DWZB_Agv_Agreement/DWZB_Agv_Agreement/Form1.cs

using DWZB_Agv_Agreement.Agv_Agreement;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace DWZB_Agv_Agreement
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();
        }
        /// <summary>
        /// Socket服务端
        /// </summary>
        private readonly SocketServerHelper socketServerMd = new SocketServerHelper();
        /// <summary>
        /// 日志头部
        /// </summary>
        private readonly string LogHeadText = "设备实时运行Log界面 ==>> ";
        #region 日志显示
        private void ShowLogToFrmRichTextBox(object sender, ShowLogToFrmEventArgs e)
        {
            Invoke(new Action(() =>
            {
                richTextBox1.AppendText($"发生时间：{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} | {e.ShowMsg}\r\n");
            }));
        }
        private void ShowLog(string msg, bool isShowLogToFrm, LogTypeEnum logTypeEnum)
        {
            if (isShowLogToFrm)
            {
                ShowLogToFrmRichTextBox(this, new ShowLogToFrmEventArgs(LogHeadText + msg));
            }
            LogHelper.WriteLog(LogHeadText + msg, logTypeEnum);
        }
        #endregion
        private void Button1_Click(object sender, EventArgs e)
        {
            try
            {
                socketServerMd.MessageEvent += new GetMessageEventHandler(Socket_MessageEvent);
                socketServerMd.AcceptEvent += new GetAcceptEventHandler(Socket_AcceptEvent);
                socketServerMd.CloseEvent += new GetCloseEventHandler(Socket_CloseEvent);
                //开启监听
                socketServerMd.StartListen(AppConfigHelper.Get("SocketServerIpAddress"), Convert.ToInt32(AppConfigHelper.Get("SocketServerPort")));
                socketServerMd.StartListenClientAccept();

                //Thread thCodeScanner = new Thread(socketServerMd.ListeneSocketClientConnectAccept)
                //{
                //    IsBackground = true
                //};
                //thCodeScanner.Start();
                button1.Enabled = false;
                button12.Enabled = true;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// Socket连接关闭事件
        /// </summary>
        /// <param name="sender">数据</param>
        /// <param name="e">事件参数</param>
        void Socket_CloseEvent(object sender, EventArgs e)
        {
            string socketIpAddress = sender as string;
            Invoke(new Action(() =>
            {
                if (comboBox1.Items.Contains(socketIpAddress))
                {
                    comboBox1.Items.Remove(socketIpAddress);
                }
                if (comboBox1.Items.Count == 0)
                {
                    comboBox1.Text = "";
                }                
            }));
            socketServerMd.RemoveSocketClient(socketIpAddress);
            ShowLog($"Socket客户端：【{socketIpAddress}】主动断开连接，Socket服务端已经移除该客户端连接！", true, LogTypeEnum.Run);
        }

        /// <summary>
        /// Socket获取远程连接节点事件
        /// </summary>
        /// <param name="sender">数据</param>
        /// <param name="e">事件参数</param>
        void Socket_AcceptEvent(object sender, EventArgs e)
        {
            string socketIpAddress = sender as string;
            ShowLog($"Socket客户端：【{socketIpAddress}】连接成功！", true, LogTypeEnum.Run);
            Invoke(new Action(() =>
            {
                if (!comboBox1.Items.Contains(socketIpAddress))
                {
                    comboBox1.Items.Add(socketIpAddress);
                }
            }));
        }

        /// <summary>
        /// Socket接收消息数据事件
        /// </summary>
        /// <param name="sender">数据流</param>
        /// <param name="ip">ip地址</param>
        /// <param name="dataLength">数据长度</param>
        /// <param name="e">事件参数</param>
        void Socket_MessageEvent(object sender, string ip, int dataLength, EventArgs e)
        {
            try
            {
                byte[] by = sender as byte[];
                byte[] dataBtArr = new byte[dataLength];
                Array.Copy(by, 0, dataBtArr, 0, dataLength);
                if (DataHandleHelper.Verify_DataMsgCRC(dataBtArr))
                {
                    if (DataHandleHelper.Verify_PackageHeadCRC(dataBtArr))
                    {
                        ShowLog($"接收到Socket客户端：【{ip}】的数据成功！：【{BitConverter.ToString(dataBtArr)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        ShowLog($"接收到Socket客户端：【{ip}】的数据的包头校验码验证不通过！【{BitConverter.ToString(dataBtArr)}】", true, LogTypeEnum.SocketErr);
                    }
                }
                else
                {
                    ShowLog($"接收到Socket客户端：【{ip}】的数据的数据校验码验证不通过！【{BitConverter.ToString(dataBtArr)}】", true, LogTypeEnum.SocketErr);
                }
            }
            catch (Exception ex)
            {
                ShowLog($"Socket客户端：【{ip}】接收数据发生异常：【{ex.Message}】！", true, LogTypeEnum.Err);
            }
        }

        private void button2_Click(object sender, EventArgs e)
        {
            short a = 29000;
            byte[] b = BitConverter.GetBytes(a);
        }

        private void button2_Click_1(object sender, EventArgs e)
        {
            try
            {                
                Random rdm = new();
                int r = rdm.Next(1,65536);
                AgvTaskSendMd agvTaskSendMd = new()
                {
                    FunctionCode = 0xF2,
                    AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo")),
                    CmdNo = r,
                    CmdCode = 2,
                    TaskType = 0x01,
                    ClipAction = 0x01,
                    MoveMode = 0x01,
                    Target_X = (float)(rdm.Next(0, 180) + rdm.NextDouble()),
                    Target_Y = (float)(rdm.Next(0, 180) + rdm.NextDouble()),
                    Target_Angle = (float)(rdm.Next(0, 180) + rdm.NextDouble()),
                    Speed = (float)(rdm.Next(0, 65536) + rdm.NextDouble()),
                    Target_rfidNo = 1
                };
                byte[] btArrData = agvTaskSendMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送任务下发测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvTaskSendMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button4_Click(object sender, EventArgs e)
        {
            try
            {
                int r = new Random().Next(1, 65536);
                AgvChangeRunStatusCmdMd agvChangeRunStatusCmdMd = new();
                agvChangeRunStatusCmdMd.FunctionCode = 0xF2;
                agvChangeRunStatusCmdMd.AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
                agvChangeRunStatusCmdMd.CmdNo = r;
                agvChangeRunStatusCmdMd.CmdCode = 0x01;
                agvChangeRunStatusCmdMd.StatusCode = 0x05;

                byte[] btArrData = agvChangeRunStatusCmdMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送任务状态更改测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvChangeRunStatusCmdMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button3_Click(object sender, EventArgs e)
        {
            try
            {
                AgvQueryStatusMd agvQueryStatusMd = new();
                int r = new Random().Next(1, 3000);
                agvQueryStatusMd.FunctionCode = 0xF1;
                agvQueryStatusMd.AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
                agvQueryStatusMd.HeartbeatSignal = r;
                byte[] btArrData = agvQueryStatusMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送状态查询测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvQueryStatusMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button7_Click(object sender, EventArgs e)
        {
            try
            {
                int r = new Random().Next(1, 65536);
                AgvPreventBumpCmdMd agvPreventBumpCmdMd = new();
                agvPreventBumpCmdMd.FunctionCode = 0xF2;
                agvPreventBumpCmdMd.AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
                agvPreventBumpCmdMd.CmdNo = r;
                agvPreventBumpCmdMd.CmdCode = 0x10;
                agvPreventBumpCmdMd.StatusCode = 0x01;


                byte[] btArrData = agvPreventBumpCmdMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送防撞条屏蔽测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvPreventBumpCmdMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button5_Click(object sender, EventArgs e)
        {
            try
            {
                int r = new Random().Next(1, 65536);
                AgvResetCmdMd agvResetCmdMd = new();
                agvResetCmdMd.FunctionCode = 0xF2;
                agvResetCmdMd.CmdNo = r;
                agvResetCmdMd.AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
                agvResetCmdMd.CmdCode = 0x07;

                byte[] btArrData = agvResetCmdMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送复位测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvResetCmdMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button6_Click(object sender, EventArgs e)
        {
            try
            {
                int r = new Random().Next(1, 65536);
                AgvStopCmdMd agvStopCmdMd = new();
                agvStopCmdMd.FunctionCode = 0xF2;
                agvStopCmdMd.AgvNo = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
                agvStopCmdMd.CmdNo = r;
                agvStopCmdMd.CmdCode = 0x08;

                byte[] btArrData = agvStopCmdMd.SerializeBytArr();
                byte[] dataLen = BitConverter.GetBytes(btArrData.Length);
                Array.Reverse(dataLen);
                PackageHeadMd packageHeadMd = new();
                packageHeadMd.DataLen = dataLen;
                packageHeadMd.Data_CRC = DataHandleHelper.Get_CustomCRC(btArrData);
                List<byte> headBtLst = new(8);
                headBtLst.AddRange(packageHeadMd.PackageHeadFlag);
                headBtLst.AddRange(packageHeadMd.DataLen);
                headBtLst.Add(packageHeadMd.VersionNo);
                headBtLst.Add(packageHeadMd.Data_CRC);
                packageHeadMd.PackageHead_CRC = DataHandleHelper.Get_CustomCRC(headBtLst.ToArray());
                byte[] btArrHead = packageHeadMd.SerializeBytArr();

                byte[] sendBtArr = new byte[btArrData.Length + btArrHead.Length];
                sendBtArr = btArrHead.Concat(btArrData).ToArray();
                if (!string.IsNullOrEmpty(comboBox1.Text))
                {
                    if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                    {
                        socketServerMd.SendData(comboBox1.SelectedItem.ToString(), sendBtArr);
                        ShowLog($"发送停止测试指令数据成功：【{BitConverter.ToString(sendBtArr)}】指令序列化数据：【{JsonHelper.ToJson(agvStopCmdMd)}】", true, LogTypeEnum.SocketData);
                    }
                    else
                    {
                        MessageBox.Show("请选择要发送数据的Socket客户端！");
                    }
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void button8_Click(object sender, EventArgs e)
        {
            Random r = new();
            int a = r.Next(0,10000);
            byte[] b = BitConverter.GetBytes(a);
            if (!string.IsNullOrEmpty(comboBox1.Text))
            {
                if (!string.IsNullOrEmpty(comboBox1.SelectedItem.ToString()))
                {
                    socketServerMd.SendData(comboBox1.SelectedItem.ToString(), b);
                    ShowLog($"发送自定义测试数据成功：【{a}】【{BitConverter.ToString(b)}】", true, LogTypeEnum.SocketData);
                }
                else
                {
                    MessageBox.Show("请选择要发送数据的Socket客户端！");
                }
            }
            else
            {
                MessageBox.Show("请选择要发送数据的Socket客户端！");
            }

}

        private void button9_Click(object sender, EventArgs e)
        {
            richTextBox1.Clear();
        }

        private void button10_Click(object sender, EventArgs e)
        {
            AppConfigHelper.Update("AgvNo", Convert.ToInt32(numericUpDown1.Value).ToString());
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            textBox1.Text = AppConfigHelper.Get("SocketServerIpAddress");
            numericUpDown2.Value = Convert.ToInt32(AppConfigHelper.Get("SocketServerPort"));
            numericUpDown1.Value = Convert.ToInt32(AppConfigHelper.Get("AgvNo"));
        }

        private void button11_Click(object sender, EventArgs e)
        {
            if (!IsIP(textBox1.Text))
            {
                MessageBox.Show("请输入正确的IP地址！");
                return;
            }
            if (AppConfigHelper.Get("SocketServerIpAddress") == textBox1.Text && Convert.ToInt32(numericUpDown2.Value) == Convert.ToInt32(AppConfigHelper.Get("SocketServerPort")))
                return;
            AppConfigHelper.Update("SocketServerIpAddress", textBox1.Text);
            AppConfigHelper.Update("SocketServerPort", Convert.ToInt32(numericUpDown2.Value).ToString());
            MessageBox.Show("更改IP地址和端口号后，需要重启程序才能生效！");
        }
        /// <summary>
        /// 验证IP地址是否合法
        /// </summary>
        /// <param name="ip">要验证的IP地址</param>
        public bool IsIP(string ip)
        {
            //如果为空，认为验证合格
            if (string.IsNullOrEmpty(ip))
            {
                return false;
            }
            //清除要验证字符串中的空格
            ip = ip.Trim();
            //模式字符串
            string pattern = @"^((2[0-4]\d|25[0-5]|[01]?\d\d?)\.){3}(2[0-4]\d|25[0-5]|[01]?\d\d?)$";
            //验证
            return Regex.IsMatch(ip, pattern);
        }

        private void button12_Click(object sender, EventArgs e)
        {
            socketServerMd.CloseServer();
            socketServerMd.MessageEvent -= new GetMessageEventHandler(Socket_MessageEvent);
            socketServerMd.AcceptEvent -= new GetAcceptEventHandler(Socket_AcceptEvent);
            socketServerMd.CloseEvent -= new GetCloseEventHandler(Socket_CloseEvent);
            comboBox1.Items.Clear();
            comboBox1.Text = string.Empty;
            button12.Enabled = false;
            button1.Enabled = true;
        }
    }
}