public void Initialize()
{
if (IsInitialize)
{
throw new Exception("已初始化");
}
IsInitialize = true;
try
{
if (!TCPDataService.Init(int.Parse(_conf.GetNetPort())))
{
throw new Exception("数据端口初始化失败");
}
if (!TCPCmdService.Init(int.Parse(_conf.GetNetCmdPort())))
{
throw new Exception("命令端口初始化失败");
}
}
catch (Exception)
{
IsInitialize = false;
}
try
{
if (!TCPPoseService.Init(int.Parse(_conf.GetPosePort())))
{
throw new Exception("姿态传感器端口初始化失败");
}
}
catch (Exception)
{
IsInitialize = false;
}
}
private bool CreateTCPListening()
{
try
{
if (!SonarIsOK)
{
TCPDataService.Start();
TCPDataService.Register(NetDataObserver);
TCPCmdService.Start();
TCPCmdService.Register(NetDataObserver);
SonarIsOK = true;
}
if (!PoseIsOK)
{
TCPPoseService.Start();
TCPPoseService.Register(NetDataObserver);
PoseIsOK = true;
}
return(PoseIsOK && SonarIsOK);
}
catch (Exception e)
{
Error = e.Message;
return(false);
}
}
public void Stop()
{
if (IsInitialize)
{
TCPDataService.UnRegister(NetDataObserver);
TCPDataService.Stop();
TCPCmdService.Stop();
TCPPoseService.UnRegister(NetDataObserver);
TCPPoseService.Stop();
}
IsWorking = false;
IsInitialize = false;
}
public void Initialize()
{
if (IsInitialize)
{
throw new Exception("已初始化");
}
_datatcpClient = new TcpClient {
SendTimeout = 1000
};
_cmdtcpClient = new TcpClient {
SendTimeout = 1000
};
_posetcpClient = new TcpClient {
SendTimeout = 1000
};
IsInitialize = true;
try
{
if (!TCPDataService.Init(_datatcpClient, IPAddress.Parse(_conf.GetIP()), int.Parse(_conf.GetNetPort())))
{
throw new Exception("数据端口初始化失败");
}
if (!TCPCmdService.Init(_cmdtcpClient, IPAddress.Parse(_conf.GetIP()), int.Parse(_conf.GetNetCmdPort())))
{
throw new Exception("命令端口初始化失败");
}
}
catch (Exception)
{
IsInitialize = false;
}
try
{
if (!TCPPoseService.Init(_posetcpClient, IPAddress.Parse(_conf.GetPoseIP()), int.Parse(_conf.GetPosePort())))
{
throw new Exception("姿态传感器网络初始化失败");
}
}
catch (Exception)
{
IsInitialize = false;
}
}
private bool CreateTCPService(BasicConf conf)
{
// 同步方法，会阻塞进程，调用init用task
if (!SonarIsOK)
{
TCPDataService.ConnectSync();
TCPDataService.Register(NetDataObserver);
TCPCmdService.ConnectSync();
TCPCmdService.Register(NetDataObserver);
}
if (!PoseIsOK)
{
TCPPoseService.ConnectSync();
TCPPoseService.Register(NetDataObserver);
}
if (SonarIsOK && PoseIsOK)
{
return(true);
}
return(false);
}
