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1.初始化项目。保险起见bin目录完整提交 2.基于现场代码为调整过的初始项目（此次提交还未解决代码差异问题)

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龚记林
2026-08-19 11:14:30 +08:00
parent b820c71956
commit 2b30644d28
382 changed files with 140652 additions and 1 deletions
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CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Soc_Client.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Net.Sockets;
using System.Threading;
using System.Net;
using System.Globalization;
namespace AGVSystem
{
public class Soc_Client
{
public string IPAdress;
public bool connected = false;
public Socket clientSocket;
private IPEndPoint hostEndPoint;
private AutoResetEvent autoConnectEvent = new AutoResetEvent(false);
private SocketAsyncEventArgs lisnterSocketAsyncEventArgs;
public delegate void StartListeHandler();
public event StartListeHandler StartListen;
public delegate void ReceiveMsgHandler(byte[] info);
public event ReceiveMsgHandler OnMsgReceived;
private List<SocketAsyncEventArgs> s_lst = new List<SocketAsyncEventArgs>();
public Soc_Client(string hostName, int port)
{
IPAdress = hostName;
IPAddress[] hostAddresses = Dns.GetHostAddresses(hostName);
this.hostEndPoint = new IPEndPoint(hostAddresses[hostAddresses.Length - 1], port);
this.clientSocket = new Socket(this.hostEndPoint.AddressFamily, SocketType.Stream, ProtocolType.Tcp);
}
/// <summary>
/// 连接服务端
/// </summary>
/// <returns></returns>
private bool Connect()
{
using (SocketAsyncEventArgs args = new SocketAsyncEventArgs())
{
try
{
args.UserToken = this.clientSocket;
args.RemoteEndPoint = this.hostEndPoint;
args.Completed += new EventHandler<SocketAsyncEventArgs>(this.OnConnect);
this.clientSocket.ConnectAsync(args);
bool flag = autoConnectEvent.WaitOne(1000);
//SocketError err = args.SocketError;
if (this.connected)
{
this.lisnterSocketAsyncEventArgs = new SocketAsyncEventArgs();
byte[] buffer = new byte[50];
this.lisnterSocketAsyncEventArgs.UserToken = this.clientSocket;
this.lisnterSocketAsyncEventArgs.SetBuffer(buffer, 0, buffer.Length);
this.lisnterSocketAsyncEventArgs.Completed += new EventHandler<SocketAsyncEventArgs>(this.OnReceive);
this.StartListen();
return true;
}
}
catch
{ }
return false;
}
}
/// <summary>
/// 判断有没有连接上
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnConnect(object sender, SocketAsyncEventArgs e)
{
this.connected = (e.SocketError == SocketError.Success);
autoConnectEvent.Set();
}
/// <summary>
/// 发送
/// </summary>
/// <param name="mes"></param>
public void Send(Byte[] mes)
{
if (this.connected)
{
EventHandler<SocketAsyncEventArgs> handler = null;
byte[] buffer = mes;
SocketAsyncEventArgs senderSocketAsyncEventArgs = null;
lock (s_lst)
{
if (s_lst.Count > 0)
{
senderSocketAsyncEventArgs = s_lst[s_lst.Count - 1];
s_lst.RemoveAt(s_lst.Count - 1);
}
}
if (senderSocketAsyncEventArgs == null)
{
senderSocketAsyncEventArgs = new SocketAsyncEventArgs();
senderSocketAsyncEventArgs.UserToken = this.clientSocket;
senderSocketAsyncEventArgs.RemoteEndPoint = this.clientSocket.RemoteEndPoint;
if (handler == null)
{
handler = delegate (object sender, SocketAsyncEventArgs _e)
{
lock (s_lst)
{
s_lst.Add(senderSocketAsyncEventArgs);
}
};
}
senderSocketAsyncEventArgs.Completed += handler;
}
senderSocketAsyncEventArgs.SetBuffer(buffer, 0, buffer.Length);
this.clientSocket.SendAsync(senderSocketAsyncEventArgs);
}
else
{
this.connected = false;
}
}
/// <summary>
/// 监听服务端
/// </summary>
public void Listen()
{
if (this.connected && this.clientSocket != null)
{
try
{
(lisnterSocketAsyncEventArgs.UserToken as Socket).ReceiveAsync(lisnterSocketAsyncEventArgs);
}
catch (Exception)
{
}
}
}
/// <summary>
/// 断开连接
/// </summary>
/// <returns></returns>
private int Disconnect()
{
int res = 0;
try
{
this.clientSocket.Shutdown(SocketShutdown.Both);
}
catch (Exception)
{
}
try
{
this.clientSocket.Close();
}
catch (Exception)
{
}
this.connected = false;
return res;
}
/// <summary>
/// 数据接受
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnReceive(object sender, SocketAsyncEventArgs e)
{
if (e.BytesTransferred == 0)
{
try
{
this.clientSocket.Shutdown(SocketShutdown.Both);
}
catch (Exception)
{
}
finally
{
if (this.clientSocket.Connected)
{
this.clientSocket.Close();
}
}
byte[] info = new Byte[] { 0 };
this.OnMsgReceived(info);
}
else
{
byte[] buffer = new byte[e.BytesTransferred];
for (int i = 0; i < e.BytesTransferred; i++)
{
buffer[i] = e.Buffer[i];
}
this.OnMsgReceived(buffer);
Listen();
}
}
/// <summary>
/// 接受完成
/// </summary>
/// <param name="info"></param>
private void SimaticSocketClient_OnMsgReceived(byte[] info)
{
if (info[0] != 0)
{
for (byte len = 0; len < info.Length; len++)
{
if (Offset < 24)
{
RecvData_Temp[Offset] = info[len];
Offset++;
}
}
}
else
{
for (byte i = 0; i < 24; i++)
{
RecvData_Temp[i] = 0;
}
Offset = 0;
}
}
/// <summary>
/// 建立连接的方法
/// </summary>
/// <returns></returns>
public bool OpenLinkPLC()
{
bool flag = false;
this.StartListen += new StartListeHandler(SimaticSocketClient_StartListen);
this.OnMsgReceived += new ReceiveMsgHandler(SimaticSocketClient_OnMsgReceived);
flag = this.Connect();
if (!flag)
{
return flag;
}
return true;
}
/// <summary>
/// 关闭连接的方法
/// </summary>
/// <returns></returns>
public int CloseLinkPLC()
{
return this.Disconnect();
}
/// <summary>
/// 监听的方法
/// </summary>
private void SimaticSocketClient_StartListen()
{
this.Listen();
}
#region 写入STM数据
private object write_obj = new object();
/// <summary>
/// 写一个数据
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
public int WriteInfo(int value_fx, int value_mb, int value_control)
{
lock (write_obj)
{
int flag = -1;
byte[] data = new byte[15];
data[0] = 0xF3;
data[1] = 0x01;
data[2] = Convert.ToByte(value_fx);
data[3] = 0x00;
data[4] = Convert.ToByte(value_mb % 256);
data[5] = Convert.ToByte(value_mb / 256);
data[6] = 0x00;
data[7] = 0x00;
data[8] = Convert.ToByte(value_control);
data[9] = 0x00;
data[10] = 0x00;
data[11] = 0x00;
data[12] = 0x00;
data[13] = 0x00;
data[14] = 0xCF;
data[13] = (FCS(data))[0];
int numPro = 0;
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[22] = 0;
RecvData_Temp[23] = 0;
this.Send(data);
while ((RecvData_Temp[0] == 0 || RecvData_Temp[23] == 0) && numPro < 350)
{
Thread.Sleep(2);
numPro++;
}
if (numPro < 350)
{
if (RecvData_Temp[0] == 0xF3 && RecvData_Temp[1] == 0x02 && RecvData_Temp[23] == 0xCF)
{
flag = 0;//成功
}
}
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[22] = 0;
RecvData_Temp[23] = 0;
return flag;
}
}
#endregion
/************************************************************************/
/* Description: 写入数据（向AGV写入状态）
/* Time:2018/04/10 13时50分20秒
/* Author:WANGZHEN
/************************************************************************/
/// <summary>
/// 写入数据（向AGV写入状态）
/// 目标地址+放行+取料/放料状态
/// value_mb:目标地址，isDrop 1是放料，2是取料
/// </summary>
/// <param name="results"></param>
/// <returns></returns>
public int WriteInfo(int value_mb, int isDrop, out byte[] results)
{
lock (write_obj)
{
int flag = -1;
byte[] data = new byte[15];
data[0] = 0xF3;
data[1] = 0x01;
data[2] = 0x01;
data[3] = 0x00;
data[4] = Convert.ToByte(value_mb % 256);
data[5] = Convert.ToByte(value_mb / 256);
data[6] = 0x00;
data[7] = 0x00;
data[8] = 0x00;
data[9] = Convert.ToByte(isDrop);
data[10] = 0x00;
data[11] = 0x00;
data[12] = 0x00;
data[13] = 0x00;
data[14] = 0xCF;
data[13] = (FCS(data))[0];
results = new byte[24];
for (byte i = 0; i < 24; i++)
results[i] = 0;
int numPro = 0;
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[22] = 0;
RecvData_Temp[23] = 0;
this.Send(data);
while ((RecvData_Temp[0] == 0 || RecvData_Temp[23] == 0) && numPro < 350)
{
Thread.Sleep(2);
numPro++;
}
if (numPro < 350)
{
if (RecvData_Temp[0] == 0xF3 && RecvData_Temp[1] == 0x02 && RecvData_Temp[23] == 0xCF)
{
flag = 0;//成功
for (byte i = 0; i < 23; i++)
{
results[i] = RecvData_Temp[i];
}
}
}
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[22] = 0;
RecvData_Temp[23] = 0;
return flag;
}
}
private byte[] FCS(byte[] b)
{
int num2 = 0;
byte[] recValue = new byte[2];
//byte[]b=new byte[30] {0x46, 0x39, 0x30, 0x30, 0x30, 0x30, 0x46, 0x46, 0x30, 0x30, 0x30, 0x34, 0x30, 0x31, 0x30, 0x30, 0x30, 0x30, 0x44, 0x2A , 0x30 , 0x30 , 0x31 , 0x36, 0x31 , 0x36 , 0x30 , 0x30 , 0x30 , 0x31};
for (int i = 0; i < b.Length - 1; i++)
{
num2 += b[i];
}
string s = num2.ToString("X2").Substring(num2.ToString("X2").Length - 2, 2);
//recValue = Encoding.ASCII.GetBytes(s);
recValue = strToToHexByte(s);
return recValue;
}
private static byte[] strToToHexByte(string hexString)
{
hexString = hexString.Replace(" ", "");
if ((hexString.Length % 2) != 0)
hexString += " ";
byte[] returnBytes = new byte[hexString.Length / 2];
for (int i = 0; i < returnBytes.Length; i++)
returnBytes[i] = Convert.ToByte(hexString.Substring(i * 2, 2), 16);
return returnBytes;
}
int Offset = 0;
private byte[] RecvData_Temp = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
#region 读取STM值
private object read_obj = new object();
/// <summary>
/// 读值
/// </summary>
/// <param name="alarmvalue"></param>
/// <param name="posvalue"></param>
/// <returns></returns>
public int ReadInfo(out int[] results)
{
lock (read_obj)
{
int flag = -1;
Byte[] data = new Byte[15];
results = new int[24];
for (byte i = 0; i < results.Length; i++)
{
results[i] = 0;
}
data[0] = 0xF3;
data[1] = 0x0A;
data[2] = 0x00;
data[3] = 0x00;
data[4] = 0x00;
data[5] = 0x00;
data[6] = 0x00;
data[7] = 0x00;
data[8] = 0x00;
data[9] = 0x00;
data[10] = 0x00;
data[11] = 0x00;
data[12] = 0x00;
data[13] = 0x00;
data[14] = 0xCF;
data[13] = (FCS(data))[0];
int numPro = 0;
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[23] = 0;
this.Send(data);
while ((RecvData_Temp[0] == 0 || RecvData_Temp[23] == 0) && numPro < 350)
{
Thread.Sleep(2);
numPro++;
}
if (numPro < 350)
{
if (RecvData_Temp[0] == 0xF3 && RecvData_Temp[1] == 0x0B && RecvData_Temp[23] == 0xCF)
{
flag = 0;
for (byte i = 0; i < 23; i++)
{
results[i] = RecvData_Temp[i];
}
}
else
{
if (RecvData_Temp[23] == 0)
{
flag = -3;
}
}
}
Offset = 0;
RecvData_Temp[0] = 0;
RecvData_Temp[1] = 0;
RecvData_Temp[22] = 0;
RecvData_Temp[23] = 0;
return flag;
}
}
#endregion
#region IDispose member
public void Dispose()
{
if (this.clientSocket.Connected)
{
this.clientSocket.Close();
}
}
#endregion
}
}