287 lines
9.7 KiB
C#
287 lines
9.7 KiB
C#
using Aitex.Core.RT.Event;
|
||
using Aitex.Core.RT.Log;
|
||
using MECF.Framework.Common.Equipment;
|
||
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
|
||
using System;
|
||
using System.Collections.Generic;
|
||
using System.Linq;
|
||
using System.Net;
|
||
using System.Net.Sockets;
|
||
using System.Text;
|
||
using System.Threading;
|
||
using System.Threading.Tasks;
|
||
|
||
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.OcrReaders.Cognex
|
||
{
|
||
public class CognexAsyncSocket : ICommunication, IDisposable
|
||
{
|
||
public delegate void ErrorHandler(ErrorEventArgs args);
|
||
public event ErrorHandler OnErrorHappened;
|
||
|
||
public delegate void MessageHandler(string message);
|
||
public event MessageHandler OnDataChanged;
|
||
|
||
private static Object _locker = new Object();
|
||
|
||
public class ClientStateObject
|
||
{
|
||
// Client socket.
|
||
public Socket workSocket = null;
|
||
// Size of receive buffer.
|
||
public static int BufferSize = 256;
|
||
// Receive buffer.
|
||
public byte[] buffer = new byte[BufferSize];
|
||
// Received data string.
|
||
public StringBuilder sb = new StringBuilder();
|
||
|
||
public ClientStateObject(int bufferSize = 256)
|
||
{
|
||
BufferSize = bufferSize;
|
||
buffer = new byte[bufferSize];
|
||
}
|
||
}
|
||
|
||
public string NewLine { get; set; }
|
||
public bool NeedLog { get; set; } = true;
|
||
|
||
private Socket _socket;
|
||
|
||
private string _ip;
|
||
private int _port;
|
||
private string _address;
|
||
private int _bufferSize = 256;
|
||
|
||
public bool IsConnected { get { return (_socket != null && _socket.Connected); } } //&& !_socket.Poll(100, SelectMode.SelectRead)); } }
|
||
public bool IsHstConnected { get { return (_socket != null && IsSocketConnected(_socket)); } }
|
||
private bool IsSocketConnected(Socket client)
|
||
{
|
||
try
|
||
{
|
||
byte[] tmp = new byte[] { 0x0 };
|
||
//int a= newclient.Receive(tmp);
|
||
int a = client.Send(tmp);
|
||
if (a == 1)
|
||
return true;
|
||
else
|
||
return false;
|
||
}
|
||
catch (SocketException e)
|
||
{
|
||
LOG.Write(e.Message);
|
||
return false;
|
||
}
|
||
|
||
}
|
||
public CognexAsyncSocket(string address, string newline = "\r")
|
||
{
|
||
// Connect(address);
|
||
_socket = null;
|
||
NewLine = newline;
|
||
_address = address;
|
||
}
|
||
|
||
public CognexAsyncSocket(string address, int bufferSize, string newline = "\r")
|
||
{
|
||
_socket = null;
|
||
NewLine = newline;
|
||
_address = address;
|
||
_bufferSize = bufferSize;
|
||
}
|
||
|
||
~CognexAsyncSocket()
|
||
{
|
||
Dispose();
|
||
}
|
||
|
||
public void Connect(string address)
|
||
{
|
||
try
|
||
{
|
||
_ip = address.Split(':')[0];
|
||
_port = int.Parse(address.Split(':')[1]);
|
||
IPAddress ipAddress = IPAddress.Parse(_ip);
|
||
IPEndPoint remoteEP = new IPEndPoint(ipAddress, _port);
|
||
|
||
lock (_locker)
|
||
{
|
||
//Dispose current socket and create a TCP/IP socket.
|
||
Dispose();
|
||
|
||
if (_socket == null)
|
||
_socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
|
||
|
||
// Connect to the remote endpoint.
|
||
_socket.BeginConnect(remoteEP, new AsyncCallback(ConnectCallback), _socket);
|
||
}
|
||
}
|
||
catch (Exception e)
|
||
{
|
||
LOG.Write(e);
|
||
throw new Exception(e.ToString());
|
||
}
|
||
|
||
}
|
||
private void ConnectCallback(IAsyncResult ar)
|
||
{
|
||
try
|
||
{
|
||
// Retrieve the socket from the state object.
|
||
Socket client = (Socket)ar.AsyncState;
|
||
// Complete the connection.
|
||
client.EndConnect(ar);
|
||
|
||
EV.PostMessage(ModuleName.Robot.ToString(), EventEnum.TCPConnSucess, _ip, _port.ToString());
|
||
|
||
// Receive the response from the remote device.
|
||
Receive(_socket);
|
||
}
|
||
catch (Exception e)
|
||
{
|
||
LOG.Write(e);
|
||
string reason = string.Format("Communication {0}:{1:D} {2}.", _ip, _port, e.Message);
|
||
LOG.Error(reason);
|
||
// EV.PostMessage(UnitName.Transfer.ToString(), EventEnum.RobotCommandFailed, reason);
|
||
//OnErrorHappened(new ErrorEventArgs(reason));
|
||
|
||
Thread.Sleep(1000);
|
||
Connect(_address);
|
||
}
|
||
}
|
||
private void Receive(Socket client)
|
||
{
|
||
try
|
||
{
|
||
// Create the state object.
|
||
ClientStateObject state = new ClientStateObject(_bufferSize);
|
||
state.workSocket = client;
|
||
|
||
// Begin receiving the data from the remote device.
|
||
client.BeginReceive(state.buffer, 0, ClientStateObject.BufferSize, 0, new AsyncCallback(ReceiveCallback), state);
|
||
}
|
||
catch (Exception e)
|
||
{
|
||
LOG.Write(e);
|
||
string reason = string.Format("TCP connection error:{0}", e.Message);
|
||
LOG.Error(string.Format("Communication {0}:{1:D} {2}.", _ip, _port, reason));
|
||
OnErrorHappened(new ErrorEventArgs(reason));
|
||
}
|
||
}
|
||
private void ReceiveCallback(IAsyncResult ar)
|
||
{
|
||
try
|
||
{
|
||
if (!IsConnected) { return; }
|
||
|
||
// Retrieve the state object and the client socket
|
||
// from the asynchronous state object.
|
||
ClientStateObject state = (ClientStateObject)ar.AsyncState;
|
||
Socket client = state.workSocket;
|
||
|
||
// Read data from the remote device.
|
||
int bytesRead = client.EndReceive(ar);
|
||
if (bytesRead > 0)
|
||
{
|
||
// There might be more data, so store the data received so far.
|
||
|
||
state.sb.Append(Encoding.ASCII.GetString(state.buffer, 0, bytesRead));
|
||
|
||
if (state.sb.Length > NewLine.Length)
|
||
{
|
||
if (state.sb.ToString().Substring(state.sb.Length - NewLine.Length).Equals(NewLine))
|
||
{
|
||
string msg = state.sb.ToString();
|
||
if (NeedLog)
|
||
LOG.Info(string.Format("Communication {0}:{1:D} receive {2}.", _ip, _port, msg.TrimEnd('\n').TrimEnd('\r')));
|
||
OnDataChanged(state.sb.ToString());
|
||
state.sb.Clear();
|
||
}
|
||
}
|
||
// Get the rest of the data.
|
||
client.BeginReceive(state.buffer, 0, ClientStateObject.BufferSize, 0, new AsyncCallback(ReceiveCallback), state);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
string reason = string.Format("TCP Socket recevice data failed:{0}", ex.Message);
|
||
LOG.Error(string.Format("Communication {0}:{1:D} {2}.", _ip, _port, reason));
|
||
OnErrorHappened(new ErrorEventArgs(reason));
|
||
}
|
||
}
|
||
|
||
public bool Write(string data)
|
||
{
|
||
try
|
||
{
|
||
lock (_locker)
|
||
{
|
||
// Convert the string data to byte data using ASCII encoding.
|
||
byte[] byteData = Encoding.ASCII.GetBytes(data);
|
||
_socket.BeginSend(byteData, 0, byteData.Length, 0, new AsyncCallback(SendCallback), _socket);
|
||
|
||
LOG.Info(string.Format("Communication {0}:{1:D} Send {2}.", _ip, _port, data));
|
||
}
|
||
|
||
return true;
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
LOG.Info(string.Format("Communication {0}:{1:D} Send {2}. failed", _ip, _port, data));
|
||
|
||
string reason = string.Format("Send command failed:{0}", ex.Message);
|
||
OnErrorHappened(new ErrorEventArgs(reason));
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
private void SendCallback(IAsyncResult ar)
|
||
{
|
||
try
|
||
{
|
||
// Retrieve the socket from the state object.
|
||
Socket client = (Socket)ar.AsyncState;
|
||
// Complete sending the data to the remote device.
|
||
int bytesSent = client.EndSend(ar);
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
string reason = string.Format("Send command failed:{0}", ex.Message);
|
||
|
||
OnErrorHappened(new ErrorEventArgs(reason));
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 释放资源(Dispose)
|
||
/// </summary>
|
||
public void Dispose()
|
||
{
|
||
try
|
||
{
|
||
if (_socket != null)
|
||
{
|
||
if (IsConnected)
|
||
{
|
||
_socket.Shutdown(SocketShutdown.Both);
|
||
}
|
||
|
||
_socket.Close();
|
||
_socket.Dispose();
|
||
_socket = null;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
string reason = string.Format("释放socket资源失败:{0}", ex.Message);
|
||
OnErrorHappened(new ErrorEventArgs(reason));
|
||
}
|
||
}
|
||
}
|
||
}
|