293 lines
9.5 KiB
C#
293 lines
9.5 KiB
C#
|
using System;
|
|||
|
using System.Collections.Generic;
|
|||
|
using System.Linq;
|
|||
|
using System.Text;
|
|||
|
using System.Net.Sockets;
|
|||
|
using System.Net;
|
|||
|
|
|||
|
using Aitex.Sorter.Common;
|
|||
|
using Aitex.Core.RT.Log;
|
|||
|
using Aitex.Core.RT.Event;
|
|||
|
using System.Configuration;
|
|||
|
using MECF.Framework.Common.Equipment;
|
|||
|
|
|||
|
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot
|
|||
|
{
|
|||
|
public class AsyncSocket : 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 _lockerSocket = new Object();
|
|||
|
|
|||
|
public class ClientStateObject
|
|||
|
{
|
|||
|
// Client socket.
|
|||
|
public Socket workSocket = null;
|
|||
|
// Size of receive buffer.
|
|||
|
public const int BufferSize = 256;
|
|||
|
// Receive buffer.
|
|||
|
public byte[] buffer = new byte[BufferSize];
|
|||
|
// Received data string.
|
|||
|
public StringBuilder sb = new StringBuilder();
|
|||
|
}
|
|||
|
|
|||
|
public string NewLine { get; set; }
|
|||
|
|
|||
|
public bool EnableLog { get; set; }
|
|||
|
|
|||
|
public bool IsConnecting
|
|||
|
{
|
|||
|
get
|
|||
|
{
|
|||
|
return _isConnecting;
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
private Socket _socket;
|
|||
|
|
|||
|
private string _ip;
|
|||
|
private int _port;
|
|||
|
|
|||
|
private bool _isConnecting;
|
|||
|
|
|||
|
public bool IsConnected { get { return (_socket != null && _socket.Connected); } }
|
|||
|
|
|||
|
public AsyncSocket(string address, string newline ="\r")
|
|||
|
{
|
|||
|
// Connect(address);
|
|||
|
_socket = null;
|
|||
|
NewLine = newline;
|
|||
|
EnableLog = true;
|
|||
|
}
|
|||
|
|
|||
|
~AsyncSocket()
|
|||
|
{
|
|||
|
Dispose();
|
|||
|
}
|
|||
|
|
|||
|
public void Connect(string address)
|
|||
|
{
|
|||
|
try
|
|||
|
{
|
|||
|
if (_isConnecting)
|
|||
|
{
|
|||
|
return;
|
|||
|
}
|
|||
|
|
|||
|
_isConnecting = true;
|
|||
|
|
|||
|
_ip =address.Split(':')[0];
|
|||
|
_port =int.Parse(address.Split(':')[1]);
|
|||
|
IPAddress ipAddress = IPAddress.Parse(_ip);
|
|||
|
IPEndPoint remoteEP = new IPEndPoint(ipAddress, _port);
|
|||
|
|
|||
|
//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;
|
|||
|
if (client == null || !client.Connected || _socket == null || !_socket.Connected)
|
|||
|
{
|
|||
|
_isConnecting = false;
|
|||
|
return;
|
|||
|
}
|
|||
|
// 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);
|
|||
|
|
|||
|
_isConnecting = false;
|
|||
|
}
|
|||
|
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));
|
|||
|
|
|||
|
_isConnecting = false;
|
|||
|
}
|
|||
|
|
|||
|
|
|||
|
}
|
|||
|
private void Receive(Socket client)
|
|||
|
{
|
|||
|
try
|
|||
|
{
|
|||
|
// Create the state object.
|
|||
|
ClientStateObject state = new ClientStateObject();
|
|||
|
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连接发生错误:{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();
|
|||
|
|
|||
|
string raw = msg;
|
|||
|
if (raw.Contains("\r"))
|
|||
|
raw = raw.Replace("\r", "\\r");
|
|||
|
if (raw.Contains("\n"))
|
|||
|
raw = raw.Replace("\n", "\\n");
|
|||
|
|
|||
|
if(EnableLog)
|
|||
|
LOG.Info(string.Format("Communication {0}:{1:D} receive {2}.", _ip, _port, raw));
|
|||
|
|
|||
|
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 (_lockerSocket)
|
|||
|
{
|
|||
|
// 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);
|
|||
|
|
|||
|
if (data.Contains("\r"))
|
|||
|
data = data.Replace("\r", "\\r");
|
|||
|
if (data.Contains("\n"))
|
|||
|
data = data.Replace("\n", "\\n");
|
|||
|
|
|||
|
if(EnableLog)
|
|||
|
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
|
|||
|
{
|
|||
|
_isConnecting = false;
|
|||
|
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));
|
|||
|
}
|
|||
|
}
|
|||
|
}
|
|||
|
}
|