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 StopTCpService()
{
TCPShellService.UnRegister(NetDataObserver);
TCPShellService.Stop();
TCPDataService.UnRegister(NetDataObserver);
TCPDataService.Stop();
IsTCPWorking = false;
}
public async Task <bool> DownloadFile(Stream file, DownLoadFileType type)
{
SendBytes = 0;
string argu = "";
switch (type)
{
case DownLoadFileType.BootLoader:
argu = " -b";
break;
case DownLoadFileType.FPGA:
argu = " -f";
break;
case DownLoadFileType.FixFirm:
argu = " -u";
break;
case DownLoadFileType.FloatM2:
argu = " -t -m2";
break;
case DownLoadFileType.FloatM4:
argu = " -t - m4";
break;
case DownLoadFileType.RltUpdate:
argu = " -l";
break;
case DownLoadFileType.Wave:
argu = "";
break;
default:
argu = "";
break;
}
var shellcmd = new ACNTCPShellCommand(_cmdtcpClient, "gd" + argu);
var ret = Command.SendTCPAsync(shellcmd);
if (await ret)
{
var datacmd = new ACNTCPStreamCommand(_datatcpClient, file, reportprogress);
TCPDataService.Register(datacmd);
return(await Command.SendTCPAsync(datacmd).ContinueWith(x =>
{
TCPDataService.UnRegister(datacmd);
return x.Result;
}));
}
return(false);
}
public void Stop()
{
if (IsInitialize)
{
TCPDataService.UnRegister(NetDataObserver);
TCPDataService.Stop();
TCPCmdService.Stop();
TCPPoseService.UnRegister(NetDataObserver);
TCPPoseService.Stop();
}
IsWorking = false;
IsInitialize = false;
}
/// <summary>
/// tcp数据交换初始化
/// </summary>
/// <param name="configure"></param>
/// <returns></returns>
public bool StartTCPService()
{
IsTCPWorking = false;
// 同步方法，会阻塞进程，调用init用task
TCPShellService.ConnectSync();
TCPDataService.ConnectSync();
TCPShellService.Register(NetDataObserver);
TCPDataService.Register(NetDataObserver);
if (TCPShellService.Connected && TCPShellService.Start() && TCPDataService.Connected &&
TCPDataService.Start())
{
IsTCPWorking = true;
return(IsTCPWorking);
}
return(IsTCPWorking);
}
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);
}
