feat(win): T-WIN-003 WebSocket 关键点接收服务
This commit is contained in:
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class_name PoseServer
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extends Node
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## T-WIN-003：WebSocket 关键点接收服务
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##
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## 契约 contracts/websocket-keypoints.md §1：
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## 端点 ws://<windows-host>:8765/pose
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## 子协议 opendance.pose.v1
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## 二进制帧 = 239 字节关键点（见 KeypointFrame）
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## 文本帧 = JSON 控制消息（hello / welcome / config / stats / bye）
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##
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## 本端为**服务端**，Android 辅助 App 主动连入。
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##
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## 说明：Godot 的 WebSocketPeer 不暴露握手请求路径，因此无法校验客户端
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## 连接的 path 是否为 /pose；本实现接受任意 path，仅校验子协议。
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signal listening(port: int)
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signal listen_failed(port: int, reason: String)
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signal client_connected(client_id: int, device: String)
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signal client_disconnected(client_id: int, reason: String)
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signal frame_received(frame: KeypointFrame.PoseFrame)
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signal control_received(client_id: int, message: Dictionary)
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signal stats_updated(stats: Dictionary)
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const KeypointFrame = preload("res://src/net/keypoint_frame.gd")
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const DEFAULT_PORT := 8765
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const DEFAULT_SUBPROTOCOL := "opendance.pose.v1"
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## 超过该时长（毫秒）没有收到任何帧，判定为超时断开
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const CLIENT_TIMEOUT_MS := 5000
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## 每秒向客户端推送一次 config 的间隔（0 表示不主动推送）
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const CONFIG_PUSH_INTERVAL_MS := 2000
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var subprotocol: String = DEFAULT_SUBPROTOCOL
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var expected_fps: int = 30
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var mirror: bool = false
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var upper_body_only: bool = false
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var resolution: String = "640x480"
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var _tcp := TCPServer.new()
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var _clients: Array = []
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var _next_client_id: int = 1
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var _port: int = 0
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var _running: bool = false
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var _last_config_push_ms: int = 0
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## 累计统计
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var frames_total: int = 0
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var frames_dropped: int = 0
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var malformed_frames: int = 0
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var last_frame: KeypointFrame.PoseFrame = null
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var last_frame_at_ms: int = 0
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func is_running() -> bool:
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return _running
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func port() -> int:
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return _port
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func client_count() -> int:
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return _clients.size()
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## 已握手完成的连接数
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func connected_count() -> int:
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var n := 0
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for entry in _clients:
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if entry["handshaken"]:
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n += 1
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return n
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func listen(host: String = "0.0.0.0", listen_port: int = DEFAULT_PORT) -> Error:
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stop()
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var bind_host := host
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if bind_host == "" or bind_host == "0.0.0.0":
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bind_host = "*"
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var err := _tcp.listen(listen_port, bind_host)
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if err != OK:
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listen_failed.emit(listen_port, error_string(err))
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push_error("[PoseServer] 监听 %s:%d 失败：%s" % [host, listen_port, error_string(err)])
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return err
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_port = listen_port
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_running = true
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set_process(true)
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listening.emit(listen_port)
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return OK
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func stop() -> void:
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_running = false
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for entry in _clients:
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var peer: WebSocketPeer = entry["peer"]
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if peer.get_ready_state() == WebSocketPeer.STATE_OPEN:
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peer.close(1001, "server shutdown")
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_tcp.stop()
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_clients.clear()
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set_process(false)
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func _ready() -> void:
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set_process(false)
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func _process(_delta: float) -> void:
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if not _running:
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return
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_accept_new_connections()
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_poll_clients()
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_maybe_push_config()
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func _accept_new_connections() -> void:
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while _tcp.is_connection_available():
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var conn := _tcp.take_connection()
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if conn == null:
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continue
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var peer := WebSocketPeer.new()
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peer.supported_protocols = PackedStringArray([subprotocol])
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var err := peer.accept_stream(conn)
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if err != OK:
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push_warning("[PoseServer] accept_stream 失败：%s" % error_string(err))
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continue
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_clients.append({
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"id": _next_client_id,
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"peer": peer,
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"handshaken": false,
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"device": "",
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"last_seen_ms": Time.get_ticks_msec(),
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"last_frame_id": -1,
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"frames": 0,
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"dropped": 0,
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"fps_window_start_ms": Time.get_ticks_msec(),
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"fps_window_frames": 0,
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"fps": 0.0,
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})
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_next_client_id += 1
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func _poll_clients() -> void:
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var now := Time.get_ticks_msec()
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var survivors: Array = []
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for entry in _clients:
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var peer: WebSocketPeer = entry["peer"]
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peer.poll()
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var state := peer.get_ready_state()
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if state == WebSocketPeer.STATE_CLOSED:
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client_disconnected.emit(entry["id"], "连接已关闭")
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continue
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if state == WebSocketPeer.STATE_OPEN and not entry["handshaken"]:
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entry["handshaken"] = true
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var selected := peer.get_selected_protocol()
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if selected != "" and selected != subprotocol:
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push_warning("[PoseServer] 客户端选择子协议 %s，与期望 %s 不符" % [selected, subprotocol])
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client_connected.emit(entry["id"], entry["device"])
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while peer.get_available_packet_count() > 0:
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_handle_packet(entry, peer)
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entry["last_seen_ms"] = now
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# 超时剔除
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if entry["handshaken"] and now - int(entry["last_seen_ms"]) > CLIENT_TIMEOUT_MS:
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client_disconnected.emit(entry["id"], "超时未收到数据")
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peer.close(1001, "timeout")
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continue
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survivors.append(entry)
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_clients = survivors
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func _handle_packet(entry: Dictionary, peer: WebSocketPeer) -> void:
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var packet := peer.get_packet()
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var is_text := peer.was_string_packet()
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if is_text:
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_handle_control(entry, packet.get_string_from_utf8())
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return
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# 二进制帧：契约要求恰好 239 字节
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var problem := KeypointFrame.validate(packet)
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if problem != "":
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malformed_frames += 1
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push_warning("[PoseServer] 客户端 %d 发来非法帧：%s" % [entry["id"], problem])
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return
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var frame := KeypointFrame.decode(packet)
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if frame == null:
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malformed_frames += 1
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return
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_update_frame_stats(entry, frame)
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frames_total += 1
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last_frame = frame
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last_frame_at_ms = Time.get_ticks_msec()
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frame_received.emit(frame)
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func _update_frame_stats(entry: Dictionary, frame: KeypointFrame.PoseFrame) -> void:
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var previous := int(entry["last_frame_id"])
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if previous >= 0 and frame.frame_id > previous + 1:
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# u32 回绕保护：差距过大视为计数器重置而非丢包
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var gap := frame.frame_id - previous - 1
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if gap < 100000:
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entry["dropped"] = int(entry["dropped"]) + gap
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frames_dropped += gap
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entry["last_frame_id"] = frame.frame_id
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entry["frames"] = int(entry["frames"]) + 1
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entry["fps_window_frames"] = int(entry["fps_window_frames"]) + 1
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var now := Time.get_ticks_msec()
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var elapsed := now - int(entry["fps_window_start_ms"])
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if elapsed >= 1000:
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entry["fps"] = float(entry["fps_window_frames"]) * 1000.0 / float(elapsed)
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entry["fps_window_frames"] = 0
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entry["fps_window_start_ms"] = now
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var stats := {
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"client_id": entry["id"],
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"fps": entry["fps"],
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"frames": entry["frames"],
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"dropped": entry["dropped"],
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"device": entry["device"],
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"total_frames": frames_total,
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"total_dropped": frames_dropped,
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"malformed": malformed_frames,
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}
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stats_updated.emit(stats)
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func _handle_control(entry: Dictionary, text: String) -> void:
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var parsed: Variant = JSON.parse_string(text)
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if typeof(parsed) != TYPE_DICTIONARY:
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push_warning("[PoseServer] 客户端 %d 发来非法控制帧" % entry["id"])
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return
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var message: Dictionary = parsed
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var type := str(message.get("type", ""))
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control_received.emit(entry["id"], message)
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match type:
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"hello":
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entry["device"] = str(message.get("device", ""))
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var protocol := str(message.get("protocol", subprotocol))
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if protocol != subprotocol:
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push_warning("[PoseServer] 协议版本不匹配：客户端 %s，本端 %s" % [protocol, subprotocol])
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_send_json(entry, {
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"type": "bye",
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"reason": "protocol_mismatch: 本端要求 %s" % subprotocol,
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})
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var peer: WebSocketPeer = entry["peer"]
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peer.close(1002, "protocol mismatch")
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return
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if message.has("targetFps"):
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expected_fps = int(message["targetFps"])
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_send_json(entry, {
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"type": "welcome",
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"protocol": subprotocol,
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"sessionId": _session_id(),
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"expectedFps": expected_fps,
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})
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"bye":
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client_disconnected.emit(entry["id"], str(message.get("reason", "客户端主动断开")))
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var peer2: WebSocketPeer = entry["peer"]
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peer2.close(1000, "bye")
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_:
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pass
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func _maybe_push_config() -> void:
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if CONFIG_PUSH_INTERVAL_MS <= 0:
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return
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var now := Time.get_ticks_msec()
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if now - _last_config_push_ms < CONFIG_PUSH_INTERVAL_MS:
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return
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_last_config_push_ms = now
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broadcast_config()
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func broadcast_config() -> void:
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var payload := {
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"type": "config",
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"mirror": mirror,
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"targetFps": expected_fps,
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"upperBodyOnly": upper_body_only,
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"resolution": resolution,
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}
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for entry in _clients:
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if entry["handshaken"]:
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_send_json(entry, payload)
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func _send_json(entry: Dictionary, payload: Dictionary) -> void:
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var peer: WebSocketPeer = entry["peer"]
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if peer.get_ready_state() != WebSocketPeer.STATE_OPEN:
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return
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peer.send_text(JSON.stringify(payload))
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func _session_id() -> String:
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return "%d-%d" % [Time.get_unix_time_from_system(), _port]
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func snapshot() -> Dictionary:
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return {
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"running": _running,
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"port": _port,
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"clients": _clients.size(),
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"connected": connected_count(),
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"frames_total": frames_total,
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"frames_dropped": frames_dropped,
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"malformed_frames": malformed_frames,
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}
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@@ -0,0 +1,295 @@
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extends TestCase
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## T-WIN-003：WebSocket 关键点接收服务
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##
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## 这是真实的 socket 端到端测试：在本机起 PoseServer，
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## 用 WebSocketPeer 作为客户端连入，走完整的握手 → 二进制帧 → 控制帧流程。
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const PoseServer = preload("res://src/net/pose_server.gd")
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const KeypointFrame = preload("res://src/net/keypoint_frame.gd")
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const TEST_PORT := 18765
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const SUBPROTOCOL := "opendance.pose.v1"
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var _server: PoseServer = null
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var _client: WebSocketPeer = null
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var _received: Array = []
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var _controls: Array = []
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var _connected := 0
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func _tree() -> SceneTree:
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return Engine.get_main_loop() as SceneTree
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## 推进若干帧，让服务端与客户端都有机会 poll
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func _pump(frames: int = 1) -> void:
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for i in frames:
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await _tree().process_frame
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func _setup() -> void:
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_received.clear()
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_controls.clear()
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_connected = 0
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_server = PoseServer.new()
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_server.subprotocol = SUBPROTOCOL
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_tree().root.add_child(_server)
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_server.frame_received.connect(func(frame): _received.append(frame))
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_server.control_received.connect(func(_id, msg): _controls.append(msg))
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_server.client_connected.connect(func(_id, _device): _connected += 1)
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_server.listen("127.0.0.1", TEST_PORT)
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_client = WebSocketPeer.new()
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_client.supported_protocols = PackedStringArray([SUBPROTOCOL])
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_client.connect_to_url("ws://127.0.0.1:%d/pose" % TEST_PORT)
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# 等待握手完成
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var guard := 0
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while _client.get_ready_state() == WebSocketPeer.STATE_CONNECTING and guard < 240:
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_client.poll()
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await _pump()
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guard += 1
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func _teardown() -> void:
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if _client != null:
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_client.close()
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_client = null
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if _server != null:
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_server.stop()
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_server.queue_free()
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_server = null
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await _pump(2)
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func _sample_points(offset: float = 0.0) -> PackedVector3Array:
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var points := PackedVector3Array()
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points.resize(33)
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for i in 33:
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points[i] = Vector3(
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clampf(0.5 + offset + float(i % 9) * 0.01, 0.0, 1.0),
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clampf(0.5 + float(i % 7) * 0.02, 0.0, 1.0),
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float((i % 5) - 2) * 0.1
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)
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return points
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func _sample_confidence() -> PackedFloat32Array:
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var conf := PackedFloat32Array()
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conf.resize(33)
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conf.fill(1.0)
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return conf
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## 把客户端收到的包取出来
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func _drain_client() -> Array:
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var out: Array = []
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while _client.get_available_packet_count() > 0:
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var packet := _client.get_packet()
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out.append({
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"text": packet.get_string_from_utf8() if _client.was_string_packet() else "",
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"binary": packet if not _client.was_string_packet() else PackedByteArray(),
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"is_text": _client.was_string_packet(),
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})
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return out
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func test_listen_and_handshake() -> void:
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await _setup()
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is_true(_server.is_running(), "服务端进入监听状态")
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eq(_server.port(), TEST_PORT, "监听端口正确")
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eq(_client.get_ready_state(), WebSocketPeer.STATE_OPEN, "客户端握手成功（STATE_OPEN）")
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await _pump(3)
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eq(_connected, 1, "服务端发出 client_connected 信号")
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eq(_server.connected_count(), 1, "已握手连接数为 1")
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await _teardown()
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func test_subprotocol_is_negotiated() -> void:
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await _setup()
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eq(_client.get_selected_protocol(), SUBPROTOCOL, "子协议协商为 opendance.pose.v1")
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await _teardown()
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func test_hello_gets_welcome() -> void:
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await _setup()
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_client.send_text(JSON.stringify({
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"type": "hello",
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"protocol": SUBPROTOCOL,
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"device": "Pixel 8 (测试)",
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"appVersion": "0.1.0",
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"cameraFacing": "front",
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"targetFps": 30,
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"resolution": "640x480",
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}))
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var got_welcome := false
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var welcome: Dictionary = {}
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for i in 60:
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_client.poll()
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await _pump()
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for packet in _drain_client():
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if packet["is_text"]:
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var parsed: Variant = JSON.parse_string(packet["text"])
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if typeof(parsed) == TYPE_DICTIONARY and str((parsed as Dictionary).get("type", "")) == "welcome":
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welcome = parsed
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got_welcome = true
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if got_welcome:
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break
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is_true(got_welcome, "收到 welcome 控制帧")
|
||||
eq(str(welcome.get("protocol", "")), SUBPROTOCOL, "welcome 回显协议版本")
|
||||
ok(welcome.has("sessionId"), "welcome 含 sessionId")
|
||||
ok(_controls.size() > 0, "服务端发出 control_received 信号")
|
||||
eq(str(_controls[0].get("device", "")), "Pixel 8 (测试)", "hello 中的设备名被记录")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_binary_frame_is_received_and_decoded() -> void:
|
||||
await _setup()
|
||||
var points := _sample_points()
|
||||
var conf := _sample_confidence()
|
||||
_client.send(KeypointFrame.encode(1, points, conf, 0))
|
||||
|
||||
var got := false
|
||||
for i in 60:
|
||||
_client.poll()
|
||||
await _pump()
|
||||
if _received.size() > 0:
|
||||
got = true
|
||||
break
|
||||
|
||||
is_true(got, "服务端收到并解析出关键点帧")
|
||||
if got:
|
||||
var frame: KeypointFrame.PoseFrame = _received[0]
|
||||
eq(frame.frame_id, 1, "frame_id 解析正确")
|
||||
eq(frame.points.size(), 33, "33 个关键点")
|
||||
var max_delta := 0.0
|
||||
for i in 33:
|
||||
max_delta = maxf(max_delta, absf(frame.points[i].x - points[i].x))
|
||||
ok(max_delta < 1e-4, "坐标经网络往返后仍在定点精度内", "最大误差 %.8f" % max_delta)
|
||||
eq(_server.frames_total, 1, "累计帧计数为 1")
|
||||
eq(_server.malformed_frames, 0, "无畸形帧")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_malformed_frame_is_rejected_without_crashing() -> void:
|
||||
await _setup()
|
||||
|
||||
# 长度错误
|
||||
_client.send(PackedByteArray([1, 2, 3]))
|
||||
# magic 错误但长度正确
|
||||
var bad := PackedByteArray()
|
||||
bad.resize(239)
|
||||
_client.send(bad)
|
||||
# 正常帧，用于确认连接未被破坏
|
||||
_client.send(KeypointFrame.encode(1, _sample_points(), _sample_confidence(), 0))
|
||||
|
||||
var good_arrived := false
|
||||
for i in 90:
|
||||
_client.poll()
|
||||
await _pump()
|
||||
if _received.size() > 0:
|
||||
good_arrived = true
|
||||
break
|
||||
|
||||
eq(_server.malformed_frames, 2, "两个畸形帧被拒绝并计数")
|
||||
is_true(good_arrived, "畸形帧之后连接仍可正常收帧")
|
||||
eq(_server.frames_total, 1, "仅有效帧计入累计")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_frame_id_gap_is_counted_as_dropped() -> void:
|
||||
await _setup()
|
||||
var conf := _sample_confidence()
|
||||
_client.send(KeypointFrame.encode(1, _sample_points(), conf))
|
||||
_client.send(KeypointFrame.encode(2, _sample_points(0.01), conf))
|
||||
# 跳过 3、4、5
|
||||
_client.send(KeypointFrame.encode(6, _sample_points(0.02), conf))
|
||||
|
||||
var guard := 0
|
||||
while _received.size() < 3 and guard < 120:
|
||||
_client.poll()
|
||||
await _pump()
|
||||
guard += 1
|
||||
|
||||
eq(_received.size(), 3, "收到 3 帧")
|
||||
eq(_server.frames_dropped, 3, "frame_id 跳号被计为丢包（3 帧）")
|
||||
eq(_server.frames_total, 3, "累计收到 3 帧")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_upper_body_and_mirror_flags_survive_transport() -> void:
|
||||
await _setup()
|
||||
var flags := KeypointFrame.FLAG_MIRRORED | KeypointFrame.FLAG_UPPER_BODY_ONLY
|
||||
_client.send(KeypointFrame.encode(7, _sample_points(), _sample_confidence(), flags))
|
||||
|
||||
var guard := 0
|
||||
while _received.is_empty() and guard < 90:
|
||||
_client.poll()
|
||||
await _pump()
|
||||
guard += 1
|
||||
|
||||
if _received.is_empty():
|
||||
ok(false, "未收到帧")
|
||||
else:
|
||||
var frame: KeypointFrame.PoseFrame = _received[0]
|
||||
is_true(frame.is_mirrored(), "镜像标志经网络传输保留")
|
||||
is_true(frame.is_upper_body_only(), "上半身模式标志经网络传输保留")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_config_broadcast_reaches_client() -> void:
|
||||
await _setup()
|
||||
await _pump(3)
|
||||
|
||||
_server.mirror = true
|
||||
_server.expected_fps = 24
|
||||
_server.broadcast_config()
|
||||
|
||||
var config: Dictionary = {}
|
||||
for i in 60:
|
||||
_client.poll()
|
||||
await _pump()
|
||||
for packet in _drain_client():
|
||||
if packet["is_text"]:
|
||||
var parsed: Variant = JSON.parse_string(packet["text"])
|
||||
if typeof(parsed) == TYPE_DICTIONARY and str((parsed as Dictionary).get("type", "")) == "config":
|
||||
config = parsed
|
||||
if not config.is_empty():
|
||||
break
|
||||
|
||||
is_false(config.is_empty(), "客户端收到 config 控制帧")
|
||||
eq(bool(config.get("mirror", false)), true, "config.mirror 正确")
|
||||
eq(int(config.get("targetFps", 0)), 24, "config.targetFps 正确")
|
||||
ok(config.has("upperBodyOnly"), "config 含 upperBodyOnly")
|
||||
ok(config.has("resolution"), "config 含 resolution")
|
||||
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_snapshot_reports_state() -> void:
|
||||
await _setup()
|
||||
await _pump(3)
|
||||
var snap := _server.snapshot()
|
||||
is_true(bool(snap["running"]), "snapshot 报告运行中")
|
||||
eq(int(snap["port"]), TEST_PORT, "snapshot 报告端口")
|
||||
eq(int(snap["connected"]), 1, "snapshot 报告已连接 1 个客户端")
|
||||
await _teardown()
|
||||
|
||||
|
||||
func test_stop_closes_listener() -> void:
|
||||
await _setup()
|
||||
_server.stop()
|
||||
is_false(_server.is_running(), "stop() 后不再监听")
|
||||
eq(_server.connected_count(), 0, "stop() 后连接清空")
|
||||
await _teardown()
|
||||
Reference in New Issue
Block a user