Use binary multi-vehicle sync transport

MultiWheel/MultiWheelC/PilotDefinition.cs

@@ -17,7 +17,6 @@ using CommonUsage.Mathematics;
 using FundamentalLib;
 using FundamentalLib.Utilities;
 using MDCSToolBox.Clumsy.Pilot.MultiWheel;
-using Newtonsoft.Json;
 using Vector = ClumsyCore.Utilities.Vector;
 
 namespace MultiWheelC;
@@ -426,73 +425,32 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
         var hc = new HttpClient { Timeout = TimeSpan.FromSeconds(2) };
 
-        PicoHttpServer.AddGetHandler("/multi-vehicle-register", new { CarNum = 0, Info = "" }, query =>
+        PicoHttpServer.AddPostByteHandler("/multi-vehicle-register-bin", body =>
         {
             try
             {
-                var infoJson = Uri.UnescapeDataString(query.Info ?? "");
-                var info = JsonConvert.DeserializeObject<VehicleSyncInfo>(infoJson)
-                           ?? throw new Exception("VehicleSyncInfo is null");
-                lock (FleetLock)
-                {
-                    MultiVehicleFleet[query.CarNum] = info;
-                    _multiVehicleFleetSeen[query.CarNum] = DateTime.Now; // C: 刷新存活时刻
-                }
-                return JsonConvert.SerializeObject(new { code = 200, message = "ok" });
+                var (carNum, info) = VehicleSyncBinaryCodec.DecodeRegister(body);
+                ApplyVehicleSyncRegister(carNum, info);
+                return "ok";
             }
             catch (Exception e)
             {
-                DLog.Log($"/multi-vehicle-register error: {e.FormatEx()}", "MultiVehicle");
-                return JsonConvert.SerializeObject(new { code = 500, message = e.Message });
+                DLog.Log($"/multi-vehicle-register-bin error: {e.FormatEx()}", "MultiVehicle");
+                throw;
             }
         });
 
-        // F: notify 改用 POST + JSON body（取代 GET query 串），避免整队 Fleet 字典撑爆 URL 长度上限；
-        //    用 Seq 丢弃乱序到达的旧包，避免从车短暂套用过期指令。
-        PicoHttpServer.AddPostTextHandler("/multi-vehicle-notify", body =>
+        PicoHttpServer.AddPostByteHandler("/multi-vehicle-notify-bin", body =>
         {
             try
             {
-                var notification = JsonConvert.DeserializeObject<VehicleSyncNotification>(body ?? "")
-                                   ?? throw new Exception("notification is null");
-                // 乱序丢弃：仅应用序列号大于已应用值的包。Seq==0 视为旧版无序列号始终接受；
-                // 若 Seq 明显回退(差值>100)，判定为主车重启的新会话，重新接受并对齐序列号。
-                if (notification.Seq != 0 && notification.Seq <= _multiVehicleAppliedSeq &&
-                    notification.Seq > _multiVehicleAppliedSeq - 100)
-                    return JsonConvert.SerializeObject(new { code = 200, message = "stale" });
-                _multiVehicleAppliedSeq = notification.Seq;
-
-                MultiVehicleAligned = notification.Aligned;
-                lock (FleetLock)
-                {
-                    MultiVehicleFleet = notification.Fleet ?? new Dictionary<int, VehicleSyncInfo>();
-                    // C: notify 内含整队成员，逐一刷新其本地存活时刻。
-                    var nowSeen = DateTime.Now;
-                    foreach (var key in MultiVehicleFleet.Keys)
-                        _multiVehicleFleetSeen[key] = nowSeen;
-                }
-                lock (_multiVehicleNotificationLock)
-                {
-                    MultiVehicleNotification = notification;
-                    _multiVehicleLastNotifyTime = DateTime.Now;
-                }
-                var applyNow = DateTime.Now;
-                if ((applyNow - _mvNotifyApplyLastLog).TotalMilliseconds >= 200)
-                {
-                    _mvNotifyApplyLastLog = applyNow;
-                    DLog.Log(
-                        $"car{CarNum} NOTIFY_APPLY seq={notification.Seq} mode={notification.Mode} " +
-                        $"omega={notification.FleetOmega:0.000} reqOmega={notification.RequestedFleetOmega:0.000} " +
-                        $"released={notification.FleetMotionReleased} stop={notification.FleetStopActive} " +
-                        $"reason={notification.FleetStopReason}",
-                        "MultiVehicleRemoteDbg");
-                }
-                return JsonConvert.SerializeObject(new { code = 200, message = "ok" });
+                var notification = VehicleSyncBinaryCodec.DecodeNotification(body);
+                return ApplyVehicleSyncNotification(notification);
             }
             catch (Exception e)
             {
-                DLog.Log($"/multi-vehicle-notify error: {e.FormatEx()}", "MultiVehicle");
-                return JsonConvert.SerializeObject(new { code = 500, message = e.Message });
+                DLog.Log($"/multi-vehicle-notify-bin error: {e.FormatEx()}", "MultiVehicle");
+                throw;
             }
         });
 
@@ -501,6 +459,53 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
         new Thread(() => MultiVehicleLoop(hc)) { Name = "MultiVehicle", IsBackground = true }.Start();
     }
 
+    private void ApplyVehicleSyncRegister(int carNum, VehicleSyncInfo info)
+    {
+        lock (FleetLock)
+        {
+            MultiVehicleFleet[carNum] = info;
+            _multiVehicleFleetSeen[carNum] = DateTime.Now;
+        }
+    }
+
+    private string ApplyVehicleSyncNotification(VehicleSyncNotification notification)
+    {
+        // Keep the same stale-packet semantics as the previous transport.
+        if (notification.Seq != 0 && notification.Seq <= _multiVehicleAppliedSeq &&
+            notification.Seq > _multiVehicleAppliedSeq - 100)
+            return "stale";
+        _multiVehicleAppliedSeq = notification.Seq;
+
+        MultiVehicleAligned = notification.Aligned;
+        lock (FleetLock)
+        {
+            MultiVehicleFleet = notification.Fleet ?? new Dictionary<int, VehicleSyncInfo>();
+            var nowSeen = DateTime.Now;
+            foreach (var key in MultiVehicleFleet.Keys)
+                _multiVehicleFleetSeen[key] = nowSeen;
+        }
+
+        lock (_multiVehicleNotificationLock)
+        {
+            MultiVehicleNotification = notification;
+            _multiVehicleLastNotifyTime = DateTime.Now;
+        }
+
+        var applyNow = DateTime.Now;
+        if ((applyNow - _mvNotifyApplyLastLog).TotalMilliseconds >= 200)
+        {
+            _mvNotifyApplyLastLog = applyNow;
+            DLog.Log(
+                $"car{CarNum} NOTIFY_APPLY seq={notification.Seq} mode={notification.Mode} " +
+                $"omega={notification.FleetOmega:0.000} reqOmega={notification.RequestedFleetOmega:0.000} " +
+                $"released={notification.FleetMotionReleased} stop={notification.FleetStopActive} " +
+                $"reason={notification.FleetStopReason}",
+                "MultiVehicleRemoteDbg");
+        }
+
+        return "ok";
+    }
+
     private void MultiVehicleLoop(HttpClient hc)
     {
         var carLength = CarLength;
@@ -1524,29 +1529,52 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
     private void FireAndForgetRegister(HttpClient hc, VehicleSyncInfo info)
     {
-        ParseMasterEndpoint(out var masterIp, out var masterPort);
-        var infoJson = JsonConvert.SerializeObject(info);
-        var url =
-            $"http://{masterIp}:{masterPort}/multi-vehicle-register?CarNum={CarNum}&Info={Uri.EscapeDataString(infoJson)}";
-        _ = hc.GetStringAsync(url).ContinueWith(t =>
+        try
         {
-            if (t.IsFaulted)
-                DLog.Log($"register failed: {t.Exception?.GetBaseException().Message}", "MultiVehicle");
-        }, TaskScheduler.Default);
+            ParseMasterEndpoint(out var masterIp, out var masterPort);
+            var payload = VehicleSyncBinaryCodec.EncodeRegister(CarNum, info);
+            var url = $"http://{masterIp}:{masterPort}/multi-vehicle-register-bin";
+            _ = PostBinaryAsync(hc, url, payload, "register");
+        }
+        catch (Exception e)
+        {
+            DLog.Log($"register binary encode failed: {e.GetBaseException().Message}", "MultiVehicle");
+        }
     }
 
-    private static void FireAndForgetNotify(HttpClient hc, string ip, int port, VehicleSyncNotification notification)
+    private void FireAndForgetNotify(HttpClient hc, string ip, int port, VehicleSyncNotification notification)
     {
-        // F: POST + JSON body，payload 不再受 URL 长度限制；fire-and-forget 但记录失败。
-        var notifyJson = JsonConvert.SerializeObject(notification);
-        var url = $"http://{ip}:{port}/multi-vehicle-notify";
-        var content = new StringContent(notifyJson, System.Text.Encoding.UTF8, "application/json");
-        _ = hc.PostAsync(url, content).ContinueWith(t =>
+        try
         {
-            content.Dispose();
-            if (t.IsFaulted)
-                DLog.Log($"notify {ip}:{port} failed: {t.Exception?.GetBaseException().Message}", "MultiVehicle");
-        }, TaskScheduler.Default);
+            var payload = VehicleSyncBinaryCodec.EncodeNotification(notification);
+            var url = $"http://{ip}:{port}/multi-vehicle-notify-bin";
+            _ = PostBinaryAsync(hc, url, payload, $"notify {ip}:{port}");
+        }
+        catch (Exception e)
+        {
+            DLog.Log($"notify {ip}:{port} binary encode failed: {e.GetBaseException().Message}", "MultiVehicle");
+        }
+    }
+
+    private static async Task PostBinaryAsync(HttpClient hc, string url, byte[] payload, string description)
+    {
+        try
+        {
+            using var content = new ByteArrayContent(payload);
+            content.Headers.ContentType =
+                new System.Net.Http.Headers.MediaTypeHeaderValue("application/octet-stream");
+            using var response = await hc.PostAsync(url, content).ConfigureAwait(false);
+            if (response.IsSuccessStatusCode)
+                return;
+
+            DLog.Log(
+                $"{description} binary failed: HTTP {(int)response.StatusCode} {response.ReasonPhrase}",
+                "MultiVehicle");
+        }
+        catch (Exception e)
+        {
+            DLog.Log($"{description} binary failed: {e.GetBaseException().Message}", "MultiVehicle");
+        }
     }
 
     private void ResolveMultiVehicleSelfEndpoint(out string ip, out int port)