//第一次建立连接自动返回GOOD
//任务发送机器人自动回复FNISH
//回复FNISH后才可以发送另外一个任务给机器人执行
/// <summary>
/// 机器人异步socket通讯连接
/// </summary>
/// <param name="IP"></param>
/// <param name="port"></param>
/// <returns></returns>
public static bool RobotConnect(out TengDa.Communication.SocketTarNum rbskt, string IP, int port, int outTime)
{
bool affirm = false; string ss = string.Empty; byte[] buffer = new byte[1024];
IPEndPoint ipEndPoint = new IPEndPoint(System.Net.IPAddress.Parse(IP), Convert.ToInt32(port));
Socket clienSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try
{
clienSocket.ReceiveTimeout = outTime;
clienSocket.Connect((EndPoint)ipEndPoint);
clienSocket.Receive(buffer);
ss = Encoding.ASCII.GetString(buffer, 0, buffer.Length);
if (ss.Contains("GOOD"))//已经连接上,可以发送任务命令
{
affirm = true;
}
}
catch (Exception EX) { }
finally
{
rbskt = new TengDa.Communication.SocketTarNum()
{
clienSocket = clienSocket,
conAffirm = affirm,
code = ss
};
}
return(affirm);
}
/// <summary>
/// 机器人发送数据
/// </summary>
/// <param name="st"></param>
/// <param name="address"></param>
/// <returns></returns>
public static string RobotSendAddress(TengDa.Communication.SocketTarNum rbskt, string address)
{
string rev = string.Empty;
if (rbskt.conAffirm)
{
byte[] numArray = new byte[1024];
byte[] bytes = Encoding.ASCII.GetBytes(address);
try
{
rbskt.clienSocket.Send(bytes); rbskt.conAffirm = false;
// rbskt.clienSocket.Receive(numArray);
rbskt.clienSocket.BeginReceive(asynchronousBuffer, 0, asynchronousBuffer.Length, SocketFlags.None, new AsyncCallback(ReceiveCallback), rbskt.clienSocket);
numArray = asynchronousBuffer;
rev = Encoding.ASCII.GetString(numArray, 0, numArray.Length);
}
catch (Exception)
{
return("");
}
}
return(rev);
}
