public void InitTcp()
{
//和Camera通信
m_MyTcpClientVisual = new MyTcpClient();
if (m_MyTcpClientVisual != null)
{
IPAddress CameraIp = IPAddress.Parse(Profile.m_Config.CameraIp);
int CameraPort = Profile.m_Config.CameraPort;
m_MyTcpClientVisual.CreateConnect(CameraIp, CameraPort);
if (!m_MyTcpClientVisual.IsConnected)
{
DataStruct.SysStat.CameraOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.Camera, true);
}
else
{
DataStruct.SysStat.CameraOk = true;
m_SysAlarm.SetAlarm(SysAlarm.Type.Camera, false);
}
}
//和单片机通信
m_ArmControler.Open();
m_MyTcpClientArm = m_ArmControler.m_MyTcpClientArm[(int)Board.Controler];
if (!m_MyTcpClientArm.IsConnected)
{
DataStruct.SysStat.ArmControlerOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.ARM, true);
}
else
{
DataStruct.SysStat.ArmControlerOk = true;
m_SysAlarm.SetAlarm(SysAlarm.Type.ARM, false);
//设置电机默认参数
InitArmControlerAxisPamera();
}
//创建Tcp Server
m_MyTcpServer = MyTcpServer.GetInstance();
if (m_MyTcpServer != null)
{
IPAddress ServerIp = IPAddress.Parse(Profile.m_Config.VisualStationServerIp);
int ServerPort = Profile.m_Config.VisualStationServerPort;
bool Re = m_MyTcpServer.CreatServer(ServerIp, ServerPort);
if (!Re)
{
DataStruct.SysStat.ServerOk = false;
m_SysAlarm.SetAlarm(SysAlarm.Type.Server, true);
}
else
{
DataStruct.SysStat.ServerOk = true;
m_SysAlarm.SetAlarm(SysAlarm.Type.Server, false);
}
}
}
public static void ProcessTcpClientMessage()
{
//作为客户端处理所有Arm控制板的消息
for (int i = 0; i < m_ArmControler.m_MyTcpClientArm.Length; i++)
{
MyTcpClient Client = m_ArmControler.m_MyTcpClientArm[i];
if (Client != null && Client.IsConnected)
{
while (Client.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = Client.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_ARM) // 处理和ARM之间的消息
{
ProcessArmControlerMessage((Board)i, TempMeas);
}
}
#if DebugTest
Debug.WriteLine(BitConverter.ToString(TempMeas.Param));
#endif
}
}
}
//作为客户端处理相机的消息
if (m_MyTcpClientVisual != null && m_MyTcpClientVisual.IsConnected)
{
while (m_MyTcpClientVisual.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = m_MyTcpClientVisual.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_CAMERA) // 处理和相机之间的消息
{
ProcessCameraMessage(TempMeas);
}
}
}
}
}
