/// <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);
}