XinFeiTingZhen_Dog/Assets/Third/SensorModule/Scripts/SensorManager.cs

// SensorManager.cs
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Text;
using System.Threading;
using UnityEngine;
using UnityThreadingUtils;

public class SensorManager : MonoBehaviour
{
    public enum DataType
    {
        字符串,
        字节流,
    }

    #region 串口参数
    [Header("波特率")]
    public int baudRate = 115200;
    [Header("奇偶校验")]
    private Parity parity = Parity.None;
    [Header("数据位")]
    private int dataBits = 8;
    [Header("停止位")]
    private StopBits stopBits = StopBits.One;
    [Header("接收数据格式")]
    public DataType dataType;
    #endregion

    // 1. 修改：使用列表存储多个串口及相关线程
    private List<SerialPort> serialPorts = new List<SerialPort>();
    private List<Thread> receiveThreads = new List<Thread>();

    private Dictionary<string, Sensor> allSensor = new Dictionary<string, Sensor>();
    public GameObject sensorView;

    private void Start()
    {
        // 1. 自动查找并连接所有可用端口
        List<string> connectedPorts = AutoConnectAll();

        if (connectedPorts.Count == 0)
        {
            Debug.LogError("没有找到可用的串口设备。");
            return;
        }

        // 2. 初始化传感器
        foreach (Sensor s in GetComponentsInChildren<Sensor>())
        {
            allSensor.TryAdd(s.GetType().Name, s);
            s.Init(this); // 立即初始化
        }
    }

    /// <summary>
    /// 自动查找并连接所有可用的串口
    /// </summary>
    /// <returns>成功连接的端口名称列表</returns>
    private List<string> AutoConnectAll()
    {
        List<string> connectedPorts = new List<string>();
        string[] portNames = SerialPort.GetPortNames();

        if (portNames.Length == 0)
        {
            Debug.LogWarning("未检测到任何串口硬件。");
            return connectedPorts;
        }

        foreach (string name in portNames)
        {
            try
            {
                SerialPort sp = new SerialPort(name, baudRate, parity, dataBits, stopBits);
                sp.ReadTimeout = 1000;
                sp.Open();

                // 连接成功，加入列表
                serialPorts.Add(sp);
                connectedPorts.Add(name);
                Debug.Log($"成功连接设备: {name}");

                // 2. 为每一个端口启动独立的接收线程
                Thread thread = new Thread(() => DataReceiveThread(sp));
                thread.IsBackground = true;
                thread.Start();
                receiveThreads.Add(thread);

            }
            catch (Exception e)
            {
                Debug.LogWarning($"端口 {name} 连接失败: {e.Message}");
            }
        }

        return connectedPorts;
    }

    /// <summary>
    /// 通用的数据接收线程方法（每个串口一个）
    /// </summary>
    /// <param name="port">当前处理的串口对象</param>
    private void DataReceiveThread(SerialPort port)
    {
        while (true)
        {
            // 检查端口是否还有效
            if (port == null || !port.IsOpen) break;

            try
            {
                if (port.BytesToRead > 0)
                {
                    string receivedData = "";

                    // 根据格式解析数据
                    if (dataType == DataType.字节流)
                    {
                        byte[] buffer = new byte[port.BytesToRead];
                        port.Read(buffer, 0, buffer.Length);
                        receivedData = Encoding.Default.GetString(buffer);
                    }
                    else // 字符串
                    {
                        receivedData = port.ReadExisting();
                    }

                    // 使用调度器将任务抛回主线程
                    UnityMainThreadDispatcher.Instance().Enqueue(() =>
                    {
                        // 3. 关键：将数据和端口名一起分发给所有传感器
                        // 你可以在这里写逻辑，比如只处理特定端口的数据，或者广播给所有
                        foreach (var sensor in allSensor.Values)
                        {
                            sensor.ReceiveData(receivedData, port.PortName);
                        }
                    });
                }
            }
            catch (TimeoutException)
            {
                // 超时正常，继续循环
                continue;
            }
            catch (Exception ex)
            {
                Debug.Log($"读取 {port.PortName} 时出错: {ex.Message}");
                break; // 读取出错，退出线程循环
            }

            Thread.Sleep(20); // 防止CPU占用过高
        }
    }

    /// <summary>
    /// 发送数据（广播模式：向所有打开的端口发送）
    /// </summary>
    /// <param name="str"></param>
    public void SendFunction(string str)
    {
        if (string.IsNullOrEmpty(str)) return;

        byte[] dataSend = Encoding.ASCII.GetBytes(str);

        // 遍历所有串口，向每一个发送数据
        foreach (var sp in serialPorts)
        {
            try
            {
                if (sp != null && sp.IsOpen)
                {
                    sp.Write(dataSend, 0, dataSend.Length);
                    Debug.Log($"向 {sp.PortName} 发送: {str}");
                }
            }
            catch (Exception e)
            {
                Debug.LogError($"发送失败 {sp?.PortName}: {e.Message}");
            }
        }
    }
    private void Update()
    {
        if (Input.GetKeyDown(KeyCode.Space))
        {
            if (sensorView.activeSelf)
            {
                sensorView.SetActive(false);
            }
            else
            {
                sensorView.SetActive(true);
            }
        }
    }
    // 获取传感器逻辑保持不变
    public T GetSensor<T>() where T : Sensor
    {
        string name = typeof(T).Name;
        if (!allSensor.ContainsKey(name))
        {
            T comp = GetComponentInChildren<T>();
            if (comp != null)
            {
                allSensor[name] = comp;
                comp.Init(this);
            }
        }
        return allSensor[name] as T;
    }

    // 退出时关闭所有端口
    private void OnApplicationQuit()
    {
        foreach (var sp in serialPorts)
        {
            try
            {
                if (sp != null && sp.IsOpen) sp.Close();
                sp?.Dispose();
            }
            catch (Exception e) { Debug.Log(e.Message); }
        }
        serialPorts.Clear();
        receiveThreads.Clear();
    }
}