RF / weld · Files

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Xml;
using System.Data.SqlClient;
using System.IO;
using System.Threading;
using System.Net;
using System.Net.Sockets;
using MyClassLib;
using MyControlLib;
using HaierExe04;
using System.Xml.Linq;

namespace Weld
{
    public partial class frmBarcodeControl : MyFrmReg
    {
        public frmBarcodeControl()
        {
            InitializeComponent();
            this.Text =this.Text+ "--20181005 V2.2.2";
            DataInit();
         
        }
      

        #region
        private IPEndPoint ServerInfo;//存放服务器的IP和端口信息
        private Socket ServerSocket;//服务端运行的SOCKET
        private Socket Robot1_Socket;//
        private Socket Robot2_Socket;//
        private Socket Robot3_Socket;//
        private Thread ServerThread;//服务端运行的线程
        private Socket[] ClientSocket;//为客户端建立的SOCKET连接
        private int ClientNumb;//存放客户端数量
        private byte[] MsgBuffer;//存放消息数据

        private string ServerIp;//定义服务端IP地址
        private int LocalPort = 6000;//定义端口号
        private Boolean ROBOT_READY = false;
        private string[] tags = new string[] { "P1", "P2", "P3", "P4", "P5", "W1", "W2", "W3", "W4", "W5" };
        private string[] elements = new string[] { "x", "y", "z", "E1", "E2", "E3", "E4", "a", "b", "c", "d", "e", "f" };
        #endregion

        #region  数据相关的初始化
        private void DataInit()
        {
            try
            {
                ServerIp = Properties.Settings.Default.ServerIP;
                string hostName = System.Net.Dns.GetHostName();
                System.Net.IPHostEntry ipEntry = System.Net.Dns.GetHostEntry(hostName);
                //IPAddress[] addresslist = Dns.GetHostByName(Dns.GetHostName()).AddressList;
                IPAddress[] addresslist = ipEntry.AddressList;
                int i = 0;
                bool flag = false;
                for (i = 0; i < addresslist.Length; i++)
                {
                    if (!addresslist[i].IsIPv6LinkLocal)
                    {
                        if (ServerIp == addresslist[i].ToString())
                        {
                            flag = true;
                        }
                        else
                        {
                            LogExecute.WriteInfoLog(string.Format("{0}获取的IP地址{1}", DateTime.Now.ToString(), addresslist[i].ToString()));
                        }
                    }
                }
                if (flag == false)
                {
                    LogExecute.WriteInfoLog("获取的网卡的IP地址中不存在服务器地址:" + ServerIp);
                    MessageBox.Show("获取的网卡的IP地址中不存在服务器地址:" + ServerIp);
                }

                LocalPort = Properties.Settings.Default.Port;
                timerScan.Interval = Properties.Settings.Default.Interval;
                txb_ip.Text = Properties.Settings.Default.ServerIP;
                txb_port.Text = LocalPort.ToString();

                timerScan.Enabled = false;
                ROBOT_READY = false;
                refreshButton();
                //滚动条 初始化
                ucErrorDisplay1.MoveEnable = true;
                ucErrorDisplay1.Interval = 400;
                ucErrorDisplay1.SpeedMove = 25;

                //加载xml 文件
                //DirectoryInfo directory = new DirectoryInfo(Application.StartupPath+"/xmlfile");
                //XmlDocument xmlDocument = new XmlDocument();
                //xmlDocument.Load(Application.StartupPath + "/xmlfile/ext.xml");
                
            }
            catch (Exception ex)
            {
                LogExecute.WriteExceptionLog("DataInit", ex);
            }

        }


        #endregion
        #region
        /// <summary>
        ///  //开启服务器 侦听客户端的连接请求
        /// </summary>
        private bool SocketListen()
        {
            bool flag = false;
            try
            {
                ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                //提供一个 IP 地址，指示服务器应侦听所有网络接口上的客户端活动
                //IPAddress ip = IPAddress.Any;

                IPAddress ip = IPAddress.Parse(ServerIp);
                ServerInfo = new IPEndPoint(ip, LocalPort);
                ServerSocket.Bind(ServerInfo);//将SOCKET接口和IP端口绑定
                ServerSocket.Listen(20);//开始监听，并且挂起数为25
                ClientSocket = new Socket[20];//为客服端提供连接个数
                MsgBuffer = new byte[65535];//消息数据的大小
                ClientNumb = 0;//客服端数据从0开始计数
                ServerThread = new Thread(new ThreadStart(RecieveAccept));//将接受客户端连接的方法委托给线程
                ServerThread.Start();//线程开始运行
                CheckForIllegalCrossThreadCalls = false;//不捕获对错误线程的调用


                string strWrite = "服务器" + ip.ToString() + "于" + DateTime.Now.ToString() + "开始运行" + "\r\n";
                txb_ip.Text = ip.ToString();
                txb_port.Text = LocalPort.ToString();
                txb_listenTime.Text = DateTime.Now.ToString();
                listBox1.Items.Add(strWrite);
                LogExecute.WriteInfoLog(strWrite);

                return true;
            }
            catch (Exception ex)
            {
                LogExecute.WriteExceptionLog("SocketListen", ex);
                return flag;
            }
        }

        /// <summary>
        /// //接受客户端连接的方法
        /// </summary>
        private void RecieveAccept()
        {
            while (true)
            {
                //Accept 以同步方式从侦听套接字的连接请求队列中提取第一个挂起的连接请求，然后创建并返回新的 Socket。
                //在阻止模式中，Accept 将一直处于阻止状态，直到传入的连接尝试排入队列。连接被接受后，原来的 Socket 继续将传入的连接请求排入队列，直到您关闭它。 
                //bool writeflag = false;
                try
                {
                    //todo:判断是否以前有该IP的连接
                    //string remoteEndPoint = ServerSocket.RemoteEndPoint.ToString();
                    //string ip=ServerSocket.RemoteEndPoint.ToString().Split(':')[0];
                    
                    //
                    ClientSocket[ClientNumb] = ServerSocket.Accept();
                    ClientSocket[ClientNumb].BeginReceive(MsgBuffer, 0, MsgBuffer.Length, SocketFlags.None, new AsyncCallback(RecieveCallBack), ClientSocket[ClientNumb]);
                    string strWrite = "客户端" + ClientSocket[ClientNumb].RemoteEndPoint.ToString() + "于" + DateTime.Now.ToString() + "成功连接服务器";
                    
                    LogExecute.WriteInfoLog(strWrite);
                    string ippoint = ClientSocket[ClientNumb].RemoteEndPoint.ToString();
                    this.Invoke(new Action(()=> {
                        comboBox1.Items.Add(ippoint);
                        listBox1.Items.Add(strWrite);
                        listBox1.SelectedIndex = 0;
                    }));
                    ClientNumb++;
                    if(ClientNumb == 10)
                    {
                        ClientNumb = 0;
                    }
                    listBox1.Items.Add("ClientNumb:" + ClientNumb);
                }
                catch (SocketException ex)
                {
                    LogExecute.WriteExceptionLog("RecieveAccept", ex);
                }
            }
        }
        /// <summary>
        /// 条码长度
        /// </summary>
        private int barcodeLen = 10;
        /// <summary>
        /// 
        /// 帧格式开头
        /// </summary>
        private string barcodeSTX = ('\x02').ToString();
        /// <summary>
        /// 帧格式结束
        /// </summary>
        private string barcodeETX = ('\x03').ToString();
        /// <summary>
        /// //回发数据给客户端-
        /// </summary>
        /// <param name="AR"></param>
        private void RecieveCallBack(IAsyncResult AR)
        {
            lock (AR)
            {
                Socket RSocket = (Socket)AR.AsyncState;
                try
                {
                    int REnd = RSocket.EndReceive(AR);
                    string strRemoteIP = RSocket.RemoteEndPoint.ToString().Split(':')[0];
                    #region//1获取对应的IP地址 分析相应的处理

                    //step1: 确认是否为正确的条码信息
                    string strMsg = Encoding.ASCII.GetString(MsgBuffer).Substring(0, REnd);
                    string strIP = strRemoteIP;
                    if (strMsg != "")
                    {
                        // step2: 判断传入的数据为
                        this.Invoke(new Action(() =>
                        {
                            if (rtx_rec.TextLength >= 2000)
                            {
                                rtx_rec.Text = "";
                            }
                            rtx_rec.AppendText(strMsg);
                            ParseXmlInfo(RSocket, strMsg);
                            LogExecute.WriteLineDataLog(strMsg);

                        }));
                        //处理xml 字符串
                        //ParseXmlInfo(strMsg.Trim('\r').Trim('\n'));
                        
                    }
                    #endregion
                    if (RSocket.Poll(1000,SelectMode.SelectRead) == false)
                        RSocket.BeginReceive(MsgBuffer, 0, MsgBuffer.Length, 0, new AsyncCallback(RecieveCallBack), RSocket);
                }
                catch (Exception ex)
                {
                    if (ex is SocketException)
                    {
                        SocketException soex = (SocketException)ex;
                        LogExecute.WriteExceptionLog(soex.ErrorCode + ":" + soex.Message, ex);
                        //if (soex.ErrorCode == 10053)//客户端主动关闭10053
                        //{
                        //    RSocket.Close();
                        //}
                        //if (soex.ErrorCode == 10054)//客户端主动关闭10054
                        //{
                        //    RSocket.Close();
                        //}
                    }
                    else
                    {
                        LogExecute.WriteExceptionLog("receievecallback", ex);
                        RSocket.BeginReceive(MsgBuffer, 0, MsgBuffer.Length, 0, new AsyncCallback(RecieveCallBack), RSocket);
                    }

                } 
            }


        }


        #endregion

        #region 自定义函数
        /// <summary>
        /// 解析xml 字符串
        /// </summary>
        /// <param name="str_xml"></param>
        private void ParseXmlInfo(Socket socket, string str_xml)
        {
                if (socket.RemoteEndPoint.ToString().Split(':')[0] != null)
                {
                    try
                    {
                        byte[] sends = ASCIIEncoding.ASCII.GetBytes(rtx_send.Text);
                        socket.Send(sends);
                        textBox1.Text = "发送:" + rtx_send.Text;         
                        if (listBox1.Items.Count > 100)
                        {
                            listBox1.Items.Clear();
                        }
                        handerInfo(socket, str_xml);
                        LogExecute.WriteInfoLog(rtx_send.Text);
                    }
                    catch (SocketException ex)
                    {
                        listBox1.Items.Add(ex.Message);
                        Console.WriteLine(ex.Message);
                    }
            }
        }

        private void sendMessage(string str_xml)
        {

        }

        private bool IsSocketConnected(Socket s)
        {
            return !((s.Poll(1000, SelectMode.SelectRead) && (s.Available == 0)) || !s.Connected);
        }

        private void handerInfo(Socket socket, string message)
        {
            if(message == HaierExe04.Constant.ROBOT_CONNECT)
            {
                listBox1.Items.Add("机器人请求连接");
                socket.Send(ASCIIEncoding.ASCII.GetBytes(Constant.CONFIRM_OK));
                listBox1.Items.Add("上位机接收到请求并告诉机器人");
            }
            if(message == HaierExe04.Constant.ROBOT_ASK_TESK)
            {
                listBox1.Items.Add("机器人就绪，请求发送任务");
                ROBOT_READY = true;
                socket.Send(ASCIIEncoding.ASCII.GetBytes(Constant.CONFIRM_OK));
                refreshButton();
            //    socket.Send(ASCIIEncoding.ASCII.GetBytes(Constant.TASK_START_WELD));
            //    listBox1.Items.Add("发送机器人开始焊接的任务");
            }
            if(message == HaierExe04.Constant.TASK_ROBOT_BACK_OK || message == HaierExe04.Constant.TASK_START_WELD_OK
                || message == HaierExe04.Constant.TASK_START_CLEAN_OK || message == HaierExe04.Constant.TASK_WELD_STATION_1_OK
                || message == HaierExe04.Constant.TASK_WELD_STATION_2_OK)
            {
                listBox1.Items.Add("机器人完成任务");
                socket.Send(ASCIIEncoding.ASCII.GetBytes(Constant.CONFIRM_OK));
            }
            if(message == HaierExe04.Constant.ROBOT_STATION_1 || message == HaierExe04.Constant.ROBOT_STATION_2)
            {
                listBox1.Items.Add("机器人开始焊接");
                socket.Send(ASCIIEncoding.ASCII.GetBytes(Constant.WELD_INFO));
            }
            
        }

        public XmlNode GetXmlValue(string xml, string tag)
        {
            XmlDocument xmlDoc = new XmlDocument();
            xmlDoc.LoadXml("<?xml version=\"1.0\" encoding=\"utf-8\"?>" + "<PData><CODE>11</CODE><NAME>kkkk</NAME></PData>");
            XmlNode rootNode = xmlDoc.SelectSingleNode("PData");
            foreach (XmlNode xxNode in rootNode.ChildNodes)
            {
                string TAG = xxNode.Name;
                string value = xxNode.InnerText;
                listBox1.Items.Add("TAG:" + TAG + " value:" + value);
            }
            return rootNode;
        }

        private void refreshButton()
        {
            if(ROBOT_READY)
            {
                startBtn.Enabled = true;
                cleanBtn.Enabled = true;
                backBtn.Enabled = true;
                station1Btn.Enabled = true;
                station2Btn.Enabled = true;
            } else
            {
                startBtn.Enabled = false;
                cleanBtn.Enabled = false;
                backBtn.Enabled = false;
                station1Btn.Enabled = false;
                station2Btn.Enabled = false;
            }
        }


        #endregion

        /// <summary>
        /// 定时器事件函数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timerScan_Tick(object sender, EventArgs e)
        {
            try
            {
               
               
            }
            catch (Exception ex)
            {
                LogExecute.WriteExceptionLog("TimerScan", ex);
            }
        }

        /// <summary>
        /// 开启服务程序
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripButton2_Click(object sender, EventArgs e)
        {
            try
            {
                if (SocketListen() == true)
                {
                    toolStripButton2.Enabled = false;
                    toolStripButton1.Enabled = true;
                    timerScan.Enabled = true;
                }
                else
                {
                    toolStripButton1.Enabled = false;
                    toolStripButton2.Enabled = true;
                    timerScan.Enabled = false;
                }
            }
            catch (Exception)
            {
                
                throw;
            }
        }

        /// <summary>
        /// 关闭服务程序
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripButton3_Click(object sender, EventArgs e)
        {
            try
            {
                if (ServerThread.IsAlive)
                {
                    ServerThread.Abort();
                    ServerSocket.Close();
                    //MasterPLC2.Close();
                }
            }
            catch (Exception ex)
            {
                LogExecute.WriteExceptionLog("ServerThread", ex);
            }
            finally
            {
                toolStripButton2.Enabled = true;
                timerScan.Enabled = false;
            }
        }
       

        /// <summary>
        /// 退出系统
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripButton1_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void frmBarcodeControl_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (MessageBox.Show(this, "你确定要退出系统，系统将无法运行", this.Text, MessageBoxButtons.OKCancel) == DialogResult.OK)
            {
                e.Cancel = false;
                if (ServerThread != null && ServerThread.IsAlive)
                {
                    ServerThread.Abort();
                    ServerSocket.Close();
                    //ServerThread.close();
                }
               
            }
            else
            {
               
                e.Cancel = true;
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            string ip = comboBox1.SelectedItem.ToString();
            foreach (Socket socket in ClientSocket)
            {
                if (socket is null) continue;
                if (socket.RemoteEndPoint.ToString().Split(':')[0] == ip)
                {
                    byte[] sends = ASCIIEncoding.ASCII.GetBytes(rtx_send.Text);
                    socket.Send(sends);
                    listBox1.Items.Add(string.Format("Time:{0}RemoteIP:{1} send:{2}", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"), ip, rtx_send.Text));
                    if (listBox1.Items.Count > 100)
                    {
                        listBox1.Items.Clear();
                    }
                    LogExecute.WriteInfoLog(rtx_send.Text);
                }
            }
        }

        //导入Excel 
        private void toolStripSplitButton3_ButtonClick(object sender, EventArgs e)
        {
            OpenFileDialog dialog = new OpenFileDialog();
            dialog.Filter = "Xml文件|*.xml";
            if (dialog.ShowDialog() == DialogResult.OK)
            {
                string filename = dialog.FileName;
                frmInput input = new frmInput();
                XmlDocument xmlDoc = new XmlDocument();
                try
                {
                    xmlDoc.Load(filename); //加载XML文档
                }
                catch (Exception ex)
                {
                    MessageBox.Show(ex.Message);
                    //throw ex; //这里可以定义你自己的异常处理
                }
                //    praseXML(filename);
                frmInput.equipment.MODEL = xmlDoc.SelectSingleNode("/PData/Receive/Model").InnerText;
                frmInput.equipment.TYPE = xmlDoc.SelectSingleNode("/PData/Receive/Type").InnerText;
                frmInput.equipment.P1X = xmlDoc.SelectSingleNode("/PData/P1/x").InnerText;
                frmInput.equipment.P1Y = xmlDoc.SelectSingleNode("/PData/P1/y").InnerText;
                frmInput.equipment.P1Z = xmlDoc.SelectSingleNode("/PData/P1/z").InnerText;
                frmInput.equipment.P1E1= xmlDoc.SelectSingleNode("/PData/P1/E1").InnerText;
                frmInput.equipment.P1E2 = xmlDoc.SelectSingleNode("/PData/P1/E2").InnerText;
                frmInput.equipment.P1E3 = xmlDoc.SelectSingleNode("/PData/P1/E3").InnerText;
                frmInput.equipment.P1E4 = xmlDoc.SelectSingleNode("/PData/P1/E4").InnerText;
                frmInput.equipment.P2X = xmlDoc.SelectSingleNode("/PData/P2/x").InnerText;
                frmInput.equipment.P2Y = xmlDoc.SelectSingleNode("/PData/P2/y").InnerText;
                frmInput.equipment.P2Z = xmlDoc.SelectSingleNode("/PData/P2/z").InnerText;
                frmInput.equipment.P2E1 = xmlDoc.SelectSingleNode("/PData/P2/E1").InnerText;
                frmInput.equipment.P2E2 = xmlDoc.SelectSingleNode("/PData/P2/E2").InnerText;
                frmInput.equipment.P2E3 = xmlDoc.SelectSingleNode("/PData/P2/E3").InnerText;
                frmInput.equipment.P2E4 = xmlDoc.SelectSingleNode("/PData/P2/E4").InnerText;
                frmInput.equipment.P3X = xmlDoc.SelectSingleNode("/PData/P3/x").InnerText;
                frmInput.equipment.P3Y = xmlDoc.SelectSingleNode("/PData/P3/y").InnerText;
                frmInput.equipment.P3Z = xmlDoc.SelectSingleNode("/PData/P3/z").InnerText;
                frmInput.equipment.P3E1 = xmlDoc.SelectSingleNode("/PData/P3/E1").InnerText;
                frmInput.equipment.P3E2 = xmlDoc.SelectSingleNode("/PData/P3/E2").InnerText;
                frmInput.equipment.P3E3 = xmlDoc.SelectSingleNode("/PData/P3/E3").InnerText;
                frmInput.equipment.P3E4 = xmlDoc.SelectSingleNode("/PData/P3/E4").InnerText;
                frmInput.equipment.P4X = xmlDoc.SelectSingleNode("/PData/P4/x").InnerText;
                frmInput.equipment.P4Y = xmlDoc.SelectSingleNode("/PData/P4/y").InnerText;
                frmInput.equipment.P4Z = xmlDoc.SelectSingleNode("/PData/P4/z").InnerText;
                frmInput.equipment.P4E1 = xmlDoc.SelectSingleNode("/PData/P4/E1").InnerText;
                frmInput.equipment.P4E2 = xmlDoc.SelectSingleNode("/PData/P4/E2").InnerText;
                frmInput.equipment.P4E3 = xmlDoc.SelectSingleNode("/PData/P4/E3").InnerText;
                frmInput.equipment.P4E4 = xmlDoc.SelectSingleNode("/PData/P4/E4").InnerText;
                frmInput.equipment.P5X = xmlDoc.SelectSingleNode("/PData/P5/x").InnerText;
                frmInput.equipment.P5Y = xmlDoc.SelectSingleNode("/PData/P5/y").InnerText;
                frmInput.equipment.P5Z = xmlDoc.SelectSingleNode("/PData/P5/z").InnerText;
                frmInput.equipment.P5E1 = xmlDoc.SelectSingleNode("/PData/P5/E1").InnerText;
                frmInput.equipment.P5E2 = xmlDoc.SelectSingleNode("/PData/P5/E2").InnerText;
                frmInput.equipment.P5E3 = xmlDoc.SelectSingleNode("/PData/P5/E3").InnerText;
                frmInput.equipment.P5E4 = xmlDoc.SelectSingleNode("/PData/P5/E4").InnerText;

                frmInput.equipment.W1A = xmlDoc.SelectSingleNode("/PData/W1/a").InnerText;
                frmInput.equipment.W1B = xmlDoc.SelectSingleNode("/PData/W1/b").InnerText;
                frmInput.equipment.W1C = xmlDoc.SelectSingleNode("/PData/W1/c").InnerText;
                frmInput.equipment.W1D = xmlDoc.SelectSingleNode("/PData/W1/d").InnerText;
                frmInput.equipment.W1E = xmlDoc.SelectSingleNode("/PData/W1/e").InnerText;
                frmInput.equipment.W1F = xmlDoc.SelectSingleNode("/PData/W1/f").InnerText;
                frmInput.equipment.W2A = xmlDoc.SelectSingleNode("/PData/W2/a").InnerText;
                frmInput.equipment.W2B = xmlDoc.SelectSingleNode("/PData/W2/b").InnerText;
                frmInput.equipment.W2C = xmlDoc.SelectSingleNode("/PData/W2/c").InnerText;
                frmInput.equipment.W2D = xmlDoc.SelectSingleNode("/PData/W2/d").InnerText;
                frmInput.equipment.W2E = xmlDoc.SelectSingleNode("/PData/W2/e").InnerText;
                frmInput.equipment.W2F = xmlDoc.SelectSingleNode("/PData/W2/f").InnerText;
                frmInput.equipment.W3A = xmlDoc.SelectSingleNode("/PData/W3/a").InnerText;
                frmInput.equipment.W3B = xmlDoc.SelectSingleNode("/PData/W3/b").InnerText;
                frmInput.equipment.W3C = xmlDoc.SelectSingleNode("/PData/W3/c").InnerText;
                frmInput.equipment.W3D = xmlDoc.SelectSingleNode("/PData/W3/d").InnerText;
                frmInput.equipment.W3E = xmlDoc.SelectSingleNode("/PData/W3/e").InnerText;
                frmInput.equipment.W3F = xmlDoc.SelectSingleNode("/PData/W3/f").InnerText;
                frmInput.equipment.W4A = xmlDoc.SelectSingleNode("/PData/W4/a").InnerText;
                frmInput.equipment.W4B = xmlDoc.SelectSingleNode("/PData/W4/b").InnerText;
                frmInput.equipment.W4C = xmlDoc.SelectSingleNode("/PData/W4/c").InnerText;
                frmInput.equipment.W4D = xmlDoc.SelectSingleNode("/PData/W4/d").InnerText;
                frmInput.equipment.W4E = xmlDoc.SelectSingleNode("/PData/W4/e").InnerText;
                frmInput.equipment.W4F = xmlDoc.SelectSingleNode("/PData/W4/f").InnerText;
                frmInput.equipment.W5A = xmlDoc.SelectSingleNode("/PData/W5/a").InnerText;
                frmInput.equipment.W5B = xmlDoc.SelectSingleNode("/PData/W5/b").InnerText;
                frmInput.equipment.W5C = xmlDoc.SelectSingleNode("/PData/W5/c").InnerText;
                frmInput.equipment.W5D = xmlDoc.SelectSingleNode("/PData/W5/d").InnerText;
                frmInput.equipment.W5E = xmlDoc.SelectSingleNode("/PData/W5/e").InnerText;
                frmInput.equipment.W5F = xmlDoc.SelectSingleNode("/PData/W5/f").InnerText;
                frmInput.equipment.BASEX = xmlDoc.SelectSingleNode("/PData/Base/x").InnerText;
                frmInput.equipment.BASEY = xmlDoc.SelectSingleNode("/PData/Base/y").InnerText;
                frmInput.equipment.BASEZ = xmlDoc.SelectSingleNode("/PData/Base/z").InnerText;
                frmInput.equipment.BASEA = xmlDoc.SelectSingleNode("/PData/Base/a").InnerText;
                frmInput.equipment.BASEB = xmlDoc.SelectSingleNode("/PData/Base/b").InnerText;
                frmInput.equipment.BASEC = xmlDoc.SelectSingleNode("/PData/Base/c").InnerText;
            }
        }

        private void sendCommand(String command)
        {
            ROBOT_READY = false;
            refreshButton();
            foreach (Socket socket in ClientSocket)
            {
                if (socket is null) continue;
                if (!IsSocketConnected(socket)) continue;
                if (socket.RemoteEndPoint.ToString().Split(':')[0] != null)
                {
                    try
                    {
                        byte[] sends = ASCIIEncoding.ASCII.GetBytes(command);
                        socket.Send(sends);
                        textBox1.Text = "发送:" + command;
                        listBox1.Items.Add(string.Format("Time:{0} send:{1}", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"), command));
                        if (listBox1.Items.Count > 100)
                        {
                            listBox1.Items.Clear();
                        }
                        LogExecute.WriteInfoLog(rtx_send.Text);
                    }
                    catch (SocketException ex)
                    {
                        listBox1.Items.Add(ex.Message);
                        Console.WriteLine(ex.Message);
                    }
                    break;
                }
            }
        }

        private void startWeld()
        {

        }

        private void cbx_clear_CheckedChanged(object sender, EventArgs e)
        {
            rtx_rec.Text = "";
        }

        private void txb_ip_TextChanged(object sender, EventArgs e)
        {

        }

        private void frmBarcodeControl_Load(object sender, EventArgs e)
        {

        }

        private void textBox1_TextChanged(object sender, EventArgs e)
        {

        }

        private void backBtn_Click(object sender, EventArgs e)
        {
            sendCommand(Constant.TASK_ROBOT_BACK);
        }

        private void cleanBtn_Click(object sender, EventArgs e)
        {
            sendCommand(Constant.TASK_CLEAN_WELD);
            listBox1.Items.Add("机器人清理焊接枪");
        }

        private void startBtn_Click(object sender, EventArgs e)
        {
            sendCommand(Constant.TASK_START_WELD);
            listBox1.Items.Add("机器人准备焊接");
        }

        private void station1Btn_Click(object sender, EventArgs e)
        {
            sendCommand(Constant.TASK_WELD_STATION_1);
        }

        private void station2Btn_Click(object sender, EventArgs e)
        {
            sendCommand(Constant.TASK_WELD_STATION_2);
        }

        private void toolStripSplitButton2_ButtonClick(object sender, EventArgs e)
        {
            frmInput input = new frmInput();
            DialogResult dialogResult = input.ShowDialog(); 
            if(dialogResult == DialogResult.Cancel)
            {
               Constant.WELD_INFO =  buildWeldInfo(frmInput.equipment);
            }
        }

        private String buildWeldInfo(frmInput.Equipment equipment)
        {
            StringBuilder builder = new StringBuilder();
            builder.Append("<PData><Receive><Model>");
            builder.Append(equipment.MODEL);
            builder.Append("</Model><Type>");
            builder.Append(equipment.TYPE);
            builder.Append("</Type></Receive><P1><x>");
            builder.Append(equipment.P1X);
            builder.Append("</x><y>");
            builder.Append(equipment.P1Y);
            builder.Append("</y><z>");
            builder.Append(equipment.P1Z);
            builder.Append("</z><E1>");
            builder.Append(equipment.P1E1);
            builder.Append("</E1><E2>");
            builder.Append(equipment.P1E2);
            builder.Append("</E2><E3>");
            builder.Append(equipment.P1E3);
            builder.Append("</E3><E4>");
            builder.Append(equipment.P1E4);
            builder.Append("</E4></P1><P2><x>");
            builder.Append(equipment.P2X);
            builder.Append("</x><y>");
            builder.Append(equipment.P2Y);
            builder.Append("</y><z>");
            builder.Append(equipment.P2Z);
            builder.Append("</z><E1>");
            builder.Append(equipment.P2E1);
            builder.Append("</E1><E2>");
            builder.Append(equipment.P2E2);
            builder.Append("</E2><E3>");
            builder.Append(equipment.P2E3);
            builder.Append("</E3><E4>");
            builder.Append(equipment.P2E4);
            builder.Append("</E4></P2><P3><x>");
            builder.Append(equipment.P3X);
            builder.Append("</x><y>");
            builder.Append(equipment.P3Y);
            builder.Append("</y><z>");
            builder.Append(equipment.P3Z);
            builder.Append("</z><E1>");
            builder.Append(equipment.P3E1);
            builder.Append("</E1><E2>");
            builder.Append(equipment.P3E2);
            builder.Append("</E2><E3>");
            builder.Append(equipment.P3E3);
            builder.Append("</E3><E4>");
            builder.Append(equipment.P3E4);
            builder.Append("</E4></P3><P4><x>");
            builder.Append(equipment.P4X);
            builder.Append("</x><y>");
            builder.Append(equipment.P4Y);
            builder.Append("</y><z>");
            builder.Append(equipment.P4Z);
            builder.Append("</z><E1>");
            builder.Append(equipment.P4E1);
            builder.Append("</E1><E2>");
            builder.Append(equipment.P4E2);
            builder.Append("</E2><E3>");
            builder.Append(equipment.P4E3);
            builder.Append("</E3><E4>");
            builder.Append(equipment.P4E4);
            builder.Append("</E4></P4><P5><x>");
            builder.Append(equipment.P5X);
            builder.Append("</x><y>");
            builder.Append(equipment.P5Y);
            builder.Append("</y><z>");
            builder.Append(equipment.P5Z);
            builder.Append("</z><E1>");
            builder.Append(equipment.P5E1);
            builder.Append("</E1><E2>");
            builder.Append(equipment.P5E2);
            builder.Append("</E2><E3>");
            builder.Append(equipment.P5E3);
            builder.Append("</E3><E4>");
            builder.Append(equipment.P5E4);
            builder.Append("</E4></P5><W1><a>");
            builder.Append(equipment.W1A);
            builder.Append("</a><b>");
            builder.Append(equipment.W1B);
            builder.Append("</b><c>");
            builder.Append(equipment.W1C);
            builder.Append("</c><d>");
            builder.Append(equipment.W1D);
            builder.Append("</d><e>");
            builder.Append(equipment.W1E);
            builder.Append("</e><f>");
            builder.Append(equipment.W1F);
            builder.Append("</f></W1><W2><a>");
            builder.Append(equipment.W2A);
            builder.Append("</a><b>");
            builder.Append(equipment.W2B);
            builder.Append("</b><c>");
            builder.Append(equipment.W2C);
            builder.Append("</c><d>");
            builder.Append(equipment.W2D);
            builder.Append("</d><e>");
            builder.Append(equipment.W2E);
            builder.Append("</e><f>");
            builder.Append(equipment.W2F);
            builder.Append("</f></W2><W3><a>");
            builder.Append(equipment.W3A);
            builder.Append("</a><b>");
            builder.Append(equipment.W3B);
            builder.Append("</b><c>");
            builder.Append(equipment.W3C);
            builder.Append("</c><d>");
            builder.Append(equipment.W3D);
            builder.Append("</d><e>");
            builder.Append(equipment.W3E);
            builder.Append("</e><f>");
            builder.Append(equipment.W3F);
            builder.Append("</f></W3><W4><a>");
            builder.Append(equipment.W4A);
            builder.Append("</a><b>");
            builder.Append(equipment.W4B);
            builder.Append("</b><c>");
            builder.Append(equipment.W4C);
            builder.Append("</c><d>");
            builder.Append(equipment.W4D);
            builder.Append("</d><e>");
            builder.Append(equipment.W4E);
            builder.Append("</e><f>");
            builder.Append(equipment.W4F);
            builder.Append("</f></W4><W5><a>");
            builder.Append(equipment.W5A);
            builder.Append("</a><b>");
            builder.Append(equipment.W5B);
            builder.Append("</b><c>");
            builder.Append(equipment.W5C);
            builder.Append("</c><d>");
            builder.Append(equipment.W5D);
            builder.Append("</d><e>");
            builder.Append(equipment.W5E);
            builder.Append("</e><f>");
            builder.Append(equipment.W5F);
            builder.Append("</f></W5><Base><x>");
            builder.Append(equipment.BASEX);
            builder.Append("</x><y>");
            builder.Append(equipment.BASEY);
            builder.Append("</y><z>");
            builder.Append(equipment.BASEZ);
            builder.Append("</z><a>");
            builder.Append(equipment.BASEA);
            builder.Append("</a><b>");
            builder.Append(equipment.BASEB);
            builder.Append("</b><c>");
            builder.Append(equipment.BASEC);
            builder.Append("</c></Base></PData>");
            String info = builder.ToString();
            return info;
        }
    }
}