public bool SendMessage(string sendMessage)
{
if (!sendMessage.Equals(lastMessage))
{
AGVLog.WriteSendInfo(sendMessage, new StackFrame(true));
}
else
{
}
lastMessage = sendMessage;
Socket msock;
try {
msock = getTcpClient().Client;
byte[] data = Encoding.ASCII.GetBytes(sendMessage);
DBDao.getDao().InsertConnectMsg(sendMessage, "SendMessage");
msock.Send(data);
if (!"发送消息成功".Equals(lastMsgAboutSend))
{
lastMsgAboutSend = "发送消息成功";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
return(true);
} catch (Exception se) {
lastMsgAboutSend = "发送消息错误" + se.Message + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
return(false);
}
}
/// <summary>
/// 与叉车连接
/// </summary>
public void connectForks()
{
foreach (ForkLiftWrapper fl in forkLiftWrapperList)
{
try {
fl.setAGVSocketClient(new AGVSocketClient());
fl.getAGVSocketClient().registerRecvMessageCallback(handleForkLiftMsg);
fl.getAGVSocketClient().startRecvMsg();
} catch (Exception ex) {
AGVLog.WriteConnectInfo("连接到 ip: " + fl.getForkLift().ip + "port: " + fl.getForkLift().port + "失败！" + ex.Message, new StackFrame(true));
}
}
}
private void Closeclient()
{
try {
if (tcpClient != null)
{
tcpClient.Client.Close();
tcpClient.Close();
tcpClient = null;
}
Thread.Sleep(5000);
} catch (Exception ex) {
lastMsgAboutSend = "关闭socket错误" + ex.Message + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
}
private void receive()
{
while (true)
{
try {
byte[] buffer = new byte[512];
Socket msock;
msock = getTcpClient().Client;
Array.Clear(buffer, 0, buffer.Length);
getTcpClient().GetStream();
int bytes = msock.Receive(buffer);
string receiveStr = Encoding.ASCII.GetString(buffer).Trim();
readTimeOutTimes = 0; //读取超时次数清零
if (receiveMsgCallback != null)
{
receiveMsgCallback(forkLiftWrapper.getForkLift().id, buffer, bytes);
}
if (!"正常接收AGV消息".Equals(lastMsgAboutSend))
{
lastMsgAboutSend = "正常接收AGV消息";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
} catch (SocketException ex) {
if (ex.ErrorCode == 10060 && readTimeOutTimes < 10) //超时次数超过10次，关闭socket进行重连
{
lastMsgAboutSend = "读取消息超时" + "，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
readTimeOutTimes++;
continue;
}
lastMsgAboutSend = "读取消息错误，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
} catch (IOException ex) {
lastMsgAboutSend = "读取消息错误，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
} catch (Exception ex) {
lastMsgAboutSend = "读取消息错误，系统稍后将重新连接AGV";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
}
}
}
private TcpClient getTcpConnect(string ip, int port)
{
try {
if (tcpClient == null)
{
(tcpClient = new TcpClient()).Connect(ip, port);
initTcpClient();
lastMsgAboutSend = "连接到AGV" + "成功！" + "(ip:" + ip + ",port:" + port + ")";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
}
return(tcpClient);
} catch (Exception ex) {
lastMsgAboutSend = "连接到 ip: " + ip + " port: " + port + " 失败" + ex.Message + "5秒后重新获取连接";
AGVLog.WriteConnectInfo(lastMsgAboutSend, new StackFrame(true));
Closeclient();
return(getTcpConnect(ip, port));
}
}
