{code}");
            }
            await Task.CompletedTask;
        }
        /// <summary>
        /// 接收同步参数
        /// </summary>
        /// <param name="buffer"></param>
        /// <returns></returns>
        public (string SerialNo, ParameterModel Parameter) ReceiveSyncParameters(byte[] buffer)
        {
            ParameterModel parameterData = new ParameterModel();
            var verifyData = GetVerifyDataAndCheckCaption(buffer);
            if (!verifyData.IsValid)
            {
                LogHelper.Error("接收同步参数时验证码校验失败");
                return (null, null);
            }
            byte[] data = verifyData.Data;
            int index = 0;

            #region 主板软件版本号
            short versionLength = data[index]; index += 1;
            if (data.Length - index < versionLength)
                return (null, null);

            parameterData.MainBoardSoftwareVersion = Encoding.ASCII.GetString(data.Skip(index).Take(versionLength).ToArray());
            index += versionLength;
            #endregion

            #region 基础参数
            parameterData.SensorCount = byteTransform.TransInt16(data, index); index += 2;
            parameterData.SamplingStep = byteTransform.TransSingle(data, index); index += 4;
            parameterData.FrequencyDivisionFactor = byteTransform.TransInt16(data, index); index += 2;
            parameterData.TimeDomainFrequency = byteTransform.TransInt16(data, index); index += 2;
            #endregion

            #region 判伤参数
            parameterData.DamageThreshold = byteTransform.TransInt16(data, index); index += 2;
            parameterData.ScrapUpperLimit = byteTransform.TransInt16(data, index); index += 2;
            parameterData.FrontMagnetLength = byteTransform.TransInt16(data, index); index += 2;
            parameterData.BackMagnetLength = byteTransform.TransInt16(data, index); index += 2;
            parameterData.ValueCoefficient = byteTransform.TransSingle(data, index); index += 4;
            #endregion

            #region 零点位参数
            parameterData.EffectiveStrokeLength = byteTransform.TransSingle(data, index); index += 4;
            parameterData.ZeroPositionCorrectionDuration = byteTransform.TransInt16(data, index); index += 2;
            parameterData.ZeroPositionCorrectionOffset = byteTransform.TransInt16(data, index); index += 2;
            #endregion

            #region 报警参数
            parameterData.WarningValue = byteTransform.TransSingle(data, index); index += 4;
            parameterData.AlarmValue = byteTransform.TransSingle(data, index); index += 4;
            parameterData.SoundLightAlarmAutoResetMode = byteTransform.TransInt16(data, index); index += 2;
            #endregion

            #region 钢丝绳信息
            parameterData.WireRopeType = byteTransform.TransInt16(data, index); index += 2;
            parameterData.WireRopeCount = byteTransform.TransInt16(data, index); index += 2;
            parameterData.WireRopeLength = byteTransform.TransSingle(data, index); index += 4;
            parameterData.WireRopeDiameter = byteTransform.TransSingle(data, index); index += 4;
            parameterData.WireRopeStrandCount = byteTransform.TransInt16(data, index); index += 2;
            parameterData.WireRopeStrandWireCount = byteTransform.TransInt16(data, index); index += 2;
            #endregion

            return (verifyData.SerialNo, parameterData);
        }
        /// <summary>
        /// 发送同步参数
        /// </summary>
        /// <param name="parameterData"></param>
        /// <returns></returns>
        public bool SendSyncParameters(ParameterModel parameters, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    // Basic parameters
                    WriteBytes(ms, parameters.SensorCount);
                    WriteBytes(ms, parameters.SamplingStep);
                    WriteBytes(ms, parameters.FrequencyDivisionFactor);
                    WriteBytes(ms, parameters.TimeDomainFrequency);

                    // Damage judgment parameters
                    WriteBytes(ms, parameters.DamageThreshold);
                    WriteBytes(ms, parameters.ScrapUpperLimit);
                    WriteBytes(ms, parameters.FrontMagnetLength);
                    WriteBytes(ms, parameters.BackMagnetLength);
                    WriteBytes(ms, parameters.ValueCoefficient);

                    // Zero position parameters
                    WriteBytes(ms, parameters.EffectiveStrokeLength);
                    WriteBytes(ms, parameters.ZeroPositionCorrectionDuration);
                    WriteBytes(ms, parameters.ZeroPositionCorrectionOffset);

                    // Alarm parameters
                    WriteBytes(ms, parameters.WarningValue);
                    WriteBytes(ms, parameters.AlarmValue);
                    WriteBytes(ms, (ushort)parameters.SoundLightAlarmAutoResetMode);

                    // Wire rope info
                    WriteBytes(ms, parameters.WireRopeType);
                    WriteBytes(ms, parameters.WireRopeCount);
                    WriteBytes(ms, parameters.WireRopeLength);
                    WriteBytes(ms, parameters.WireRopeDiameter);
                    WriteBytes(ms, parameters.WireRopeStrandCount);
                    WriteBytes(ms, parameters.WireRopeStrandWireCount);

                    var buffer = CreateData(0x02, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"同步设备参数", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送同步参数时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送开始或停止检测命令
        /// </summary>
        /// <param name="mode">检测模式 0=停止，1=启动空域检测，2=启动时域检测</param>
        /// <param name="serialNo">设备序列号</param>
        /// <param name="clientSocket">数据流</param>
        public bool SendStartOrStopDetection(byte runningMode, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(runningMode);// 0 = 停止，1 = 启动空域检测，2 = 启动时域检测
                    byte[] buffer = CreateData(0x06, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"{(runningMode == 0 ? "停止" : "开始")}设备检测",
                                                                                         serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送开始或停止检测命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送修改设备序列号请求
        /// </summary>
        /// <param name="serialNo">设备序列号</param>
        /// <param name="clientSocket">数据流</param>
        /// <returns></returns>
        public bool SendSerialNoRequest(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected || serialNo.IsNullOrEmpty())
                    return false;

                using (var ms = new MemoryStream())
                {
                    byte[] serialNoBytes = Encoding.UTF8.GetBytes(serialNo);
                    ms.WriteByte((byte)serialNoBytes.Length); // 序列号长度
                    ms.Write(serialNoBytes, 0, serialNoBytes.Length); // 序列号
                    byte[] buffer = CreateData(0x16, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"请求修改设备序列号", serialNo: null));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送设备序列号请求命令时错误", ex);
                return false;

            }
        }
        /// <summary>
        /// 发送程序更新请求
        /// </summary>
        /// <param name="serialNo">设备序列号</param>
        /// <param name="clientSocket">数据流</param>
        /// <returns></returns>
        public bool SendUpgradeRequest(string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(1);
                    byte[] buffer = CreateData(0x11, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"发起程序更新请求", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送程序更新请求命令时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送开始或停止实时数据
        /// </summary>
        /// <param name="isOpen">是否开启</param>
        /// <param name="serialNo">序列号</param>
        /// <param name="clientSocket"></param>
        public void SendOpenOrClosedRealtimeData(bool isOpen, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return;

                using (var ms = new MemoryStream())
                {
                    ms.WriteByte((byte)(isOpen ? 1 : 0)); // 0=关闭，1=开启
                    byte[] buffer = CreateData(0x06, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"{(isOpen ? "开启" : "停止")}设备实时数据", serialNo: serialNo));
                    clientSocket.Send(buffer);
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送开始或停止实时数据命令时错误", ex);
            }
        }
        private void SafeCloseClient(ClientState client)
        {
            try
            {
                ClientDisconnected?.Invoke(this, new ClientDisconnectedEventArgs(client.ClientSocket, client.IpAddress));
                _connectedClients.TryRemove(client.IpAddress, out _);
                if (client.ClientSocket?.Connected == true)
                {
                    client.ClientSocket?.Shutdown(SocketShutdown.Both);
                    client.ClientSocket?.Close();
                    client.ClientSocket?.Dispose();
                    client.ClientSocket = null;
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine($"关闭Socket时错误: {ex.Message}");
            }
        }
        private void WriteBytes(MemoryStream ms, dynamic value)
        {
            var bytes = byteTransform.TransByte(value);
            ms.Write(bytes, 0, bytes.Length);
        }
        /// <summary>
        /// 发送检测结果确认
        /// </summary>
        /// <param name="parameterData"></param>
        /// <returns></returns>
        public bool SendDetectionConfirm(int startTime, int endTime, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;
                using (var ms = new MemoryStream())
                {
                    WriteBytes(ms, startTime);
                    WriteBytes(ms, endTime);

                    byte[] buffer = CreateData(0x09, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"确认设备检测结果", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送检测结果确认时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送主板复位请求
        /// </summary>
        /// <param name="serialNo"></param>
        /// <param name="clientSocket"></param>
        /// <returns></returns>
        public bool SendResetSystemData(string serialNo, Socket clientSocket)
        {

            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;
                using (var ms = new MemoryStream())
                {
                    byte[] buffer = CreateData(0x14, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"发送主板复位请求", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送主板复位请求时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 发送设置当前实时位置
        /// </summary>
        /// <returns></returns>
        public bool SendRealTimeAbsolutePositionData(float absolutePosition, string serialNo, Socket clientSocket)
        {
            try
            {
                if (clientSocket == null || !clientSocket.Connected)
                    return false;
                using (var ms = new MemoryStream())
                {
                    ms.WriteByte(1);// 1=设置当前实时位置
                    WriteBytes(ms, absolutePosition);
                    byte[] buffer = CreateData(0x15, ms.ToArray(), serialNo);
                    DebugMessageReceived?.Invoke(this, new DebugMessageReceivedEventArgs($"发送设置当前实时位置请求", serialNo: serialNo));
                    clientSocket.Send(buffer);
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.Error("发送设置当前实时位置请求时错误", ex);
                return false;
            }
        }
        /// <summary>
        /// 获取数据并验证验证码
        /// </summary>
        /// <param name="buffer">数据</param>
        /// <returns></returns>
        private VerifyDataModel GetVerifyDataAndCheckCaption(byte[] buffer)
        {
            VerifyDataModel verifyData = new VerifyDataModel() { Password = PASSWORD };
            // 使用Span直接操作内存
            Span<byte> span = buffer.AsSpan();

            // 移除事件类型
            span = span.Slice(1);

            // 读取序列号长度
            if (span.IsEmpty) return verifyData;
            int serialNoLength = span[0];

            // 读取序列号
            if (span.Length - 1 < serialNoLength) return verifyData;
            verifyData.SerialNo = SoftBasic.GetAsciiStringRender(span.Slice(1, serialNoLength).ToArray());
            span = span.Slice(1 + serialNoLength);

            // 读取随机码
            if (span.Length < 4) return verifyData;
            verifyData.RandomCode = byteTransform.TransUInt32(span.ToArray(), 0);
            span = span.Slice(4);

            // 读取验证码长度
            if (span.IsEmpty) return verifyData;
            int captchaLength = span[0];

            // 验证验证码
            if (span.Length - 1 < captchaLength) return verifyData;
            verifyData.Captcha = SoftBasic.AsciiBytesToBytes(span.Slice(1, captchaLength).ToArray());

            // 截取剩余数据
            verifyData.Data = span.Slice(captchaLength + 1).ToArray();

            // 校验验证码
            verifyData.IsValid = VerifyCaptcha(verifyData);

            return verifyData;
        }
        /// <summary>
        /// 验证码校验
        /// </summary>
        /// <returns></returns>
        private static bool VerifyCaptcha(VerifyDataModel verifyData)
        {
            byte[] computedHash;
            using (var md5 = MD5.Create())
            {
                computedHash = md5.ComputeHash(Encoding.UTF8.GetBytes(verifyData.SerialNo + verifyData.Password + verifyData.RandomCode));
            }
            var buffer = verifyData.Captcha;
            for (int i = 0; i < 16; i++)
            {
                if (buffer[i] != computedHash[i])
                    return false;
            }

            return true;
        }

        ///<summary>
        ///创建数据验证码
        ///</summary>
        /// <returns></returns>
        protected byte[] CreateData(byte eventType, byte[] data, string serialNo)
        {
            using (var md5 = MD5.Create())
            {
                using (var ms = new MemoryStream())
                {
                    // 1. 预先计算所有字段的长度
                    uint randomCode = (uint)DateTimeOffset.UtcNow.ToUnixTimeSeconds();
                    byte[] randomCodeBytes = byteTransform.TransByte(randomCode);
                    byte[] hash = md5.ComputeHash(Encoding.ASCII.GetBytes(serialNo + PASSWORD + randomCode));
                    byte[] captcha = SoftBasic.BytesToAsciiBytes(hash);

                    // 2. 正确计算剩余长度（关键修正点）
                    // 剩余长度 = 事件类型(1) + 序列号长度(1) + 序列号数据 + 随机码 + 验证码长度(1) + 验证码 + 用户数据
                    short remainingLength = (short)(
                        1 +                        // eventType
                        randomCodeBytes.Length +   // 随机码（固定4字节）
                        1 + captcha.Length +       // 验证码（长度字节 + 数据）
                        data.Length                // 用户数据
                    );

                    // 3. 写入头部（0x30 + 剩余长度）
                    ms.WriteByte(0x30);
                    if (remainingLength <= 127)
                    {
                        ms.WriteByte((byte)remainingLength); // 单字节表示
                    }
                    else
                    {
                        // 假设byteTransform.TransByte将short转为2字节大端序
                        byte[] remainingLengthBytes = byteTransform.TransByte(remainingLength);
                        ms.Write(remainingLengthBytes, 0, remainingLengthBytes.Length);
                    }

                    // 4. 写入各字段（保持原逻辑）
                    ms.WriteByte(eventType);
                    ms.Write(randomCodeBytes, 0, randomCodeBytes.Length);
                    ms.WriteByte((byte)captcha.Length);
                    ms.Write(captcha, 0, captcha.Length);
                    ms.Write(data, 0, data.Length);

                    return ms.ToArray();
                }
            }
        }

        public ushort[][] ParseSensorData(byte[] data, int sensorCount, int sampleCount)
        {
            // 检查数据长度是否匹配
            int expectedLength = sensorCount * sampleCount;
            if (data.Length != expectedLength)
            {
                LogHelper.Error($"数据长度不匹配。预期 {expectedLength} 字节，实际 {data.Length} 字节。");
                return null;
            }

            // 初始化结果列表，每个传感器的数据存储在一个单独的 ushort[]
            ushort[][] sensorDataList = new ushort[sampleCount][];
            for (int i = 0; i < sampleCount; i++)
            {
                sensorDataList[i] = new ushort[sensorCount];
            }

            // 解析数据
            for (int sampleIndex = 0; sampleIndex < sampleCount; sampleIndex++)
            {
                for (int sensorIndex = 0; sensorIndex < sensorCount; sensorIndex++)
                {
                    // 计算数据在字节数组中的位置
                    int dataIndex = (sampleIndex * sensorCount) + sensorIndex;
                    // 将 byte 转换为 ushort（直接赋值，因为 byte 可以隐式转换为 ushort）
                    sensorDataList[sampleIndex][sensorIndex] = data[dataIndex];
                }
            }
            return sensorDataList;
        }

        /// <summary>
        /// 获取剩余长度
        /// </summary>
        /// <param name="bytes"></param>
        /// <param name="startIndex"></param>
        /// <returns></returns>
        public static (int BytesConsumed, int Length) GetRemainingLength(byte[] bytes)
        {
            if (bytes == null || bytes.Length < 2) return (0, 0);

            int index = 1; // 跳过包类型字节
            int multiplier = 1;
            int value = 0;
            byte encodedByte;
            int bytesConsumed = 0;

            do
            {
                if (index >= bytes.Length) return (0, 0);

                encodedByte = bytes[index];
                value += (encodedByte & 0x7F) * multiplier;
                multiplier *= 128;
                index++;
                bytesConsumed++;

                if (multiplier > 128 * 128 * 128) // 防止溢出
                    return (0, 0);

            } while ((encodedByte & 0x80) != 0 && bytesConsumed < 4); // 最多4字节长度

            return (bytesConsumed, value);
        }

        private static (string SerialNo, byte[] Bytes) GetSerialNoAndData(byte[] buffer)
        {
            // 使用Span直接操作内存
            Span<byte> span = buffer.AsSpan();

            // 移除事件类型
            span = span.Slice(1);

            // 读取序列号长度
            if (span.IsEmpty) return (null, null);
            int serialNoLength = span[0];

            // 读取序列号
            if (span.Length - 1 < serialNoLength) return (null, null);

            var serialNo = SoftBasic.GetAsciiStringRender(span.Slice(1, serialNoLength).ToArray());
            buffer = span.Slice(1 + serialNoLength).ToArray();

            return (serialNo, buffer);
        }
    
        public void Dispose()
        {
            try
            {
                _isRunning = false;
                Thread.Sleep(100);
                if (_listener != null)
                {
                    if (_listener.Connected)
                    {
                        _listener.Shutdown(SocketShutdown.Both);
                    }
                    _listener.Close();
                    _listener.Dispose();
                }
            }
            catch (SocketException ex) when (ex.SocketErrorCode == SocketError.NotConnected)
            {
                _listener?.Dispose();
            }
            catch (Exception ex)
            {
                LogHelper.Error($"停止服务时发生异常: {ex.Message}", ex);
            }
            finally
            {
                _listener = null;
            }
        }
    }
}