private void pbStart_Click(object sender, EventArgs e)
{
if (pbStart.Cursor == Cursors.No)
{
return;
}
EnabletStartAndStop(1);
FmInfo.Func(1);
if (!CreateState)
{
FmInfo.GetTaskInfo("必须在所有服务创建成功后，才能开始任务！");
return;
}
try
{
ConnectionAsync(); //异步开始创建事件
}
catch (NotSupportedException EX)
{
FmInfo.GetTaskInfo("NotSupportedException错误:" + EX.Message);
}
catch (Exception ex)
{
FmInfo.GetTaskInfo("Exception错误:" + ex.Message);
}
}
/// <summary>
/// OPC服务连接
/// </summary>
void CreateOpcClinet()
{
string[] strmessage = plc.CreateOPCServer();//创建plc连接
if (string.IsNullOrWhiteSpace(strmessage[0]))
{
FmInfo.GetTaskInfo("opC服务器创成功！");
FmInfo.GetTaskInfo("尝试连接异型烟链板机和常规烟翻版");
if (plc.CheckYXYConnection())
{
FmInfo.GetTaskInfo("倍速链:PLC连接成功!");
FmInfo.GetGroup(plc.UnNormalGroup, plc.ShapeGroup7);//传入OPC组到信息显示界面
CreateState = true;
}
else
{
FmInfo.GetTaskInfo("倍速链:PLC连接失败!");
CreateState = false;
}
if (plc.CheckFbConnction())
{
FmInfo.GetTaskInfo("翻板:PLC连接成功!");
CreateState = true;
}
else
{
FmInfo.GetTaskInfo("翻板:PLC连接失败!");
CreateState = false;
}
}
else
{
FmInfo.GetTaskInfo("OPC服务创建失败，错误：" + strmessage[0]);
CreateState = false;
}
}
private void Timer1_Tick(object sender, EventArgs e)
{
FmInfo.GetTaskInfo("触发定时器，" + plc.timerSendTask());
timer2.Interval = 1000 * GlobalPara.TimerIntervalCycle;
timer2.Start(); //启动定时器
timer1.Stop();
}
private async Task ConnectionAsync()
{
string ErrMsg = await Task.Run(() => CreateDataChange()); //创建
FmInfo.GetTaskInfo(plc.ReadAndWriteCGYTaskConpelte()); //获取常规烟未取走完成信号
FmInfo.GetTaskInfo(plc.ReadAndWriteYXYTaskConpelte()); //获取异形烟未取走完成信号
if (string.IsNullOrWhiteSpace(ErrMsg)) //事件创建成功
{
if (modbus.Connection())
{
FmInfo.GetTaskInfo("机械手连接成功！");
Task.Run(() => modbus.ReadAsync());
}
else
{
FmInfo.GetTaskInfo("机械手连接失败！");
}
FmInfo.GetTaskInfo("启动定时器，触发倍速链，翻版跳变！");
FmInfo.Func(1);
EnabletStartAndStop(1);
timer1.Interval = 1000 * GlobalPara.TimerIntervalStart;
timer1.Start(); //启动定时器
}
else
{
FmInfo.GetTaskInfo("客户端初始化失败！错误：" + ErrMsg);
}
FmInfo.Func(1);
EnabletStartAndStop(1);
}
/// <summary>
/// Socket服务器连接
/// </summary>
void CreateSocketClinet()
{
if (!IPAddress.TryParse(GlobalPara.RobitPlc_Ip, out IPAddress address))
{
FmInfo.GetTaskInfo("Robit_IP地址填写不正确");
return;
}
if (!int.TryParse(GlobalPara.RobitPlc_Port, out int port))
{
FmInfo.GetTaskInfo("Robit_Port地址填写不正确");
return;
}
try
{
socketCore?.Close();
socketCore = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//使用TCPip协议
socketCore.Connect(IPAddress.Parse(GlobalPara.RobitPlc_Ip), int.Parse(GlobalPara.RobitPlc_Port));
connectSuccess = false;
new Thread(() =>
{
//
Thread.Sleep(2000);
if (!connectSuccess)
{
socketCore?.Close(); //如果连接失败，这里将会跳入到心跳检测
}
}).Start();
connectSuccess = true;
////异步接受来自服务端的信息
socketCore.BeginReceive(buffer, 0, 2048, SocketFlags.None, new AsyncCallback(ReceiveCallBack), socketCore);
if (socketCore.Connected)
{
FmInfo.GetTaskInfo("机器人：服务器连接成功！");
lblServerInfo.Text = "机器人服务器连接成功！";
thread = new Thread(new ThreadStart(SendRobotTask))//机器人任务发送
{
IsBackground = true
};
thread.Start();
}
else
{
FmInfo.GetTaskInfo("机器人：服务器连接失败！");
lblServerInfo.Text = "机器人：服务器连接失败！";
}
}
catch (Exception ex)
{
FmInfo.GetTaskInfo(ex.Message);
}
}
private void pbstatus_Click(object sender, EventArgs e)
{
Fm_StatusSearch frm = new Fm_StatusSearch();
if (CheckExist(frm) == true)
{
frm.Dispose();
frm = null;
return;
}
frm.MdiParent = this;
frm.Dock = DockStyle.Fill;
frm.Show();
}
private void pbSize_Click(object sender, EventArgs e)
{
FmCommoditySize frm = new FmCommoditySize();
if (CheckExist(frm) == true)
{
frm.Dispose();
frm = null;
return;
}
frm.MdiParent = this;
frm.Dock = DockStyle.Fill;
frm.Show();
}
private void pbConnSet_Click(object sender, EventArgs e)
{
FmSystemSetup frm = new FmSystemSetup();
if (CheckExist(frm) == true)
{
frm.Dispose();
frm = null;
return;
}
frm.MdiParent = this;
frm.Dock = DockStyle.Fill;
frm.Show();
}
private void pbUnionS_Click(object sender, EventArgs e)
{
FmOrderInfo frm = new FmOrderInfo();
if (CheckExist(frm) == true)
{
frm.Dispose();
frm = null;
return;
}
frm.MdiParent = this;
frm.Dock = DockStyle.Fill;
frm.Show();
}
private void pbExit_Click(object sender, EventArgs e)
{
DialogResult MsgBoxResult = MessageBox.Show("确定要退出程序?", //对话框的显示内容
"确认完成后再关闭，否则可能会导致任务丢失！", //对话框的标题
MessageBoxButtons.YesNo, //定义对话框的按钮，这里定义了YSE和NO两个按钮
MessageBoxIcon.Question, //定义对话框内的图表式样，这里是一个黄色三角型内加一个感叹号
MessageBoxDefaultButton.Button2); //定义对话框的按钮式样
if (DialogResult.Yes == MsgBoxResult)
{
CloseDataChange();
FmInfo.GetTaskInfo("程序关闭！");
Close();
}
}
/// <summary>
/// 创建数据变化事件r
/// </summary>
/// <returns></returns>
string CreateDataChange()
{
try
{
string ErrMsg = "";
if (socketCore == null)//如果与服务器断开连接，则重新创建
{
CreateSocketClinet();
}
try
{
if (plc.CheckYXYConnection())
{
//异型烟倍速链
// plc.ShapeGroup1.callback += OnDataChange;
plc.ShapeGroup2.callback += OnDataChange;//完成信号
}
else
{
ErrMsg += "异型烟倍速事件链绑定失败，未连接至PLC";
}
if (plc.CheckFbConnction())
{
//常规烟翻版
plc.ShapeGroup3.callback += OnDataChange; // 完成信号
// plc.ShapeGroup4.callback += OnDataChange;
}
else
{
ErrMsg += "常规烟翻版事件绑定失败，未连接至PLC";
}
plc.SpyGroup6.callback += OnDataChange;//添加监控的标志位的
FmInfo.GetTaskInfo("倍速链，翻版，通信事件绑定成功");
//异型烟倍速链
}
catch (Exception ex)
{
FmInfo.GetTaskInfo("触发事件绑定失败");
return(ex.Message);
}
return(ErrMsg);
}
catch (Exception ex)
{
return(ex.Message);
}
}
/// <summary>
/// 更新垛型显示层
/// </summary>
/// <param name="ListInfo">卷烟垛型信息</param>\
/// <param name="type">显示类型（0为全部），1为常规烟，2为异形烟</param>
public void UpdateValue(List <TobaccoInfo> ListInfo, int type = 0)
{
tbinfo = SecondaryCalculation(ListInfo);
switch (type)
{
case 1:
tbinfo = tbinfo.Where(a => a.CigType == "1").ToList();
break;
case 2:
tbinfo = tbinfo.Where(a => a.CigType == "2").ToList();
break;
}
if (tbinfo.Count > 64)
{
FmInfo.GetTaskInfo("包内条数大于64,实际数量：" + tbinfo.Count + "，包烟流水号：" + tbinfo[0].GlobalIndex);
return;
}
this.UpdateTobaccoShow( );
}
bool CheckRobotRunState(string falg)
{
if (falg == "1")
{
updateLabel("机器人状态：开启", lblRobotState);
FirstSend = false;
return(RoBotState = true);
}
else if (falg == "2")//2标识 当前任务往前跳发送一个
{
flag = false;
robotService.UpdateLastPacktaskNumCigstate();
FmInfo.GetTaskInfo("机器人：收到标识2，重发前一个任务！");
flag = true;
updateLabel("机器人状态：开启", lblRobotState);
return(RoBotState = true);
}
{
updateLabel("机器人状态：关闭", lblRobotState);
return(RoBotState = false);
}
}
/// <summary>
/// 断开通信连接
/// </summary>
void CloseDataChange()
{
if (socketCore != null)
{
connectSuccess = false;
modbus.DisConnection();
RoBotState = false;
socketCore.Close();
socketCore = null;
FirstSend = true;
FmInfo.GetTaskInfo("断开与机器人的连接！");
}
else
{
FmInfo.GetTaskInfo("请先连接服务器！");
}
try
{
plc.ShapeGroup1.callback -= OnDataChange;
plc.ShapeGroup2.callback -= OnDataChange;
plc.ShapeGroup3.callback -= OnDataChange;
plc.ShapeGroup4.callback -= OnDataChange;
plc.SpyGroup6.callback -= OnDataChange;
FmInfo.GetTaskInfo("异型烟倍速链，常规烟翻版移除事件成功！");
FmInfo.GetTaskInfo("任务停止发送与接收！");
}
catch (NullReferenceException nuller)
{
FmInfo.GetTaskInfo("OPC未能创建成功！" + nuller.Message);
}
catch (Exception ex)
{
FmInfo.GetTaskInfo("异型烟链板机任务停止失败！错误：" + ex.Message);
}
FmInfo.Func(2);
}
private void button1_Click(object sender, EventArgs e)
{
FmInfo.FuncAutoRefsh();
}
private void btnDw_Click(object sender, EventArgs e)
{
if (string.IsNullOrWhiteSpace(txtRobot.Text + txtFb.Text + txtBsul.Text))
{
return;
}
string info = "";
if (!string.IsNullOrWhiteSpace(txtFb.Text))
{
info += "翻版从" + txtFb.Text + " 包号开始";
cgyFb = txtFb.Text.CastTo <decimal>();
}
if (!string.IsNullOrWhiteSpace(txtBsul.Text))
{
info += "\r\n倍速链从" + txtBsul.Text + " 包号开始";
yxyBsul = txtBsul.Text.CastTo <decimal>();
}
if (!string.IsNullOrWhiteSpace(txtRobot.Text))
{
info += "\r\n异型烟机器人从" + txtRobot.Text + " 包号,第 " + txtCigseq.Text + " 条烟开始";
yxyRobot = txtRobot.Text.CastTo <decimal>();
yxyCigSeq = txtCigseq.Text.CastTo <decimal>();
}
DialogResult MsgBoxResult2 = MessageBox.Show(info,
"确认定位",
MessageBoxButtons.OKCancel, MessageBoxIcon.Warning);
if (DialogResult.OK == MsgBoxResult2)
{
FmInfo.GetTaskInfo(info);
updateLabel("校验输入的包号是否存在...", lblOper);
if (rts.CheckPackageTaskNum(yxyRobot, yxyCigSeq, cgyFb, yxyBsul, out string errinfo))
{
FmInfo.GetTaskInfo("准备数据库进行定位...");
updateLabel("准备数据库进行定位...", lblOper);
if (rts.TaskLocate(yxyRobot, yxyCigSeq, cgyFb, yxyBsul))
{
updateLabel("定位成功！", lblOper);
FmInfo.GetTaskInfo(info + "定位成功！");
MessageBox.Show("定位成功！");
}
else
{
updateLabel("定位失败！\r\n数据库改变行数为0！", lblOper);
FmInfo.GetTaskInfo(info + "定位失败！\r\n数据库改变行数为0！");
MessageBox.Show("定位失败！\r\n数据库改变行数为0！");
}
}
else
{
FmInfo.GetTaskInfo("任务包号校验未通过：" + errinfo);
updateLabel("任务包号校验未通过：" + errinfo, lblOper);
MessageBox.Show(errinfo);
}
txtFb.Text = "";
txtBsul.Text = "";
txtRobot.Text = "";
txtCigseq.Text = "";
}
else
{
MessageBox.Show("取消成功！", "任务定位", MessageBoxButtons.OK, MessageBoxIcon.Stop);
return;
}
}
private async void btn_clear_Click(object sender, EventArgs e)
{
if (btn_clear.Cursor == Cursors.No)
{
return;
}
string msg = "";
Fm_Check fc = new Fm_Check();
fc.ShowDialog();
if (fc.DialogResult == DialogResult.OK)
{
bool result1, result2;
//确认调用
DialogResult MsgBoxResult = MessageBox.Show("确认清空电控数据？", "提示：请谨慎操作！", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
if (MsgBoxResult == DialogResult.OK)
{
btn_clear.BackColor = Color.Green;
btn_clear.Text = "清空任务中";
try
{
result1 = await clearfun.ClearFB(plc);
if (result1)
{
msg += "翻板任务清空成功！\r\n";
}
else
{
msg += "翻板任务清空失败！\r\n";
}
}
catch (Exception ex)
{
msg += ex.InnerException.Message.ToString();
}
try
{
result2 = await clearfun.ClearBSL(plc);
if (result2)
{
msg += "倍速链任务清空成功！\r\n";
}
else
{
msg += "倍速链任务清空失败！\r\n";
}
}
catch (Exception ex)
{
msg += ex.InnerException.Message.ToString();
}
}
}
else
{
return;
}
FmInfo.GetTaskInfo(msg);
MessageBox.Show(msg, "提示：", MessageBoxButtons.OK, MessageBoxIcon.Warning);
btn_clear.BackColor = Color.Transparent;
btn_clear.Text = "电控任务清空";
}
private void timer2_Tick(object sender, EventArgs e)
{
FmInfo.GetTaskInfo("完成信号定时读取触发");
FmInfo.GetTaskInfo(plc.ReadAndWriteCGYTaskConpelte()); //获取常规烟未取走完成信号
FmInfo.GetTaskInfo(plc.ReadAndWriteYXYTaskConpelte()); //获取异形烟未取走完成信号
}
/// <summary>
/// plc数据发生改变时触发事件
/// </summary>
/// <param name="group">plc的DB块组</param>
/// <param name="clientId">DB块集合</param>
/// <param name="values">返回的值</param>
public async void OnDataChange(int group, int[] clientId, object[] values)
{
#region
//if (group == 1)//倍速链 任务发送块组
//{
// for (int i = 0; i < clientId.Length; i++)
// {
// if (clientId[i] == 8)//接收信号位
// {
// int packtasknum = int.Parse(plc.ShapeGroup1.Read(0).ToString());//任务号
// int tempvalue = int.Parse(plc.ShapeGroup1.Read(7).ToString());//接收信号
// if (tempvalue == 0)//如果有接收信号
// {
// try
// {
// //FmInfo.AutoRefreshShow(packtasknum);//更新垛型展示
// //读取接收信号的任务 数据库置接收
// if (packtasknum > 0)
// {
// if (plc.UpDateToYxyState(packtasknum, 15))
// {
// FmInfo.GetTaskInfo("链板机收到任务号" + packtasknum + "，更新已接收！");
// }
// else
// {
// FmInfo.GetTaskInfo("链板机收到任务号" + packtasknum + "，更新失败！");
// }
// }
// //更改标志位 写入新任务
// var x = await Task.Run(() => plc.WriteTaskSend_YXY());
// }
// catch (Exception ex)
// {
// FmInfo.GetTaskInfo("服务器连接失败！" + ex.Message);
// return;
// }
// }
// }
// }
//}
//else
#endregion
if (group == 2)//异型烟倍速链 完成信号块组
{
for (int i = 0; i < clientId.Length; i++)
{
//完成任务号
int tempvalue = int.Parse(values[i].ToString());
if (tempvalue > 0)
{
//try
//{
if (tempvalue != 0)
{
FmInfo.GetTaskInfo("异型烟倍速链：任务号" + tempvalue + "完成");
FmInfo.GetTaskInfo(plc.ReadAndWriteYXYTaskConpelte(tempvalue, i)); //更新数据库 更新DB块
// FmInfo.AutoRefreshShow(tempvalue);//更新跺形显示 暂时用常规烟任务号刷新(2019/04/26)
}
//}
//catch (Exception ex)
//{
// FmInfo.GetTaskInfo("异型烟倍速链：服务器连接失败！" + ex.Message);
// return;
//}
}
}
}
if (group == 3)//常规烟 完成信号块组
{
for (int i = 0; i < clientId.Length; i++)
{
//完成任务号
int tempvalue = int.Parse(values[i].ToString());
if (tempvalue > 0)
{
//try
//{
if (tempvalue != 0)
{
FmInfo.GetTaskInfo("常规烟翻版：任务包号" + tempvalue + "完成");
FmInfo.GetTaskInfo(plc.ReadAndWriteCGYTaskConpelte(tempvalue, i)); //更新数据库 更新DB块
FmInfo.AutoRefreshShow(tempvalue); //更新跺形显示
}
//}
//catch (Exception ex)
//{
// FmInfo.GetTaskInfo("常规烟翻版：服务器连接失败！" + ex.Message);
// return;
//}
}
}
}
else if (group == 6)//标志位监控组
{
for (int i = 0; i < clientId.Length; i++)
{
if (clientId[i] == 1) //倍速链任务
{
if (values[i] != null && int.Parse(values[i].ToString()) == 0) //接收
{
int tasknum = plc.ShapeGroup1.ReadD(0).CastTo(-1); //读取到包号
if (tasknum > 0)
{
plc.UpDateToYxyState(tasknum, 15);//更新任务为接收
FmInfo.GetTaskInfo("异型烟倍速链：任务包号：" + tasknum + "已经接收！");
}
//if (plc.startatg)
//{
// FmInfo.GetTaskInfo("倍速链，任务已经处于发送状态，接收到多的跳变信号！");
// return;
//}
string x = await plc.WriteTaskSend_YXY();
FmInfo.GetTaskInfo(x);
}
}
else
if (clientId[i] == 2) //常规烟 翻版任务
{
if (values[i] != null && int.Parse(values[i].ToString()) == 0) //接收
{
int tasknum = plc.ShapeGroup4.ReadD(0).CastTo(-1); //读取到包号
if (tasknum > 0)
{
plc.UpDateToCgyState(tasknum, 15);//更新任务为接收
FmInfo.GetTaskInfo("常规烟翻版：任务包号：" + tasknum + "已经接收！");
}
//if (plc.startatg)
//{
// FmInfo.GetTaskInfo("常规烟，任务已经处于发送状态，接收到多的跳变信号！");
// return;
//}
string x = await plc.WriteTaskSend_CGY();
FmInfo.GetTaskInfo(x);
}
}
}
}
}
/// <summary>
/// 响应来自服务端的信息
/// </summary>
/// <param name="ar"></param>
private void ReceiveCallBack(IAsyncResult ar)
{
try
{
int length = socketCore.EndReceive(ar);//结束挂起的异步读取
//开始异步接受来自服务端的信息
socketCore.BeginReceive(buffer, 0, 2048, SocketFlags.None, new AsyncCallback(ReceiveCallBack), socketCore);
if (length == 0)
{
return;
}
byte[] data = new byte[length];
Array.Copy(buffer, 0, data, 0, length);
Invoke(new Action(() =>
{
string msg = string.Empty;
msg = Encoding.ASCII.GetString(data); //对获取的数据进行编码转换 //传输的数据会有乱码
if (msg.Length <= 0) // \0\0\0\0\0\\0\0\0\0\0\0\0\0\0\0\0
{
return;
}
int start = msg.IndexOf("F"); //从F开始截取
int end = msg.IndexOf("\0"); //从 \0后截取结束
if (start < 0)
{
return;
}
msg = msg.Substring(start, end);
string[] arrData = msg.Trim().Split(',');
string outStr = ""; //错误信息
if (arrData[0].ToLower() == "f") //F头部 代表机器人完成
{
if (GlobalPara.JugValueEqualsLastOne(msg)) //如果数据与上一次的相等 则不做任何操作
{
return;
}
//S 所在的位置 单抓 3 双抓 5
if (msg.Contains("|")) //如果包含双抓
{
if (arrData[4].ToLower() == "s") //s头部 代表机器人状态
{
if (!CheckRobotRunState(arrData[5].Replace('\0', ' ').Trim()))
{
return;
}
}
else
{
FmInfo.GetTaskInfo("机器人:异常收到来自机器人的信息，位置为4的索引不为S," + msg);
}
string[] newArr = msg.Substring(2).Trim().Split('|');
if (newArr.Length == 2)
{
flag = false;
string[] arr1 = newArr[0].Trim().Split(',');
string[] arr2 = newArr[1].Trim().Split(',');
List <string[]> arrlist = new List <string[]>();
arrlist.Add(arr1);
arrlist.Add(arr2);
robotService.UpDateFinishTasks(arrlist, out outStr);
//robotService.UpDateFinishTask(arr1, out outStr);//y 修改为一起修改 20190709
//robotService.UpDateFinishTask(arr2, out outStr);
FmInfo.AutoRefreshUnShow(Convert.ToDecimal(arr2[0]), Convert.ToInt32(arr2[1]));
FmInfo.FuncAutoRefsh();//更新显示界面
flag = true;
//FmInfo.AutoRefreshUnShow(int.Parse(arr2[0]));
if (!string.IsNullOrWhiteSpace(outStr))
{
FmInfo.GetTaskInfo("机器人： " + outStr);
}
else
{
FmInfo.GetTaskInfo("机器人：任务号" + arr1[0] + "，条烟流水号：" + arr1[1] + "，数据库更新完成！");
FmInfo.GetTaskInfo("机器人：任务号" + arr2[0] + "，条烟流水号：" + arr2[1] + "，数据库更新完成！");
updateLabel("机器人：任务号" + arr2[0] + "，条烟流水号：" + arr2[1] + "，数据库更新完成！", lblFinshiTask);
}
if (!string.IsNullOrWhiteSpace(outStr))//
{
FmInfo.GetTaskInfo(outStr);
}
}
else
{
FmInfo.GetTaskInfo("机器人：双抓任务完成信号有误,完成信号长度为" + newArr.Length);
}
}
else//单抓的情况下
{
if (arrData[3].ToLower() == "s")
{
if (!CheckRobotRunState(arrData[4].Replace('\0', ' ').Trim()))
{
return;
}
}
else
{
FmInfo.GetTaskInfo("机器人:异常收到来自机器人的信息，位置为3的索引不为S," + msg);
}
updateLabel("机器人：收到单抓完成信号", lblFinshiTask);
string[] Arr = msg.Substring(2).Trim().Split(',');
if (Arr[1] == "0")
{
return;
}
flag = false;
robotService.UpDateFinishTask(Arr, out outStr);
flag = true;
FmInfo.AutoRefreshUnShow(Convert.ToDecimal(Arr[0]), Convert.ToInt32(Arr[1]));
FmInfo.FuncAutoRefsh();//更新显示界面
// FmInfo.AutoRefreshUnShow(int.Parse(Arr[0]));
if (!string.IsNullOrWhiteSpace(outStr))
{
FmInfo.GetTaskInfo("机器人： " + outStr);
}
else
{
FmInfo.GetTaskInfo("机器人：任务号" + Arr[0] + "，条烟流水号：" + Arr[1] + "，数据库更新完成！");
updateLabel("机器人：任务号" + Arr[0] + "，条烟流水号：" + Arr[1] + "，数据库更新完成！", lblFinshiTask);
}
}
}
}));
}
catch (ObjectDisposedException)
{
}
catch (Exception ex)
{
Invoke(new Action(() =>
{
FmInfo.GetTaskInfo("机器人：服务器断开连接。" + ex.Message);
//ThreadHeartCheck();
}));
}
}
/// <summary>
/// 发送机器人任务
/// </summary>
/// <returns></returns>
void SendRobotTask()
{
FmInfo.GetTaskInfo("机器人：一秒后发送机器人任务");
Thread.Sleep(1000);
sendTask : if (RoBotState)//读取机器人状态为自动运行
{
try
{
//如果有新增的任务就一直循环取出来发送该条任务，直到该条任务做完，切换下一条任务
while (connectSuccess) //发送机制：取出当前第一条未完成的任务，间隔一秒发送一次，直到这条任务完成，跳到下一条任务！
{
//获取机器人任务
while (!flag)
{
FmInfo.GetTaskInfo("机器人：处理完成信号中");
}
if (FirstSend)//如果是第一次发送
{
robotService.UpdateLastPacktaskNumCigstate();
FirstSend = false;
}
CreateTask : string taskInfo = robotService.GetRobotInfo(out string outStr);
bytes = Encoding.ASCII.GetBytes(taskInfo);
if (!RoBotState)//如果中途接收到机器人状态为 关闭状态 ，则停止发送任务
{
goto sendTask;
}
if (string.IsNullOrWhiteSpace(taskInfo))
{
// FmInfo.GetTaskInfo("机器人：任务发送完毕");
lblTask.Text = "机器人：任务发送完毕";
break;
}
try
{
if (isClientConnected(socketCore))
{
socketCore?.Send(bytes, 0, bytes.Length, SocketFlags.None);//发送数据
if (!GlobalPara.JugValueEqualsLastOne2(taskInfo))
{
FmInfo.GetTaskInfo("机器人：发送数据，任务：" + taskInfo);
} //
lblTask.Text = "机器人：发送任务：" + taskInfo;
}
else
{
connectSuccess = false;
FmInfo.GetTaskInfo("机器人：远程主机强制断开一个现有连接，发送任务失败！");
lblServerInfo.Text = "机器人：服务器连接失败！";
CheckAlive();//断开连接 间隔
}
}
catch (Exception ex)
{
FmInfo.GetTaskInfo("机器人：任务发送停止,未知错误：" + ex.Message + "\r\n" + outStr + "任务将在10秒后重新发送！");
Thread.Sleep(10000);//暂停10秒后 继续读取
goto CreateTask;
}
Thread.Sleep(120); // 0.12秒后再次发送
}
}
catch (Exception ex)
{
FmInfo.GetTaskInfo("机器人：任务方法，未知错误：" + ex.Message);
goto sendTask;
}
}
else
{
//FmInfo.GetTaskInfo("机器人自动运行状态为关闭,十秒之后再次检测机器人状态");
lblTask.Text = "机器人：自动运行状态为关闭,一秒之后再次检测机器人状态";
Thread.Sleep(1000);//十秒之后再次检测机器人状态
goto sendTask;
}
}
