/// <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();
}));
}
}
