WinError 10038错误排查：MediaPipe向Unity传输姿态数据失败

我在尝试通过TCP Socket将MediaPipe姿态估计的数据发送到Unity时，客户端出现WinError 10038错误（尝试对非套接字执行操作）。以下是客户端Python代码和服务器端Unity C#代码：

客户端Python代码 #

import socket
import PoseEstimation as pm
import cv2

host, port = "127.0.0.1", 25001
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host, port))
cap = cv2.VideoCapture(0)
detector = pm.PoseEstimatior()

def sendData(lmString, sock, host, port):
    #sock.connect((host, port))
    sock.send(lmString.encode("utf-8"))
    response = sock.recv(1024).decode("utf-8")
    print(response)
    #sock.close()

while cap.isOpened():
    _, img = cap.read()
    img = detector.findPose(img)
    lmList, complete = detector.getPosition(img)
    lmString = ','.join([','.join(map(str, inner_list)) for inner_list in lmList])
    
    if complete:
        sendData(lmString, sock, host, port)

    cv2.imshow("Image", img)
    
    if cv2.waitKey(1) == ord('q'):
        break
sock.close()
cap.release()
cv2.destroyAllWindows()

服务器端Unity C#代码 #

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

public class MyListener : MonoBehaviour
{
    Thread thread;
    public int connectionPort = 25001;
    TcpListener server;
    TcpClient client;
    bool running;
    public GameObject[] Body;
    Vector3[] position = Enumerable.Repeat(Vector3.zero, 33).ToArray();

    void Start()
    {
        // 单独线程接收数据，避免Unity卡顿
        ThreadStart ts = new ThreadStart(GetData);
        thread = new Thread(ts);
        thread.Start();
    }

    void GetData()
    {
        // 创建服务器
        server = new TcpListener(IPAddress.Any, connectionPort);
        server.Start();

        // 获取客户端连接
        client = server.AcceptTcpClient();

        // 开始监听
        running = true;
        while (running)
        {
            Connection();
        }
        server.Stop();
    }

    void Connection()
    {
        // 读取网络流数据
        NetworkStream nwStream = client.GetStream();
        byte[] buffer = new byte[client.ReceiveBufferSize];
        int bytesRead = nwStream.Read(buffer, 0, client.ReceiveBufferSize);

        // 解码为字符串
        string dataReceived = Encoding.UTF8.GetString(buffer, 0, bytesRead);

        // 过滤空字符串
        if (dataReceived != null && dataReceived != "")
        {
            // 解析数据格式
            position = ParseData(dataReceived);
            nwStream.Write(buffer, 0, bytesRead);
        }
    }

    // 自定义数据解析函数，需匹配发送端格式
    public static Vector3[] ParseData(string dataString)
    {
        Debug.Log(dataString);

        // 分割数据为数组
        string[] stringArray = dataString.Split(',');
        Vector3[] vectors = new Vector3[33];

        for (int i = 0; i < 33; i++)
        {
            float x = float.Parse(stringArray[1 + (i * 4)]) / 100;
            float y = float.Parse(stringArray[2 + (i * 4)]) / 100;
            float z = float.Parse(stringArray[3 + (i * 4)]) / 100;
            vectors[i] = new Vector3(x, y, z);
        }

        return vectors;
    }

    void Update()
    {
        // 更新场景中物体位置
        for (int i = 0; i < 33; i++)
        {
            Body[i].transform.localPosition = position[i];
        }
    }
}

错误原因及修复方案 #

WinError 10038本质是操作了失效的套接字对象，以下是针对性修复：

1. 客户端添加连接异常处理
   当服务器断开连接时，客户端套接字会失效，需捕获异常并重新连接：

   def sendData(lmString, sock, host, port):
       try:
           sock.send(lmString.encode("utf-8"))
           response = sock.recv(1024).decode("utf-8")
           print(response)
       except (BrokenPipeError, ConnectionResetError, socket.error) as e:
           print(f"连接失效，重新连接: {e}")
           sock.close()
           sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
           sock.connect((host, port))
           sock.send(lmString.encode("utf-8"))
           response = sock.recv(1024).decode("utf-8")
           print(response)
       return sock
   
   # 主循环中更新套接字对象
   if complete:
       sock = sendData(lmString, sock, host, port)
   

2. 服务器端优化连接逻辑
   当前服务器仅处理一次连接，断开后无法重新接收，需修改为循环等待新连接：

   void GetData()
   {
       server = new TcpListener(IPAddress.Any, connectionPort);
       server.Start();
       running = true;
       while (running)
       {
           try
           {
               client = server.AcceptTcpClient();
               while (running && client.Connected)
               {
                   Connection();
               }
           }
           catch (SocketException)
           {
               client?.Close();
           }
       }
       server.Stop();
   }
   
   void Connection()
   {
       if (!client.Connected) return;
       try
       {
           NetworkStream nwStream = client.GetStream();
           if (!nwStream.CanRead) return;
           byte[] buffer = new byte[client.ReceiveBufferSize];
           int bytesRead = nwStream.Read(buffer, 0, client.ReceiveBufferSize);
           if (bytesRead <= 0)
           {
               client.Close();
               return;
           }
           string dataReceived = Encoding.UTF8.GetString(buffer, 0, bytesRead);
           if (!string.IsNullOrEmpty(dataReceived))
           {
               position = ParseData(dataReceived);
               nwStream.Write(buffer, 0, bytesRead);
           }
       }
       catch (IOException)
       {
           client.Close();
       }
   }
   

3. 验证数据格式一致性
   确保MediaPipe输出的姿态数据符合服务器解析逻辑（33个关键点，每个点4个数值），避免因数据错误导致连接中断：

   lmString = ','.join([','.join(map(str, inner_list)) for inner_list in lmList])
   # 验证数据段数量是否为33*4=132
   if len(lmString.split(',')) == 132 and complete:
       sock = sendData(lmString, sock, host, port)
   else:
       print("姿态数据格式错误，跳过发送")
   

内容的提问来源于stack exchange，提问作者YanHem