init

Agv-Com.sln

+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.30523.141
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgvClientTest", "AgvClientTest\AgvClientTest.csproj", "{E1C0827A-FA12-49A9-AC71-6D3E6518754A}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Client", "AgvClient\Client.csproj", "{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Agv", "Agv\Agv.csproj", "{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Server", "Server\Server.csproj", "{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Release|Any CPU.Build.0 = Release|Any CPU
+		{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}.Release|Any CPU.Build.0 = Release|Any CPU
+		{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {4DB6715D-4E7C-4269-B866-4D258875A186}
+	EndGlobalSection
+EndGlobal

Agv/Agv.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{A2EF9EFC-51C5-4BF6-965F-3A06BEADD632}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Agv</RootNamespace>
+    <AssemblyName>Agv</AssemblyName>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net">
+      <HintPath>.\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="Newtonsoft.Json, Version=6.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>.\Newtonsoft.Json.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Common.cs" />
+    <Compile Include="JsonHelper.cs" />
+    <Compile Include="LogUtil.cs" />
+    <Compile Include="Node.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

Agv/Common.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Agv
+{
+
+
+    public class Common
+    {
+        /// <summary>
+        /// 编码
+        /// </summary>
+        /// <param name="node">单个节点</param>
+        /// <returns></returns>
+        public static byte[] Encode(Node node)
+        {
+            try
+            {
+                string json =JsonHelper.SerializeObject(node);
+                log.debug(string.Format("Encode[{0}]", json));
+                byte[] buff = System.Text.Encoding.UTF8.GetBytes(json);
+                return buff;
+            }
+            catch (Exception ex)
+            {
+                log.error("Encode Error", ex);
+                return null;
+            }
+        }
+
+        /// <summary>
+        /// 编码
+        /// </summary>
+        /// <param name="nodes">多个节点</param>
+        /// <returns></returns>
+        public static byte[] Encode(List<Node> nodes)
+        {
+            try
+            {
+                string json = JsonHelper.SerializeObject(nodes);
+                log.debug(string.Format("Encode[{0}]", json));
+                byte[] buff = System.Text.Encoding.UTF8.GetBytes(json);
+                return buff;
+            }
+            catch (Exception ex)
+            {
+                log.error("Encode Error", ex);
+                return null;
+            }
+        }
+
+        /// <summary>
+        /// 解码单个节点
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        public static Node Decode(byte[] buff)
+        {
+            try
+            {
+                string json = System.Text.Encoding.UTF8.GetString(buff);
+                log.debug(string.Format("Decode[{0}]", json));
+                Node node = JsonHelper.DeserializeJsonToObject<Node>(json);
+
+                return node;
+            }
+            catch (Exception ex)
+            {
+                log.error("Decode Error", ex);
+                return null;
+            }
+        }
+        /// <summary>
+        /// 解码多个节点
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        public static List<Node> DecodeNodes(byte[] buff)
+        {
+            try
+            {
+                string json = System.Text.Encoding.UTF8.GetString(buff);
+                log.debug(string.Format("DecodeNodes[{0}]", json));
+                List<Node> node = JsonHelper.DeserializeJsonToList<Node>(json);
+
+                return node;
+            }
+            catch (Exception ex)
+            {
+                log.error("Decode Error", ex);
+                return null;
+            }
+        }
+    }
+
+    /// <summary>
+    /// 客户端的动作
+    /// </summary>
+    public enum ClientAction : byte
+    {
+        /// <summary>
+        /// 没有动作
+        /// </summary>
+        None,
+        /// <summary>
+        /// 完成（服务器发送）
+        /// </summary>
+        CloseDoor,
+        /// <summary>
+        /// 可以进入料架
+        /// </summary>
+        MayEnter,
+        /// <summary>
+        /// 可以流出料架
+        /// </summary>
+        MayLeave,
+        /// <summary>
+        /// 需要进入料架
+        /// </summary>
+        NeedEnter,
+        /// <summary>
+        /// 需要流出料架
+        /// </summary>
+        NeedLeave,
+        /// <summary>
+        /// 完成进入料架
+        /// </summary>
+        FinishEnter,
+        /// <summary>
+        /// 完成流出料架
+        /// </summary>
+        FinishLeave,
+        /// <summary>
+        /// 到达包装料仓门口（服务器发送）
+        /// </summary>
+        Arrive,
+        /// <summary>
+        /// 小车准备好（服务器发送）
+        /// </summary>
+        Ready,
+        /// <summary>
+        /// 只能入料不能出料（仅包装料仓）
+        /// </summary>
+        EnterShelf,
+        /// <summary>
+        /// 不允许
+        /// </summary>
+        MayNot,
+        /// <summary>
+        /// 需要进入流出料架
+        /// </summary>
+        NeedEnterLeave,
+        /// <summary>
+        /// 可以停靠
+        /// </summary>
+        MayDock,
+        /// <summary>
+        /// 不可以进入料架
+        /// </summary>
+        MayNotEnter,
+        /// <summary>
+        /// 不可以流出料架
+        /// </summary>
+        MayNotLeave,
+        /// <summary>
+        /// 不可以停靠
+        /// </summary>
+        MayNotDock,
+        /// <summary>
+        /// 小车准备好送出料架（服务器发送）
+        /// </summary>
+        ReadyEnter,
+        /// <summary>
+        /// 小车准备好进入料架（服务器发送）
+        /// </summary>
+        ReadyLeave,
+
+        /// <summary>
+        /// 完成（服务器发送）
+        /// </summary>
+        Complete,
+
+    }
+
+    /// <summary>
+    /// 客户端的优先级
+    /// </summary>
+    public enum ClientLevel : byte
+    {
+        /// <summary>
+        /// 低
+        /// </summary>
+        Low,
+        /// <summary>
+        /// 中等
+        /// </summary>
+        Middle,
+        /// <summary>
+        /// 高
+        /// </summary>
+        High,
+
+        None,
+    }
+
+    /// <summary>
+    /// 客户端的料架
+    /// </summary>
+    public enum ClientShelf
+    {
+        /// <summary>
+        /// 没有架子
+        /// </summary>
+        None,
+        /// <summary>
+        /// 空架子
+        /// </summary>
+        Empty,
+        /// <summary>
+        /// 满料架子
+        /// </summary>
+        Full
+    }
+
+    /// <summary>
+    /// 类型
+    /// </summary>
+    public enum ClientType
+    {
+        /// <summary>
+        /// 无
+        /// </summary>
+        None,
+        /// <summary>
+        /// 紧急料
+        /// </summary>
+        Urgent,
+        /// <summary>
+        /// 包装料
+        /// </summary>
+        Pack,
+        /// <summary>
+        /// 分盘料
+        /// </summary>
+        Cut
+    }
+
+}

Agv/JsonHelper.cs

+using System.Collections.Generic;
+using System.IO;
+using Newtonsoft.Json;
+
+namespace Agv
+{
+        /// <summary>
+        /// Json帮助类
+        /// </summary>
+        public class JsonHelper
+        {
+            /// <summary>
+            /// 将对象序列化为JSON格式
+            /// </summary>
+            /// <param name="o">对象</param>
+            /// <returns>json字符串</returns>
+            public static string SerializeObject(object o)
+            {
+                string json = JsonConvert.SerializeObject(o);
+                return json;
+            }
+
+            /// <summary>
+            /// 解析JSON字符串生成对象实体
+            /// </summary>
+            /// <typeparam name="T">对象类型</typeparam>
+            /// <param name="json">json字符串(eg.{"ID":"112","Name":"石子儿"})</param>
+            /// <returns>对象实体</returns>
+            public static T DeserializeJsonToObject<T>(string json) where T : class
+            {
+                JsonSerializer serializer = new JsonSerializer();
+                StringReader sr = new StringReader(json);
+                object o = serializer.Deserialize(new JsonTextReader(sr), typeof(T));
+                T t = o as T;
+                return t;
+            }
+
+            /// <summary>
+            /// 解析JSON数组生成对象实体集合
+            /// </summary>
+            /// <typeparam name="T">对象类型</typeparam>
+            /// <param name="json">json数组字符串(eg.[{"ID":"112","Name":"石子儿"}])</param>
+            /// <returns>对象实体集合</returns>
+            public static List<T> DeserializeJsonToList<T>(string json) where T : class
+            {
+                JsonSerializer serializer = new JsonSerializer();
+                StringReader sr = new StringReader(json);
+                object o = serializer.Deserialize(new JsonTextReader(sr), typeof(List<T>));
+                List<T> list = o as List<T>;
+                return list;
+            }
+
+            /// <summary>
+            /// 反序列化JSON到给定的匿名对象.
+            /// </summary>
+            /// <typeparam name="T">匿名对象类型</typeparam>
+            /// <param name="json">json字符串</param>
+            /// <param name="anonymousTypeObject">匿名对象</param>
+            /// <returns>匿名对象</returns>
+            public static T DeserializeAnonymousType<T>(string json, T anonymousTypeObject)
+            {
+                T t = JsonConvert.DeserializeAnonymousType(json, anonymousTypeObject);
+                return t;
+            }
+        }   
+}

Agv/LogUtil.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using log4net;
+using System.Reflection;
+using System.Drawing;
+
+namespace Agv
+{
+     public class log
+    {
+        //private static LogUtil instance = new LogUtil();
+        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 
+        public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>(); 
+
+        public static void info(string msg)
+        {
+            LOGGER.Info(msg);
+        }
+        public static void debug(string msg)
+        {
+            LOGGER.Debug(msg);
+        } 
+     
+        public static void error(string errorMsg, Exception ex = null)
+        {
+            LOGGER.Error(errorMsg, ex);
+        }
+    }
+}

Agv/Node.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Agv
+{
+    public class Node
+    {
+        /// <summary>
+        /// 节点名称
+        /// </summary>
+        public string Name { set; get; } = "";
+        /// <summary>
+        /// 料架号
+        /// </summary>
+        public string RFID { set; get; } = "";
+        /// <summary>
+        /// 标记
+        /// </summary>
+        public string Mark { set; get; } = "";
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public ClientAction Action { set; get; } = ClientAction.None;
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        public ClientLevel Level { set; get; } = ClientLevel.Low;
+        /// <summary>
+        /// 客户端类型
+        /// </summary>
+        public ClientType Type { set; get; } = ClientType.None;
+        /// <summary>
+        /// 料架类型
+        /// </summary>
+        public ClientShelf Shelf { set; get; } = ClientShelf.None;
+
+        public Node(string name,string rfid="",string mark="",ClientAction action = ClientAction.None,
+            ClientLevel level = ClientLevel.Low,ClientShelf shelfType = ClientShelf.None,ClientType clientType = ClientType.None)
+        {
+            Name = name;
+            RFID = rfid;
+            Mark = mark;
+            Action = action;
+            Level = level;
+            Type = clientType;
+            Shelf = shelfType;
+        }
+        public Node(string name, string rfid = "", ClientAction action = ClientAction.None)
+        {
+            Name = name;
+            RFID = rfid;
+            Action = action;
+        }
+
+        public Node(string name)
+        {
+            Name = name;
+        }
+
+        public Node() { }
+        /// <summary>
+        /// 所有属性的文本形式
+        /// </summary>
+        /// <returns></returns>
+        public string ToText()
+        {
+            System.Reflection.PropertyInfo[] info = this.GetType().GetProperties();
+            string[] arr = new string[info.Length];
+            for (int i = 0; i < info.Length; i++)
+                arr[i] = info[i].Name + "=" + info[i].GetValue(this).ToString();
+            return string.Join(",", arr);
+        }
+        public override bool Equals(object obj)
+        {
+            if (obj is Node)
+            {
+                Node node = (Node)obj;
+                if (Name.Equals(node.Name) && RFID.Equals(node.RFID) && Mark.Equals(node.Mark) &&
+                    Action.Equals(node.Action) && Level.Equals(node.Level) && Type.Equals(node.Type) &&
+                    Shelf.Equals(node.Shelf))
+                    return true;
+                else
+                    return false;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 拷贝一个新的实例
+        /// </summary>
+        /// <returns></returns>
+        public Node ToCopy()
+        {
+            Node node = new Node();
+            System.Reflection.PropertyInfo[] info1 = node.GetType().GetProperties();
+            System.Reflection.PropertyInfo[] info2 = this.GetType().GetProperties();
+            for (int i = 0; i < info1.Length; i++)
+                info1[i].SetValue(node, info2[i].GetValue(this));
+            return node;
+
+        }
+    }
+}

Agv/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("Agv")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Agv")]
+[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("a2ef9efc-51c5-4bf6-965f-3a06beadd632")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

Agv/obj/Debug/.NETFramework,Version=v4.7.2.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.7.2", FrameworkDisplayName = ".NET Framework 4.7.2")]

Agv/obj/Debug/Agv.csproj.CoreCompileInputs.cache

+35c3965847f80e2b5445247f75e89b4af09c6e34

Agv/obj/Debug/Agv.csproj.FileListAbsolute.txt

+E:\Neotel\Projects\Gitee\AGV-Com\Agv\bin\Debug\Agv.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\bin\Debug\Agv.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\bin\Debug\log4net.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\bin\Debug\Newtonsoft.Json.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\obj\Debug\Agv.csproj.CoreCompileInputs.cache
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\obj\Debug\Agv.csproj.CopyComplete
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\obj\Debug\Agv.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Agv\obj\Debug\Agv.pdb

AgvClient/AgvClient.cs

+using System;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Threading;
+
+namespace Agv
+{
+    /// <summary>
+    /// AGV客户端
+    /// </summary>
+    public class AgvClient
+    {
+        private bool _loopClient;
+        private int _countRecon;
+        private bool _loopRecon;
+        private Socket _clientSocket;        //客户端
+        private List<Node> _node;
+        private List<Node> _nodeNoneState;
+        private Thread tSend;          //发送
+        private Thread tListen;        //监听网络
+        private Thread tRecon;
+        private string SERVER_IP;        //远程IP地址
+        private int SERVER_PORT;    //端口
+        private bool _IsEecodeSingleNode = false;//是否编码单个节点（默认编码多个节点）
+        /// <summary>
+        /// 小车接收事件委托
+        /// </summary>
+        public delegate void ReceiveEvent(Node node);
+        /// <summary>
+        /// 服务器连接事件
+        /// </summary>
+        /// <param name="status"></param>
+        public delegate void ConnectEvent(bool status);
+        /// <summary>
+        /// 小车接收事件
+        /// </summary>
+        public event ReceiveEvent Received;
+        /// <summary>
+        /// 服务器连接事件
+        /// </summary>
+        public event ConnectEvent Connected;
+
+        /// <summary>
+        /// 服务端信息
+        /// </summary>
+        public string ServerInfo
+        {
+            get
+            {
+                return string.Format("{0}:{1}", SERVER_IP, SERVER_PORT.ToString());
+            }
+        }
+        /// <summary>
+        ///  AGV客户端
+        /// </summary>
+        /// <param name="_IsEecodeSingleNode">编码方式，默认编码多个节点</param>
+        public AgvClient(bool _IsEecodeSingleNode = false)
+        {
+            _node = new List<Node>();
+            _nodeNoneState = new List<Node>();
+            this._IsEecodeSingleNode = _IsEecodeSingleNode;
+        }
+
+        /// <summary>
+        /// 是否连接服务器
+        /// </summary>
+        public bool IsConn { private set; get; } = false;
+
+        /// <summary>
+        /// 发送命令的时间间隔，不能大于10s（单位：秒）
+        /// </summary>
+        public int SendSleep { set; get; } = 1;
+        /// <summary>
+        /// 禁用状态(true：发送None，false：正常发送)
+        /// </summary>
+        public bool CancelState { get; set; } = true;
+
+
+        /// <summary>
+        /// 连接
+        /// </summary>
+        public void Connect(string serverIP, int port = 12000)
+        {
+            SERVER_IP = serverIP;
+            SERVER_PORT = port;
+            _countRecon = 0;
+            _loopRecon = true;
+            IsConn = false;
+            _loopClient = true;
+
+            tListen = new Thread(new ThreadStart(ListenServerNet));
+            tSend = new Thread(new ThreadStart(KeepSendStatus));
+            tRecon = new Thread(new ThreadStart(Reconnect));
+            tRecon.Start();
+            //Open();
+            tListen.Start();
+            tSend.Start();
+            Agv.log.info("连接服务器");
+        }
+
+        /// <summary>
+        /// 关闭
+        /// </summary>
+        public void Close()
+        {
+            CancelState = true;
+            _loopClient = false;
+            _loopRecon = false;
+            if (_clientSocket != null)
+            {
+                _clientSocket.Close();
+                _clientSocket = null;
+            }
+            log.info("客户端关闭");
+        }
+
+        /// <summary>
+        /// 设置状态
+        /// </summary>
+        /// <param name="nodeName">节点名</param>
+        /// <param name="mark">虚拟rfid</param>
+        /// <param name="rfid">rfid</param>
+        /// <param name="action">动作</param>
+        /// <param name="level">等级</param>
+        /// <param name="shelf">料架类型</param>
+        /// <param name="type">客户端类型</param>
+        public void SetStatus(string nodeName, string mark = "", string rfid = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, ClientShelf shelf = ClientShelf.None, ClientType type = ClientType.None)
+        {
+            int index = _node.FindIndex(s => s.Name == nodeName);
+            if (index == -1)  //没有找到
+            {
+                Node node = new Node
+                {
+                    Name = nodeName,
+                    RFID = rfid,
+                    Action = action,
+                    Level = level,
+                    Shelf = shelf,
+                    Type = type,
+                    Mark = mark
+                };
+                _node.Add(node);
+                _nodeNoneState.Add(new Node { Name=nodeName});
+                log.info("SetStatus " + node.ToText());
+            }
+            else
+            {
+                _node[index].RFID = rfid;
+                _node[index].Action = action;
+                _node[index].Level = level;
+                _node[index].Shelf = shelf;
+                _node[index].Type = type;
+                _node[index].Mark = mark;
+                log.info("SetStatus " + _node[index].ToText());
+            }
+        }
+
+        /// <summary>
+        /// 设置状态
+        /// </summary>
+        /// <param name="nodeName">节点名称</param>
+        /// <param name="action">动作</param>
+        public void SetStatus(string nodeName, ClientAction action)
+        {
+            int index = _node.FindIndex(s => s.Name == nodeName);
+            if (index == -1)  //没有找到
+            {
+                log.info("SetStatus 没有找到" + nodeName);
+            }
+            else
+            {
+                _node[index].Action = action;
+                log.info("SetStatus " + _node[index].ToText());
+            }
+        }
+
+
+
+        /// <summary>
+        /// 重连线程
+        /// </summary>
+        private void Reconnect()
+        {
+            while (_loopRecon)
+            {
+                if (!IsConn)
+                {
+                    Open();
+                    if (IsConn)
+                    {
+                        _countRecon = 0;
+                        log.info("连接服务器成功");
+                        Connected?.Invoke(IsConn);
+                    }
+                    else
+                    {
+                        log.info("连接服务器失败" + ++_countRecon + "次");
+                    }
+                }
+                Thread.Sleep(2000);
+            }
+            log.info("Quit Thread Reconnect");
+        }
+
+        /// <summary>
+        /// 打开，连接到服务器
+        /// </summary>
+        private void Open()
+        {
+            try
+            {
+                if (CheckIP(SERVER_IP))
+                {
+                    _clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, 2000);
+                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, 2000);
+                    _clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.NoDelay, 1);
+                    _clientSocket.Connect(IPAddress.Parse(SERVER_IP), SERVER_PORT);
+                    if (!_loopRecon) return;
+                    IsConn = true;
+                    Connected?.Invoke(IsConn);
+                }
+            }
+            catch (Exception ex)
+            {
+                IsConn = false;
+                log.error("Open Error", ex);
+            }
+        }
+
+        /// <summary>
+        /// 监听服务端发送的内容
+        /// </summary>
+        private void ListenServerNet()
+        {
+            int timeout = 100;
+            while (true)
+            {
+                while (_loopClient)
+                {
+                    Thread.Sleep(timeout);
+                    if (!IsConn) continue;
+                    if (_clientSocket == null) continue;
+                    if (!_loopClient) break;
+
+                    try
+                    {
+                        // 定义一个缓存区；
+                        byte[] arrMsgRec = new byte[1024];
+                        // 将接收到的数据存入到输入  arrMsgRec中；
+                        int length = -1;
+                        if (_clientSocket.Poll(-1, SelectMode.SelectRead))
+                        {
+                            try
+                            {
+                                length = _clientSocket.Receive(arrMsgRec); // 接收数据，并返回数据的长度；
+                                if (length == 0)//连接正常断开
+                                {
+                                    IsConn = false;
+                                    Connected?.Invoke(IsConn);
+                                    log.info(string.Format("服务端[{1}]断开与客户端的连接", _clientSocket.RemoteEndPoint.ToString(), ServerInfo));
+                                    break;
+                                }
+                            }
+                            catch (SocketException se)
+                            {
+                                IsConn = false;
+                                Connected?.Invoke(IsConn);
+                                log.error(string.Format("客户端[{0}]接收服务端[{1}]的消息出现异常", _clientSocket.RemoteEndPoint.ToString(), ServerInfo), se);
+                                break;
+                            }
+                            catch (Exception e)
+                            {
+                                IsConn = false;
+                                Connected?.Invoke(IsConn);
+                                log.error(string.Format("客户端[{0}]接收服务端[{1}]的消息出现异常", _clientSocket.RemoteEndPoint.ToString(), ServerInfo), e);
+                                break;
+                            }
+                        }
+
+                        if (length > 0)
+                        {
+                            byte[] buff = new byte[length];
+                            Array.Copy(arrMsgRec, 0, buff, 0, length);
+
+                            Node node = Common.Decode(buff);
+                            if (node == null)
+                            {
+                                log.error("命令解析失败");
+                            }
+                            else
+                            {
+                                log.info("触发Received事件，" + node.ToText());
+                                Received?.Invoke(node);
+                            }
+                        }
+
+                        //if (_clientSocket.Available > 0)
+                        //{
+                        //    int count = _clientSocket.Receive(temp);
+                        //    byte[] buff = new byte[count];
+                        //    Array.Copy(temp, 0, buff, 0, count);
+
+                        //    Node node = Common.Decode(buff);
+                        //    if (node == null)
+                        //    {
+                        //        LogUtil.error("命令解析失败");
+                        //    }
+                        //    else
+                        //    {
+                        //        LogUtil.info("触发Received事件，" + node.ToText());
+                        //        Received?.Invoke(node);
+                        //    }
+                        //}
+                    }
+                    catch (Exception ex)
+                    {
+                        IsConn = false;
+                        log.error("ListenNet Error", ex);
+                        Connected?.Invoke(IsConn);
+                    }
+                }
+            }
+
+
+            log.info("Quit Thread ListenNet");
+        }
+
+        /// <summary>
+        /// 连续发送状态线程
+        /// </summary>
+        private void KeepSendStatus()
+        {
+            bool bln;
+            while (_loopClient)
+            {
+                Thread.Sleep(SendSleep * 1000);
+                if (!IsConn) continue;
+                if (_clientSocket == null) continue;
+                if (_IsEecodeSingleNode)
+                {
+                    for (int i = 0; i < _node.Count; i++)
+                    {
+                        if (!_loopClient) break;
+                        Thread.Sleep(500);
+                        if (!CancelState)
+                        {
+                            byte[] buff = Common.Encode(_node[i]);
+                            bln = Send(buff);
+                        }
+                        else
+                        {
+                            Node nostate = _node[i].ToCopy();
+                            nostate.Action = ClientAction.None;
+                            byte[] buff = Common.Encode(nostate);
+                            bln = Send(buff);
+                        }
+                        if (!bln) continue;
+                    }
+                }
+                else
+                {
+                    if (_node.Count == 0) continue;
+                    if (!CancelState)
+                    {
+                        byte[] buff = Common.Encode(_node);
+                        if (!_loopClient) break;
+                        bln = Send(buff);
+                    }
+                    else
+                    {
+                        byte[] buff = Common.Encode(_nodeNoneState);
+                        if (!_loopClient) break;
+                        bln = Send(buff);
+                    }
+                }
+
+            }
+            log.info("Quit Thread SendStatus");
+        }
+
+
+        /// <summary>
+        /// 发送命令
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        private bool Send(byte[] buff)
+        {
+            if (!IsConn)
+            {
+                log.info("Send 服务器没有连接");
+                return false;
+            }
+
+            try
+            {
+                if (!_loopRecon) return false;
+                if (buff == null) return false;
+                _clientSocket.Send(buff);
+                log.debug(string.Format("Send to Server:{0}", string.Join(" ", buff)));
+                return true;
+            }
+            catch (Exception ex)
+            {
+                log.error("Send Error", ex);
+                IsConn = false;
+                Connected?.Invoke(IsConn);
+                return false;
+            }
+
+        }
+
+        /// <summary>
+        /// 检查IP地址
+        /// </summary>
+        /// <param name="ip"></param>
+        /// <returns></returns>
+        private bool CheckIP(string ip)
+        {
+            //IP合法
+            string pattern = @"^((2[0-4]\d|25[0-5]|[01]?\d\d?)\.){3}(2[0-4]\d|25[0-5]|[01]?\d\d?)$";
+            bool rtn = System.Text.RegularExpressions.Regex.IsMatch(ip, pattern);
+            if (!rtn)
+            {
+                log.info("非法的IP地址" + ip);
+                return false;
+            }
+
+            //Ping服务端
+            try
+            {
+                System.Net.NetworkInformation.Ping ping = new System.Net.NetworkInformation.Ping();
+                System.Net.NetworkInformation.PingReply result = ping.Send(ip, 2000);
+                ping.Dispose();
+                if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
+                {
+                    log.info("Ping " + ip + " 请求没有响应");
+                    return false;
+                }
+                return true;
+            }
+            catch (Exception ex)
+            {
+                log.error("CheckIP Error", ex);
+                return false;
+            }
+        }
+
+    }
+
+}

AgvClient/Client.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Agv</RootNamespace>
+    <AssemblyName>Agv.Client</AssemblyName>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <LangVersion>8.0</LangVersion>
+    <PlatformTarget>AnyCPU</PlatformTarget>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <LangVersion>8.0</LangVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net">
+      <HintPath>..\..\..\..\DLL\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Web.Extensions" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="OldClient.cs" />
+    <Compile Include="AgvClient.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Agv\Agv.csproj">
+      <Project>{a2ef9efc-51c5-4bf6-965f-3a06beadd632}</Project>
+      <Name>Agv</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

AgvClient/OldClient.cs

+using System;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Threading;
+
+namespace Asa
+{
+    /// <summary>
+    /// AGV客户端-旧协议
+    /// </summary>
+    public class AgvClient
+    {
+        private bool loop;
+        private string _ip;           //远程IP地址
+        private Socket client;        //客户端
+        private Thread tSend;         //发送
+        private Thread tListen;       //监听网络
+        private Thread tReceive;      //接收事件
+
+        private int countRecon;
+        private bool loopRecon;
+        private Thread tRecon;
+
+        private List<ClientNode> _node;
+        private System.Collections.Concurrent.ConcurrentQueue<ClientNode> _receive;
+
+        private const int PORT = 12000;    //端口
+
+        /// <summary>
+        /// 小车动作事件
+        /// </summary>
+        public delegate void ActionEvent(string name, string rfid);
+        /// <summary>
+        /// 日志事件
+        /// </summary>
+        /// <param name="s"></param>
+        public delegate void LogEvent(string s);
+
+        /// <summary>
+        /// 小车到达，仅包装料仓
+        /// </summary>
+        public event ActionEvent Arrive;
+        /// <summary>
+        /// 小车已准备，对接完成
+        /// </summary>
+        public event ActionEvent Ready;
+        /// <summary>
+        /// 关门，仅包装料仓
+        /// </summary>
+        public event ActionEvent CloseDoor;
+        /// <summary>
+        /// 日志
+        /// </summary>
+        public event LogEvent Log;
+
+
+
+        /// <summary>
+        /// AGV客户端
+        /// </summary>
+        /// <param name="serverIP">服务器IP地址</param>
+        public AgvClient(string serverIP)
+        {
+            _ip = serverIP;
+            _node = new List<ClientNode>();
+            _receive = new System.Collections.Concurrent.ConcurrentQueue<ClientNode>();
+        }
+
+        /// <summary>
+        /// 是否连接服务器
+        /// </summary>
+        public bool IsConn { private set; get; } = false;
+
+        /// <summary>
+        /// 发送命令的日志是否打印，不影响其他日志
+        /// </summary>
+        public bool SendLog { set; get; } = false;
+
+        /// <summary>
+        /// 发送命令的时间间隔，不能大于10s（单位：秒）
+        /// </summary>
+        public int SendSleep { set; get; } = 3;
+
+        /// <summary>
+        /// 取消状态，true发送none，false发送实际状态
+        /// </summary>
+        public bool CancelState { set; get; } = false;
+
+
+
+        /// <summary>
+        /// 连接
+        /// </summary>
+        public void Connect()
+        {
+            countRecon = 0;
+            loopRecon = true;
+            IsConn = false;
+            tRecon = new Thread(new ThreadStart(Reconnect));
+            tRecon.Start();
+        }
+
+        /// <summary>
+        /// 关闭
+        /// </summary>
+        public void Close()
+        {
+            loop = false;
+            loopRecon = false;
+
+            if (client != null)
+            {
+                client.Close();
+                client = null;
+            }
+            Log?.Invoke("客户端关闭");
+        }
+
+        /// <summary>
+        /// 设置状态
+        /// </summary>
+        /// <param name="name">节点名称</param>
+        /// <param name="mark">节点标记</param>
+        /// <param name="rfid">架子RFID</param>
+        /// <param name="action"></param>
+        /// <param name="level"></param>
+        public void SetStatus(string name, string mark = "", string rfid = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low)
+        {
+            int idx = _node.FindIndex(s => s.Name.Equals(name));
+            if (idx == -1)
+            {
+                ClientNode node = new ClientNode(name, mark, rfid, action, level);
+                _node.Add(node);
+                Log?.Invoke("SetStatus " + node.ToText());
+            }
+            else
+            {
+                _node[idx].Mark = mark;
+                _node[idx].RFID = rfid;
+                _node[idx].Action = action;
+                _node[idx].Level = level;
+                Log?.Invoke("SetStatus " + _node[idx].ToText());
+            }
+        }
+
+
+
+        /// <summary>
+        /// 重连线程
+        /// </summary>
+        private void Reconnect()
+        {
+            while (loopRecon)
+            {
+                if (!IsConn)
+                {
+                    Open();
+                    if (IsConn)
+                    {
+                        countRecon = 0;
+                        Log?.Invoke("连接服务器成功");
+                    }
+                    else
+                    {
+                        Log?.Invoke("连接服务器失败" + ++countRecon + "次");
+                    }
+                }
+                Thread.Sleep(5000);
+            }
+        }
+
+        /// <summary>
+        /// 打开，连接到服务器
+        /// </summary>
+        private void Open()
+        {
+            try
+            {
+                if (CheckIP(_ip))
+                {
+                    client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, 2000);
+                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, 2000);
+                    client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.NoDelay, 1);
+                    client.Connect(IPAddress.Parse(_ip), PORT);
+
+                    if (!loopRecon) return;
+                    IsConn = true;
+                    loop = true;
+                    tListen = new Thread(new ThreadStart(ListenNet));
+                    tListen.Start();
+                    tReceive = new Thread(new ThreadStart(Resolve));
+                    tReceive.Start();
+                    tSend = new Thread(new ThreadStart(SendStatus));
+                    tSend.Start();
+                }
+            }
+            catch (Exception ex)
+            {
+                IsConn = false;
+                Log?.Invoke(ex.Message);
+            }
+        }
+
+        /// <summary>
+        /// 监听线程
+        /// </summary>
+        private void ListenNet()
+        {
+            byte[] temp = new byte[200];
+            int time = 100;
+
+            while (loop)
+            {
+                try
+                {
+                    if (client.Available > 0)
+                    {
+                        int count = client.Receive(temp);
+                        byte[] _buffer = new byte[count];
+                        Array.Copy(temp, 0, _buffer, 0, count);
+
+                        ClientNode node = Decode(_buffer);
+                        if (node == null)
+                        {
+                            Log?.Invoke("命令解析失败: " + HexBuff(_buffer));
+                        }
+                        else
+                        {
+                            _receive.Enqueue(node);
+                            Log?.Invoke("From Server: " + node.ToText());
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    IsConn = false;
+                    Log?.Invoke(ex.Message);
+                }
+                Thread.Sleep(time);
+            }
+        }
+
+        /// <summary>
+        /// 分析数据包
+        /// </summary>
+        private void Resolve()
+        {
+            int time = 100;
+
+            while (loop)
+            {
+                Thread.Sleep(time);
+                try
+                {
+                    if (!_receive.TryDequeue(out ClientNode result))
+                        continue;
+
+                    switch (result.Action)
+                    {
+                        case ClientAction.Arrive:
+                            Log?.Invoke("触发Arrive事件");
+                            Arrive?.Invoke(result.Name, result.RFID);
+                            break;
+                        case ClientAction.Ready:
+                            Log?.Invoke("触发Ready事件");
+                            Ready?.Invoke(result.Name, result.RFID);
+                            break;
+                        case ClientAction.CloseDoor:
+                            Log?.Invoke("触发CloseDoor事件");
+                            CloseDoor?.Invoke(result.Name, result.RFID);
+                            break;
+                    }
+                }
+                catch (Exception ex)
+                {
+                    Log?.Invoke(ex.Message);
+                }
+
+            }
+        }
+
+        /// <summary>
+        /// 连续发送状态线程
+        /// </summary>
+        private void SendStatus()
+        {
+            while (loop)
+            {
+                //Socket没有建立连接
+                if (!IsConn)
+                {
+                    Thread.Sleep(1000);
+                    continue;
+                }
+
+                if (_node.Count == 0)
+                {
+                    Thread.Sleep(5000);
+                    continue;
+                }
+
+                for (int i = 0; i < _node.Count; i++)
+                {
+                    if (!loop) break;
+                    Thread.Sleep(100);
+                    byte[] buff = Encode(_node[i]);
+                    bool bln = Send(buff);
+
+                    if (!bln)
+                    {
+                        IsConn = false;
+                        loop = false;
+                        break;
+                    }
+                }
+                Thread.Sleep(SendSleep * 1000);
+            }
+        }
+
+
+
+
+
+
+        /// <summary>
+        /// 编码
+        /// </summary>
+        /// <param name="node"></param>
+        /// <returns></returns>
+        private byte[] Encode(ClientNode node)
+        {
+            byte[] name = System.Text.Encoding.UTF8.GetBytes(node.Name);
+            byte[] mark = System.Text.Encoding.UTF8.GetBytes(node.Mark);
+            byte[] rfid = System.Text.Encoding.UTF8.GetBytes(node.RFID);
+            int count = name.Length + mark.Length + rfid.Length + 7;
+
+            int idx = 0;
+            byte[] buff = new byte[count];
+            buff[idx++] = 0xAB;
+
+            buff[idx++] = Convert.ToByte(name.Length);
+            Array.Copy(name, 0, buff, idx, name.Length);
+            idx += name.Length;
+
+            buff[idx++] = Convert.ToByte(mark.Length);
+            Array.Copy(mark, 0, buff, idx, mark.Length);
+            idx += mark.Length;
+
+            buff[idx++] = Convert.ToByte(rfid.Length);
+            Array.Copy(rfid, 0, buff, idx, rfid.Length);
+            idx += rfid.Length;
+
+            if (CancelState)
+                buff[idx++] = (byte)ClientAction.None;
+            else
+                buff[idx++] = (byte)node.Action;
+            buff[idx++] = Convert.ToByte(node.Level);
+            buff[idx++] = 0xBA;
+
+            return buff;
+        }
+
+        /// <summary>
+        /// 发送命令
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        private bool Send(byte[] buff)
+        {
+            if (!IsConn)
+            {
+                Log?.Invoke("Send 服务器没有连接");
+                return false;
+            }
+
+            try
+            {
+                if (!loopRecon) return false;
+                if (SendLog) Log?.Invoke("Send: " + HexBuff(buff));
+                client.Send(buff);
+                return true;
+            }
+            catch (Exception ex)
+            {
+                Log?.Invoke(ex.Message);
+                IsConn = false;
+                return false;
+            }
+
+        }
+
+        /// <summary>
+        /// 解码
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        private ClientNode Decode(byte[] buff)
+        {
+            int idx = 0;
+            if (buff[idx++] != 0xAB) return null;
+
+            byte[] temp1 = new byte[buff[idx++]];
+            Array.Copy(buff, idx, temp1, 0, temp1.Length);
+            string name = System.Text.Encoding.UTF8.GetString(temp1);
+            idx += temp1.Length;
+
+            temp1 = new byte[buff[idx++]];
+            Array.Copy(buff, idx, temp1, 0, temp1.Length);
+            string mark = System.Text.Encoding.UTF8.GetString(temp1);
+            idx += temp1.Length;
+
+            temp1 = new byte[buff[idx++]];
+            Array.Copy(buff, idx, temp1, 0, temp1.Length);
+            string rfid = System.Text.Encoding.UTF8.GetString(temp1);
+            idx += temp1.Length;
+
+            ClientAction action = (ClientAction)buff[idx++];
+            ClientLevel level = (ClientLevel)buff[idx++];
+            ClientNode node = new ClientNode(name, mark, rfid, action, level);
+
+            if (buff[idx] != 0xBA)
+                return null;
+            return node;
+        }
+
+        /// <summary>
+        /// 16进制
+        /// </summary>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        private string HexBuff(byte[] buff)
+        {
+            string s = "";
+            if (buff == null) return s;
+
+            for (int i = 0; i < buff.Length; i++)
+                s += buff[i].ToString("X2") + " ";
+            return s;
+        }
+
+        /// <summary>
+        /// 检查IP地址
+        /// </summary>
+        /// <param name="ip"></param>
+        /// <returns></returns>
+        private bool CheckIP(string ip)
+        {
+            //IP合法
+            string pattern = @"^((2[0-4]\d|25[0-5]|[01]?\d\d?)\.){3}(2[0-4]\d|25[0-5]|[01]?\d\d?)$";
+            bool rtn = System.Text.RegularExpressions.Regex.IsMatch(ip, pattern);
+            if (!rtn)
+            {
+                Log?.Invoke("非法的IP地址" + ip);
+                return false;
+            }
+
+            //Ping服务端
+            try
+            {
+                System.Net.NetworkInformation.Ping ping = new System.Net.NetworkInformation.Ping();
+                System.Net.NetworkInformation.PingReply result = ping.Send(ip, 2000);
+                ping.Dispose();
+                if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
+                {
+                    Log?.Invoke("Ping " + ip + " 请求没有响应");
+                    return false;
+                }
+                return true;
+            }
+            catch (Exception ex)
+            {
+                Log?.Invoke(ex.Message);
+                return false;
+            }
+        }
+
+    }
+
+    /// <summary>
+    /// 客户端的节点
+    /// </summary>
+    public class ClientNode
+    {
+        /// <summary>
+        /// 节点名称
+        /// </summary>
+        public string Name { set; get; }
+        /// <summary>
+        /// 标记，用于包装料仓
+        /// </summary>
+        public string Mark { set; get; }
+        /// <summary>
+        /// 当前架子的RFID
+        /// </summary>
+        public string RFID { set; get; }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public ClientAction Action { set; get; }
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        public ClientLevel Level { set; get; }
+
+        /// <summary>
+        /// 客户端节点
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="mark"></param>
+        /// <param name="rfid"></param>
+        /// <param name="action"></param>
+        /// <param name="level"></param>
+        public ClientNode(string name, string mark, string rfid, ClientAction action, ClientLevel level)
+        {
+            Name = name;
+            Mark = mark;
+            RFID = rfid;
+            Action = action;
+            Level = level;
+        }
+
+        /// <summary>
+        /// 所有属性的文本形式
+        /// </summary>
+        /// <returns></returns>
+        public string ToText()
+        {
+            string s = string.Format("Name={0}, Action={1}, Level={2}, Mark={3}, RFID={4}", Name, Action, Level, Mark, RFID);
+            return s;
+        }
+
+        /// <summary>
+        /// 服务端的命令
+        /// </summary>
+        /// <returns></returns>
+        public string ToServerText()
+        {
+            string s = string.Format("Name={0}, Action={1}, RFID={2}", Name, Action, RFID);
+            return s;
+        }
+    }
+
+    /// <summary>
+    /// 客户端的动作
+    /// </summary>
+    public enum ClientAction : byte
+    {
+        /// <summary>
+        /// 没有动作
+        /// </summary>
+        None = 0,
+        /// <summary>
+        /// 包装料仓关门
+        /// </summary>
+        CloseDoor = 1,
+        /// <summary>
+        /// 可以进入料架，Arrive事件使用，让小车开始对接
+        /// </summary>
+        MayEnter = 2,
+        /// <summary>
+        /// 可以出去料架，Arrive事件使用，让小车开始对接
+        /// </summary>
+        MayLeave = 3,
+        /// <summary>
+        /// 需要进入料架
+        /// </summary>
+        NeedEnter = 4,
+        /// <summary>
+        /// 需要出去料架
+        /// </summary>
+        NeedLeave = 5,
+        /// <summary>
+        /// 完成进入料架
+        /// </summary>
+        FinishEnter = 6,
+        /// <summary>
+        /// 完成出去料架
+        /// </summary>
+        FinishLeave = 7,
+        /// <summary>
+        /// 小车到达，到达包装料仓门口，等待开门
+        /// </summary>
+        Arrive = 8,
+        /// <summary>
+        /// 小车已准备，已对接上流水线
+        /// </summary>
+        Ready = 9,
+        /// <summary>
+        /// 包装料仓只能入料不能出料
+        /// </summary>
+        EnterShelf = 10,
+        /// <summary>
+        /// 不允许
+        /// </summary>
+        MayNot = 11
+    }
+
+    /// <summary>
+    /// 客户端的优先级
+    /// </summary>
+    public enum ClientLevel : byte
+    {
+        /// <summary>
+        /// 低
+        /// </summary>
+        Low = 0,
+        /// <summary>
+        /// 中等
+        /// </summary>
+        Middle = 1,
+        /// <summary>
+        /// 高
+        /// </summary>
+        High = 2
+    }
+}

AgvClient/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("Client")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Client")]
+[assembly: AssemblyCopyright("Copyright ©  2020")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("7dad8f15-0ec9-42df-ae0b-94b45de0f0ac")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("2.1.0.0")]
+[assembly: AssemblyFileVersion("2.1.0.0")]

AgvClient/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = ".NET Framework 4.6.1")]

AgvClient/obj/Debug/.NETFramework,Version=v4.7.2.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.7.2", FrameworkDisplayName = ".NET Framework 4.7.2")]

AgvClient/obj/Debug/AgvClient.csproj.CoreCompileInputs.cache

+1f4b5f381e1f59a0a2522706b866e2df25a32b6d

AgvClient/obj/Debug/AgvClient.csproj.FileListAbsolute.txt

+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\bin\Debug\AgvClient_DL.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\bin\Debug\AgvClient_DL.pdb
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\bin\Debug\log4net.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\obj\Debug\AgvClient.csprojAssemblyReference.cache
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\obj\Debug\AgvClient.csproj.CopyComplete
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\obj\Debug\AgvClient_DL.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient_DL\obj\Debug\AgvClient_DL.pdb
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient\bin\Debug\log4net.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csproj.CopyComplete
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+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.pdb
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+C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\bin\Debug\AsaPL.AgvClient.pdb
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+C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.dll
+C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.pdb
+C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csprojAssemblyReference.cache
+C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\bin\Debug\AsaPL.AgvClient.dll
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\bin\Debug\AsaPL.AgvClient.pdb
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csprojAssemblyReference.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AgvClient.csproj.CopyComplete
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.dll
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClient\obj\Debug\AsaPL.AgvClient.pdb
+E:\Neotel\Projects\Gitee\3D-AGV-SMD\AgvClient\bin\Debug\Asa.AgvClient.dll
+E:\Neotel\Projects\Gitee\3D-AGV-SMD\AgvClient\bin\Debug\Asa.AgvClient.pdb
+E:\Neotel\Projects\Gitee\3D-AGV-SMD\AgvClient\obj\Debug\AgvClient.csprojAssemblyReference.cache
+E:\Neotel\Projects\Gitee\3D-AGV-SMD\AgvClient\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
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+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Client.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Client.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\AgvClient.csprojAssemblyReference.cache
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\AgvClient.csproj.CoreCompileInputs.cache
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+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Client.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Client.pdb

AgvClient/obj/Debug/Client.csproj.CoreCompileInputs.cache

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AgvClient/obj/Debug/Client.csproj.FileListAbsolute.txt

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+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Agv.Client.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Agv.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Newtonsoft.Json.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\bin\Debug\Agv.pdb
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+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Client.csproj.CoreCompileInputs.cache
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Client.csproj.CopyComplete
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Agv.Client.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClient\obj\Debug\Agv.Client.pdb

AgvClientTest/AgvClientTest.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{E1C0827A-FA12-49A9-AC71-6D3E6518754A}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>AgvClientTest</RootNamespace>
+    <AssemblyName>AgvClientTest</AssemblyName>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net">
+      <HintPath>..\..\..\DLL\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Form1.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Form1.Designer.cs">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="Form1.resx">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\AgvClient\Client.csproj">
+      <Project>{7dad8f15-0ec9-42df-ae0b-94b45de0f0ac}</Project>
+      <Name>Client</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\Agv\Agv.csproj">
+      <Project>{a2ef9efc-51c5-4bf6-965f-3a06beadd632}</Project>
+      <Name>Agv</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\Server\Server.csproj">
+      <Project>{f539cef2-cbd5-4abf-afd2-56c848ded0c0}</Project>
+      <Name>Server</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

AgvClientTest/App.config

+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+	<configSections>
+		<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
+	</configSections>
+	<startup>
+		<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2"/>
+	</startup>
+	<log4net>
+		<appender name="AgvClient" type="log4net.Appender.RollingFileAppender">
+			<file value="logs/AgvClient.log"/>
+			<param name="Encoding" value="UTF-8"/>
+			<appendToFile value="true"/>
+			<rollingStyle value="Date"/>
+			<datePattern value="yyyy-MM-dd"/>
+			<layout type="log4net.Layout.PatternLayout">
+				<conversionPattern value="[%date][%t]%-5p %m%n"/>
+			</layout>
+		</appender>
+		<root>
+			<level value="debug"/>
+			<appender-ref ref="AgvClient"/>
+		</root>
+	</log4net>
+</configuration>

AgvClientTest/Form1.Designer.cs

+namespace AgvClientTest
+{
+    partial class Form1
+    {
+        /// <summary>
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// 清理所有正在使用的资源。
+        /// </summary>
+        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows 窗体设计器生成的代码
+
+        /// <summary>
+        /// 设计器支持所需的方法 - 不要修改
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.button1 = new System.Windows.Forms.Button();
+            this.textBox1 = new System.Windows.Forms.TextBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.textBox2 = new System.Windows.Forms.TextBox();
+            this.label3 = new System.Windows.Forms.Label();
+            this.textBox3 = new System.Windows.Forms.TextBox();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label6 = new System.Windows.Forms.Label();
+            this.label7 = new System.Windows.Forms.Label();
+            this.comboBox1 = new System.Windows.Forms.ComboBox();
+            this.comboBox2 = new System.Windows.Forms.ComboBox();
+            this.comboBox3 = new System.Windows.Forms.ComboBox();
+            this.comboBox4 = new System.Windows.Forms.ComboBox();
+            this.label8 = new System.Windows.Forms.Label();
+            this.textBox4 = new System.Windows.Forms.TextBox();
+            this.label9 = new System.Windows.Forms.Label();
+            this.label10 = new System.Windows.Forms.Label();
+            this.textBox5 = new System.Windows.Forms.TextBox();
+            this.button2 = new System.Windows.Forms.Button();
+            this.button3 = new System.Windows.Forms.Button();
+            this.button4 = new System.Windows.Forms.Button();
+            this.button5 = new System.Windows.Forms.Button();
+            this.label11 = new System.Windows.Forms.Label();
+            this.label12 = new System.Windows.Forms.Label();
+            this.button6 = new System.Windows.Forms.Button();
+            this.label13 = new System.Windows.Forms.Label();
+            this.button7 = new System.Windows.Forms.Button();
+            this.SuspendLayout();
+            // 
+            // button1
+            // 
+            this.button1.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button1.Location = new System.Drawing.Point(586, 128);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(150, 38);
+            this.button1.TabIndex = 0;
+            this.button1.Text = "向服务端发送";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // textBox1
+            // 
+            this.textBox1.Location = new System.Drawing.Point(124, 21);
+            this.textBox1.Name = "textBox1";
+            this.textBox1.Size = new System.Drawing.Size(100, 21);
+            this.textBox1.TabIndex = 1;
+            this.textBox1.Text = "A1";
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(77, 30);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(41, 12);
+            this.label1.TabIndex = 2;
+            this.label1.Text = "节点名";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(77, 59);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(29, 12);
+            this.label2.TabIndex = 3;
+            this.label2.Text = "RFID";
+            // 
+            // textBox2
+            // 
+            this.textBox2.Location = new System.Drawing.Point(124, 50);
+            this.textBox2.Name = "textBox2";
+            this.textBox2.Size = new System.Drawing.Size(100, 21);
+            this.textBox2.TabIndex = 4;
+            this.textBox2.Text = "D1";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(77, 86);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(29, 12);
+            this.label3.TabIndex = 5;
+            this.label3.Text = "MARK";
+            // 
+            // textBox3
+            // 
+            this.textBox3.Location = new System.Drawing.Point(124, 77);
+            this.textBox3.Name = "textBox3";
+            this.textBox3.Size = new System.Drawing.Size(100, 21);
+            this.textBox3.TabIndex = 6;
+            this.textBox3.Text = "2-1A,cut";
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(77, 116);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(41, 12);
+            this.label4.TabIndex = 7;
+            this.label4.Text = "Action";
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(77, 141);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(35, 12);
+            this.label5.TabIndex = 8;
+            this.label5.Text = "Level";
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(77, 168);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(29, 12);
+            this.label6.TabIndex = 9;
+            this.label6.Text = "Type";
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Location = new System.Drawing.Point(77, 201);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(35, 12);
+            this.label7.TabIndex = 10;
+            this.label7.Text = "Shelf";
+            // 
+            // comboBox1
+            // 
+            this.comboBox1.FormattingEnabled = true;
+            this.comboBox1.Location = new System.Drawing.Point(124, 113);
+            this.comboBox1.Name = "comboBox1";
+            this.comboBox1.Size = new System.Drawing.Size(121, 20);
+            this.comboBox1.TabIndex = 11;
+            // 
+            // comboBox2
+            // 
+            this.comboBox2.FormattingEnabled = true;
+            this.comboBox2.Location = new System.Drawing.Point(125, 141);
+            this.comboBox2.Name = "comboBox2";
+            this.comboBox2.Size = new System.Drawing.Size(121, 20);
+            this.comboBox2.TabIndex = 12;
+            // 
+            // comboBox3
+            // 
+            this.comboBox3.FormattingEnabled = true;
+            this.comboBox3.Location = new System.Drawing.Point(124, 168);
+            this.comboBox3.Name = "comboBox3";
+            this.comboBox3.Size = new System.Drawing.Size(121, 20);
+            this.comboBox3.TabIndex = 13;
+            // 
+            // comboBox4
+            // 
+            this.comboBox4.FormattingEnabled = true;
+            this.comboBox4.Location = new System.Drawing.Point(124, 198);
+            this.comboBox4.Name = "comboBox4";
+            this.comboBox4.Size = new System.Drawing.Size(121, 20);
+            this.comboBox4.TabIndex = 14;
+            // 
+            // label8
+            // 
+            this.label8.AutoSize = true;
+            this.label8.Location = new System.Drawing.Point(77, 240);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(41, 12);
+            this.label8.TabIndex = 15;
+            this.label8.Text = "label8";
+            // 
+            // textBox4
+            // 
+            this.textBox4.Location = new System.Drawing.Point(365, 12);
+            this.textBox4.Name = "textBox4";
+            this.textBox4.Size = new System.Drawing.Size(100, 21);
+            this.textBox4.TabIndex = 16;
+            this.textBox4.Text = "127.0.0.1";
+            // 
+            // label9
+            // 
+            this.label9.AutoSize = true;
+            this.label9.Location = new System.Drawing.Point(318, 21);
+            this.label9.Name = "label9";
+            this.label9.Size = new System.Drawing.Size(17, 12);
+            this.label9.TabIndex = 17;
+            this.label9.Text = "IP";
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(312, 42);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(29, 12);
+            this.label10.TabIndex = 18;
+            this.label10.Text = "Port";
+            // 
+            // textBox5
+            // 
+            this.textBox5.Location = new System.Drawing.Point(365, 39);
+            this.textBox5.Name = "textBox5";
+            this.textBox5.Size = new System.Drawing.Size(100, 21);
+            this.textBox5.TabIndex = 19;
+            this.textBox5.Text = "12000";
+            // 
+            // button2
+            // 
+            this.button2.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button2.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button2.Location = new System.Drawing.Point(314, 77);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(138, 38);
+            this.button2.TabIndex = 20;
+            this.button2.Text = "服务端开启";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // button3
+            // 
+            this.button3.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button3.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button3.Location = new System.Drawing.Point(314, 180);
+            this.button3.Name = "button3";
+            this.button3.Size = new System.Drawing.Size(138, 38);
+            this.button3.TabIndex = 21;
+            this.button3.Text = "服务端关闭";
+            this.button3.UseVisualStyleBackColor = true;
+            this.button3.Click += new System.EventHandler(this.button3_Click);
+            // 
+            // button4
+            // 
+            this.button4.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button4.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button4.Location = new System.Drawing.Point(586, 26);
+            this.button4.Name = "button4";
+            this.button4.Size = new System.Drawing.Size(150, 38);
+            this.button4.TabIndex = 22;
+            this.button4.Text = "客户端开启";
+            this.button4.UseVisualStyleBackColor = true;
+            this.button4.Click += new System.EventHandler(this.button4_Click);
+            // 
+            // button5
+            // 
+            this.button5.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button5.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button5.Location = new System.Drawing.Point(586, 180);
+            this.button5.Name = "button5";
+            this.button5.Size = new System.Drawing.Size(150, 38);
+            this.button5.TabIndex = 23;
+            this.button5.Text = "客户端关闭";
+            this.button5.UseVisualStyleBackColor = true;
+            this.button5.Click += new System.EventHandler(this.button5_Click);
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(482, 93);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(65, 12);
+            this.label11.TabIndex = 24;
+            this.label11.Text = "服务端状态";
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Location = new System.Drawing.Point(77, 269);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(47, 12);
+            this.label12.TabIndex = 25;
+            this.label12.Text = "label12";
+            // 
+            // button6
+            // 
+            this.button6.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button6.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button6.Location = new System.Drawing.Point(314, 128);
+            this.button6.Name = "button6";
+            this.button6.Size = new System.Drawing.Size(138, 38);
+            this.button6.TabIndex = 26;
+            this.button6.Text = "向客户端发送";
+            this.button6.UseVisualStyleBackColor = true;
+            this.button6.Click += new System.EventHandler(this.button6_Click);
+            // 
+            // label13
+            // 
+            this.label13.AutoSize = true;
+            this.label13.Location = new System.Drawing.Point(472, 198);
+            this.label13.Name = "label13";
+            this.label13.Size = new System.Drawing.Size(89, 12);
+            this.label13.TabIndex = 27;
+            this.label13.Text = "客户端连接状态";
+            // 
+            // button7
+            // 
+            this.button7.BackColor = System.Drawing.Color.Red;
+            this.button7.DialogResult = System.Windows.Forms.DialogResult.Cancel;
+            this.button7.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button7.Location = new System.Drawing.Point(586, 77);
+            this.button7.Name = "button7";
+            this.button7.Size = new System.Drawing.Size(150, 38);
+            this.button7.TabIndex = 28;
+            this.button7.Text = "客户端屏蔽信号";
+            this.button7.UseVisualStyleBackColor = false;
+            this.button7.Click += new System.EventHandler(this.button7_Click);
+            // 
+            // Form1
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(772, 310);
+            this.Controls.Add(this.button7);
+            this.Controls.Add(this.label13);
+            this.Controls.Add(this.button6);
+            this.Controls.Add(this.label12);
+            this.Controls.Add(this.label11);
+            this.Controls.Add(this.button5);
+            this.Controls.Add(this.button4);
+            this.Controls.Add(this.button3);
+            this.Controls.Add(this.button2);
+            this.Controls.Add(this.textBox5);
+            this.Controls.Add(this.label10);
+            this.Controls.Add(this.label9);
+            this.Controls.Add(this.textBox4);
+            this.Controls.Add(this.label8);
+            this.Controls.Add(this.comboBox4);
+            this.Controls.Add(this.comboBox3);
+            this.Controls.Add(this.comboBox2);
+            this.Controls.Add(this.comboBox1);
+            this.Controls.Add(this.label7);
+            this.Controls.Add(this.label6);
+            this.Controls.Add(this.label5);
+            this.Controls.Add(this.label4);
+            this.Controls.Add(this.textBox3);
+            this.Controls.Add(this.label3);
+            this.Controls.Add(this.textBox2);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.textBox1);
+            this.Controls.Add(this.button1);
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "Form1";
+            this.ShowIcon = false;
+            this.Text = "agv对接模拟客户端";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Form1_FormClosing);
+            this.Load += new System.EventHandler(this.Form1_Load);
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.TextBox textBox1;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.TextBox textBox2;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.TextBox textBox3;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.ComboBox comboBox1;
+        private System.Windows.Forms.ComboBox comboBox2;
+        private System.Windows.Forms.ComboBox comboBox3;
+        private System.Windows.Forms.ComboBox comboBox4;
+        private System.Windows.Forms.Label label8;
+        private System.Windows.Forms.TextBox textBox4;
+        private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.TextBox textBox5;
+        private System.Windows.Forms.Button button2;
+        private System.Windows.Forms.Button button3;
+        private System.Windows.Forms.Button button4;
+        private System.Windows.Forms.Button button5;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.Button button6;
+        private System.Windows.Forms.Label label13;
+        private System.Windows.Forms.Button button7;
+    }
+}
+

AgvClientTest/Form1.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AgvClientTest
+{
+    public partial class Form1 : Form
+    {
+        private Agv.Server server;
+        private Agv.AgvClient client;
+        public Form1()
+        {
+            InitializeComponent();
+        }
+
+        private void Form1_Load(object sender, EventArgs e)
+        {
+            server = new Agv.Server();
+            server.NodeChanged += Server_NodeChanged;
+            server.NodeOnline += Server_NodeOnline;
+            comboBox1.Items.AddRange(Enum.GetNames(typeof(Agv.ClientAction)));
+            comboBox2.Items.AddRange(Enum.GetNames(typeof(Agv.ClientLevel)));
+            comboBox3.Items.AddRange(Enum.GetNames(typeof(Agv.ClientType)));
+            comboBox4.Items.AddRange(Enum.GetNames(typeof(Agv.ClientShelf)));
+            comboBox1.SelectedIndex = 0;
+            comboBox2.SelectedIndex = 0;
+            comboBox3.SelectedIndex = 0;
+            comboBox4.SelectedIndex = 0;
+            client = new Agv.AgvClient();
+            client.Received += Client_Received;
+            client.Connected += Client_Connected;
+        }
+
+        private void Server_NodeChanged(Agv.Node clientNode)
+        {
+            this.Invoke(new Action(() =>
+            {
+                label8.Text = "从客户端接收：" + clientNode.ToText();
+            }
+            ));
+        }
+
+        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            try
+            {
+                if (server != null)
+                {
+                    server.NodeChanged -= Server_NodeChanged;
+                    server.NodeOnline -= Server_NodeOnline;
+                    server.Stop();
+                    server = null;
+                }
+                if (client != null)
+                {
+                    client.Received -= Client_Received;
+                    client.Connected -= Client_Connected;
+                    client.Close();
+                    client = null;
+                }
+            }
+            catch { }
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            int i1 = comboBox1.SelectedIndex;
+            int i2 = comboBox2.SelectedIndex;
+            int i3 = comboBox4.SelectedIndex;
+            int i4 = comboBox3.SelectedIndex;
+            Task task = new Task(new Action(() =>
+            {
+
+                //client.SetStatus(textBox1.Text,textBox3.Text,textBox2.Text, (Agv.ClientAction)i1,
+                //    (Agv.ClientLevel)i2,(Agv.ClientShelf)i3,
+                //    (Agv.ClientType)i4);
+                client.SetStatus(textBox1.Text, textBox3.Text, textBox2.Text, (Agv.ClientAction)i1, (Agv.ClientLevel)i2, (Agv.ClientShelf)i3);
+            }));
+            task.Start();
+
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            server.Start(textBox4.Text, int.Parse(textBox5.Text));
+            this.Invoke(new Action(() =>
+            {
+                label11.BackColor = Color.Green;
+
+            }
+));
+        }
+
+        private void Server_NodeOnline(string nodeName, bool online)
+        {
+            this.Invoke(new Action(() =>
+            {
+                label11.Text = nodeName;
+                if (online)
+                    label11.BackColor = Color.Green;
+                else
+                    label11.BackColor = Color.Red;
+            }
+            ));
+        }
+
+        private void button3_Click(object sender, EventArgs e)
+        {
+            server.Stop();
+            this.Invoke(new Action(() =>
+            {
+                label11.BackColor = Color.Red;
+
+            }
+));
+        }
+
+        private void button4_Click(object sender, EventArgs e)
+        {
+
+            client.Connect(textBox4.Text, int.Parse(textBox5.Text));
+        }
+
+        private void Client_Connected(bool status)
+        {
+            this.Invoke(new Action(() =>
+            {
+                if (!status)
+                    label13.BackColor = Color.Red;
+                else
+                    label13.BackColor = Color.Green;
+            }
+                ));
+        }
+
+        private void Client_Received(Agv.Node node)
+        {
+            this.Invoke(new Action(() =>
+            {
+                label12.Text = "从服务端端接收：" + node.ToText();
+            }
+            ));
+        }
+
+        private void button5_Click(object sender, EventArgs e)
+        {
+            client.Close();
+        }
+
+        private void button6_Click(object sender, EventArgs e)
+        {
+            int i1 = comboBox1.SelectedIndex;
+            server.SendToClient(textBox1.Text, textBox2.Text, (Agv.ClientAction)i1);
+        }
+
+        private void button7_Click(object sender, EventArgs e)
+        {
+            if (client.CancelState)
+            {
+                client.CancelState = false;
+                button7.BackColor = Color.Green;
+            }
+            else
+            {
+                client.CancelState = true;
+                button7.BackColor = Color.Red;
+            }
+
+        }
+    }
+}

AgvClientTest/Form1.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file

AgvClientTest/Program.cs

+using log4net.Config;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AgvClientTest
+{
+    static class Program
+    {
+        /// <summary>
+        /// 应用程序的主入口点。
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            XmlConfigurator.Configure();
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new Form1());
+        }
+    }
+}

AgvClientTest/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("AgvClientTest")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("AgvClientTest")]
+[assembly: AssemblyCopyright("Copyright ©  2020")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("e1c0827a-fa12-49a9-ac71-6d3e6518754a")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

AgvClientTest/Properties/Resources.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     运行时版本:4.0.30319.42000
+//
+//     对此文件的更改可能会导致不正确的行为，并且如果
+//     重新生成代码，这些更改将会丢失。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace AgvClientTest.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   一个强类型的资源类，用于查找本地化的字符串等。
+    /// </summary>
+    // 此类是由 StronglyTypedResourceBuilder
+    // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
+    // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
+    // (以 /str 作为命令选项)，或重新生成 VS 项目。
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   返回此类使用的缓存的 ResourceManager 实例。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AgvClientTest.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   重写当前线程的 CurrentUICulture 属性
+        ///   重写当前线程的 CurrentUICulture 属性。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

AgvClientTest/Properties/Resources.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file

AgvClientTest/Properties/Settings.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     运行时版本:4.0.30319.42000
+//
+//     对此文件的更改可能会导致不正确的行为，并且如果
+//     重新生成代码，这些更改将会丢失。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace AgvClientTest.Properties {
+    
+    
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.7.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+        
+        public static Settings Default {
+            get {
+                return defaultInstance;
+            }
+        }
+    }
+}

AgvClientTest/Properties/Settings.settings

+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>

AgvClientTest/bin/Debug/AgvClientTest.exe.config

+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+	<configSections>
+		<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
+	</configSections>
+	<startup>
+		<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2"/>
+	</startup>
+	<log4net>
+		<appender name="AgvClient" type="log4net.Appender.RollingFileAppender">
+			<file value="logs/AgvClient.log"/>
+			<param name="Encoding" value="UTF-8"/>
+			<appendToFile value="true"/>
+			<rollingStyle value="Date"/>
+			<datePattern value="yyyy-MM-dd"/>
+			<layout type="log4net.Layout.PatternLayout">
+				<conversionPattern value="[%date][%t]%-5p %m%n"/>
+			</layout>
+		</appender>
+		<root>
+			<level value="debug"/>
+			<appender-ref ref="AgvClient"/>
+		</root>
+	</log4net>
+</configuration>

AgvClientTest/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = ".NET Framework 4.6.1")]

AgvClientTest/obj/Debug/.NETFramework,Version=v4.7.2.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.7.2", FrameworkDisplayName = ".NET Framework 4.7.2")]

AgvClientTest/obj/Debug/AgvClientTest.csproj.CoreCompileInputs.cache

+f0308ac44290cb39c7a1e5c49291c49b056787f6

AgvClientTest/obj/Debug/AgvClientTest.csproj.FileListAbsolute.txt

+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClientTest\bin\Debug\AgvClientTest.exe.config
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClientTest\bin\Debug\AgvClientTest.exe
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClientTest\bin\Debug\AgvClientTest.pdb
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClientTest\bin\Debug\log4net.dll
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+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.Form1.resources
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+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.csproj.CopyComplete
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.exe
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\AgvClientTest.exe.config
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\AgvClientTest.exe
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\AgvClientTest.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.Client.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.Server.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Newtonsoft.Json.dll
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.Client.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\bin\Debug\Agv.Server.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.csprojAssemblyReference.cache
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.Form1.resources
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.Properties.Resources.resources
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.csproj.GenerateResource.cache
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.csproj.CoreCompileInputs.cache
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.csproj.CopyComplete
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.exe
+E:\Neotel\Projects\Gitee\AGV-Com\AgvClientTest\obj\Debug\AgvClientTest.pdb

Server/AgvServer.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace Agv
+{
+    public class Server
+    {
+        private bool loop;
+        private Socket _server;         //服务端
+        Dictionary<string, Client> dictClient = new Dictionary<string, Client>();   //所有客户端
+        private Thread tListenClient;   //监听客户端连接
+        private Dictionary<string, bool> nodeOnline = new Dictionary<string, bool>();
+        public delegate void NodeChangedEvent(Node clientNode);
+        public delegate void NodeOnlineEvent(string nodeName, bool online);
+        public event NodeChangedEvent NodeChanged;
+        public event NodeOnlineEvent NodeOnline;
+        private string serverIp;
+        private int serverPort;
+        private bool _IsdecodeSingleNode = false;
+        private Dictionary<string, Node> nodeMap = new Dictionary<string, Node>();
+        /// <summary>
+        ///         
+        /// </summary>
+        /// <param name="_IsdecodeSingleNode">解码方式，默认解码多个节点</param>
+        public Server(bool _IsdecodeSingleNode=false)
+        {
+            this._IsdecodeSingleNode = _IsdecodeSingleNode;
+        }
+        /// <summary>
+        /// 服务端信息
+        /// </summary>
+        public string ServerInfo
+        {
+            get
+            {
+                return string.Format("{0}:{1}", serverIp, serverPort.ToString());
+            }
+        }
+        /// <summary>
+        /// 开启服务
+        /// </summary>
+        public void Start(string ip = "127.0.0.1", int port = 12000)
+        {
+            try
+            {
+                log.info("AGVServer服务启动");
+                serverIp = ip;
+                serverPort = port;
+                IPEndPoint localEP = new IPEndPoint(IPAddress.Parse(serverIp), serverPort);
+                _server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+                _server.Bind(localEP);
+                _server.Listen(100);
+
+                loop = true;
+                //_client = new List<Client>();
+                tListenClient = new Thread(new ThreadStart(ListenClient));
+                tListenClient.Start();
+            }
+            catch (Exception ex)
+            {
+                log.error("AGVServer服务启动", ex);
+            }
+        }
+
+        /// <summary>
+        /// 停止服务
+        /// </summary>
+        public void Stop()
+        {
+            try
+            {
+                loop = false;
+                foreach (string c in dictClient.Keys)
+                {
+                    try
+                    {
+                        dictClient[c].ListenNet.Abort();
+                    }
+                    catch (Exception ex)
+                    {
+                        log.error(string.Format("关闭连接客户端[{0}]线程失败", c), ex);
+                    }
+                    try
+                    {
+                        dictClient[c].Socket.Close();
+                    }
+                    catch (Exception ex)
+                    {
+                        log.error(string.Format("关闭连接客户端[{0}]Socket失败", c), ex);
+                    }
+                }
+                if (dictClient.Count > 0) dictClient.Clear();
+
+                if (nodeMap.Count > 0)
+                    nodeMap.Clear();
+                log.info("AGVServer服务关闭");
+            }
+            catch (Exception ex)
+            {
+                log.error("AGVServer服务关闭", ex);
+            }
+
+        }
+
+        /// <summary>
+        /// 向服务端发送命令
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
+        public bool SendToClient(string nodeName, string RFID, ClientAction action)
+        {
+            string tar = "";
+            int n = 0;
+            do
+            {
+                tar = FindClient(nodeName);
+                if (tar.Equals(""))
+                {
+                    log.error("没有找到" + nodeName);
+                    Thread.Sleep(500);
+                    n++;
+                }
+                else
+                {
+                    n = 10;
+                }
+            } while (n < 4);
+            if (tar.Equals("")) return false;
+
+            Node node = new Node(nodeName, RFID, action);
+            log.info("SendTo " + nodeName + " RFID=" + RFID + " " + action);
+            byte[] buff = Common.Encode(node);
+            return Send(tar, buff);
+        }
+        /// <summary>
+        /// 小车到达
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
+        public bool Arrive(string nodeName, string RFID = "")
+        {
+            string tar = "";
+            int n = 0;
+            do
+            {
+                tar = FindClient(nodeName);
+                if (tar.Equals(""))
+                {
+                    log.error("Arrive: 没有找到" + nodeName);
+                    Thread.Sleep(500);
+                    n++;
+                }
+                else
+                {
+                    n = 10;
+                }
+            } while (n < 4);
+            if (tar.Equals("")) return false;
+
+            Node node = new Node(nodeName, RFID, ClientAction.Arrive);
+            log.info("SendTo " + nodeName + " RFID=" + RFID + " " + ClientAction.Arrive);
+            byte[] buff = Common.Encode(node);
+            return Send(tar, buff);
+        }
+
+        /// <summary>
+        /// 小车已准备好
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
+        public bool Ready(string nodeName, string RFID = "")
+        {
+            string tar = "";
+            int n = 0;
+            do
+            {
+                tar = FindClient(nodeName);
+                if (tar.Equals(""))
+                {
+                    log.error("Ready: 没有找到" + nodeName);
+                    Thread.Sleep(500);
+                    n++;
+                }
+                else
+                {
+                    n = 10;
+                }
+            } while (n < 4);
+            if (tar.Equals("")) return false;
+
+            Node node = new Node(nodeName, RFID, ClientAction.Ready);
+            log.info("SendTo " + nodeName + " RFID=" + RFID + " " + ClientAction.Ready);
+            byte[] buff = Common.Encode(node);
+            return Send(tar, buff);
+        }
+
+        /// <summary>
+        /// 关门
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
+        public bool CloseDoor(string nodeName, string RFID = "")
+        {
+            string tar = "";
+            int n = 0;
+            do
+            {
+                tar = FindClient(nodeName);
+                if (tar.Equals(""))
+                {
+                    log.debug("CloseDoor: 没有找到" + nodeName);
+                    Thread.Sleep(500);
+                    n++;
+                }
+                else
+                {
+                    n = 10;
+                }
+            } while (n < 4);
+            if (tar.Equals("")) return false;
+
+            Node node = new Node(nodeName, RFID, ClientAction.CloseDoor);
+            log.info("SendTo " + nodeName + " RFID=" + RFID + " " + ClientAction.CloseDoor);
+            byte[] buff = Common.Encode(node);
+            return Send(tar, buff);
+        }
+
+
+        /// <summary>
+        /// 监听客户端连接
+        /// </summary>
+        private void ListenClient()
+        {
+            while (loop)
+            {
+                try
+                {
+                    // 开始监听客户端连接请求，Accept方法会阻断当前的线程；
+                    Socket sokConnection = _server.Accept(); // 一旦监听到一个客户端的请求，就返回一个与该客户端通信的 套接字；
+                    log.info(string.Format("客户端[{0}]连接服务端[{1}]成功", sokConnection.RemoteEndPoint.ToString(), ServerInfo));
+                    Thread thr = new Thread(ListenNet);
+                    Client client =  new Client(sokConnection, thr, sokConnection.RemoteEndPoint.ToString());
+                    thr.IsBackground = true;
+                    thr.Start(client);
+                    dictClient.Add(sokConnection.RemoteEndPoint.ToString(), client);
+                }
+                catch (SocketException)
+                {
+                    //关闭连接，退出阻塞Accept
+                }
+                catch (Exception ex)
+                {
+                    log.error("ListenClient", ex);
+                }
+            }
+        }
+
+        /// <summary>
+        /// 客户端数据接收
+        /// </summary>
+        /// <param name="obj">索引</param>
+        private void ListenNet(object obj)
+        {
+            Client client = obj as Client;
+            Socket sokClient = client.Socket;
+            while (client.Loop)
+            {
+                // Thread.Sleep(sleep);
+                try
+                {
+                    // 定义一个缓存区；
+                    byte[] arrMsgRec = new byte[1024];
+                    // 将接收到的数据存入到输入  arrMsgRec中；
+                    int length = -1;
+                    if (sokClient.Poll(-1, SelectMode.SelectRead))
+                    {
+                        try
+                        {
+                            length = sokClient.Receive(arrMsgRec); // 接收数据，并返回数据的长度；
+                            if (length == 0)//连接正常断开
+                            {
+                                Offline(client);
+                                log.debug(string.Format("客户端[{0}]断开与服务端[{1}]的连接", sokClient.RemoteEndPoint.ToString(), ServerInfo));
+                                return;
+                            }
+                        }
+                        catch (SocketException se)
+                        {
+                            Offline(client);
+                            log.error(string.Format("客户端[{0}]接收服务端[{1}]的消息出现异常", sokClient.RemoteEndPoint.ToString(), ServerInfo), se);
+                            return;
+                        }
+                        catch (Exception e)
+                        {
+                            Offline(client);
+                            log.error(string.Format("客户端[{0}]接收服务端[{1}]的消息出现异常", sokClient.RemoteEndPoint.ToString(), ServerInfo), e);
+                            return;
+                        }
+                    }
+
+                    if (length > 0)
+                    {
+                        byte[] buff = new byte[length];
+                        Array.Copy(arrMsgRec, 0, buff, 0, length);
+
+                        //解码单个节点
+                        if(_IsdecodeSingleNode)
+                        {
+                            Node node = Common.Decode(buff);
+                            if (node == null)
+                            {
+                                log.error("命令解析失败: " + HexBuff(buff));
+                            }
+                            else
+                            {
+                                //CommonVar.LogUtil.info("Receive[" + client.IP + "] " + node.ToText());
+                                int idx = client.nodeName.FindIndex(s => s == node.Name);
+                                if (idx == -1) client.nodeName.Add(node.Name);
+                                UpdateNode(node);
+
+                            }
+                        }
+                        else
+                        {
+                            //解码多个节点
+                            List<Node> nodes = Common.DecodeNodes(buff);
+                            if (nodes == null)
+                            {
+                                log.error("命令解析失败: " + HexBuff(buff));
+                            }
+                            else
+                            {
+                                int idx = -1;
+                                foreach (var node in nodes)
+                                {
+                                    idx = client.nodeName.FindIndex(s => s == node.Name);
+                                    if (idx == -1) client.nodeName.Add(node.Name);
+                                }
+                                UpdateNodes(nodes);
+                            }
+                        }
+
+                    }
+                }
+                catch (Exception ex)
+                {
+                    log.error("ListenNet", ex);
+                }
+
+            }
+        }
+
+        private string FindClient(string nodeName)
+        {
+            foreach (string item in dictClient.Keys)
+            {
+                if (dictClient[item].nodeName.Contains(nodeName))
+                    return item;
+            }
+            return "";
+        }
+        private void UpdateNode(Node node)
+        {
+            if(!nodeOnline.Keys.Contains(node.Name))
+            {
+                nodeOnline.Add(node.Name,true);
+                NodeOnline?.Invoke(node.Name, true);
+            }
+            else if(nodeOnline[node.Name].Equals(false))
+            {
+                nodeOnline[node.Name] = true;
+                NodeOnline?.Invoke(node.Name, true);
+            }
+            if (!nodeMap.Keys.Contains(node.Name))
+            {
+                nodeMap.Add(node.Name, node);
+                NodeChanged?.Invoke(node);
+                log.info(string.Format("节点添加并状态更新[{0}]", node.ToText()));
+            }
+            else if (!nodeMap[node.Name].Equals(node))
+            {
+                nodeMap[node.Name]= node;
+                NodeChanged?.Invoke(node);
+                log.info(string.Format("节点状态更新[{0}]", node.ToText()));
+            }
+
+        }
+        private void UpdateNodes(List<Node> nodes)
+        {
+            foreach (var node in nodes)
+            {
+                UpdateNode(node);
+            }
+        }
+        private void Offline(Client client)
+        {
+            client.Loop = false;
+            client.Socket.Close();
+            for (int i = 0; i < client.nodeName.Count; i++)
+            {
+                if (!nodeOnline.Keys.Contains(client.nodeName[i]))
+                {
+                    nodeOnline.Add(client.nodeName[i], false);
+                    NodeOnline?.Invoke(client.nodeName[i], false);
+                }
+                else if (nodeOnline[client.nodeName[i]].Equals(true))
+                {
+                    nodeOnline[client.nodeName[i]] = false;
+                    NodeOnline?.Invoke(client.nodeName[i], false);
+                }
+            }
+            client.nodeName.Clear();
+            client.ListenNet.Abort();
+            client.Socket = null;
+            dictClient.Remove(client.IP);
+        }
+        private void Offline(string clientKey)
+        {
+            if (!dictClient.Keys.Contains(clientKey))
+                return;
+            Client client = dictClient[clientKey];
+            client.Loop = false;
+            client.Socket.Close();
+            for (int i = 0; i < client.nodeName.Count; i++)
+            {
+                if (!nodeOnline.Keys.Contains(client.nodeName[i]))
+                {
+                    nodeOnline.Add(client.nodeName[i], false);
+                    NodeOnline?.Invoke(client.nodeName[i], false);
+                }
+                else if (nodeOnline[client.nodeName[i]].Equals(true))
+                {
+                    nodeOnline[client.nodeName[i]] = false;
+                    NodeOnline?.Invoke(client.nodeName[i], false);
+                }
+            }
+            client.nodeName.Clear();
+            client.ListenNet.Abort();
+            client.Socket = null;
+            dictClient.Remove(client.IP);
+        }
+        private string HexBuff(byte[] buff)
+        {
+            string s = "";
+            if (buff == null) return s;
+
+            for (int i = 0; i < buff.Length; i++)
+                s += buff[i].ToString("X2") + " ";
+            return s;
+        }
+
+        /// <summary>
+        /// 发送命令
+        /// </summary>
+        /// <param name="idx"></param>
+        /// <param name="buff"></param>
+        /// <returns></returns>
+        private bool Send(string clientKey, byte[] buff)
+        {
+            for (int i = 1; i <= 3; i++)
+            {
+                try
+                {
+                    dictClient[clientKey].Socket.Send(buff);
+                    log.debug(string.Format("服务端[{0}]向客户端[{1}]发送消息:[{2}]", ServerInfo, clientKey, HexBuff(buff)));
+                    return true;
+                }
+                catch (Exception ex)
+                {
+                    log.error("发送失败" + i + "次：" + ex.Message);
+                }
+                Thread.Sleep(100);
+            }
+            Offline(clientKey);
+            return false;
+        }
+
+
+
+        private class Client
+        {
+            public bool Loop;
+            public string IP;
+            public List<string> nodeName;
+            public Socket Socket;
+            public Thread ListenNet;
+            public Client(Socket socket,Thread thread,string IP)
+            {
+                Socket = socket;
+                ListenNet = thread;
+                Loop = true;
+                this.IP = IP;
+                nodeName = new List<string>();
+            }
+        }
+    }
+    /// <summary>
+    /// 客户端的节点
+    /// </summary>
+    public class ClientNode : Node
+    {
+
+        /// <summary>
+        /// 在线状态
+        /// </summary>
+        public bool Online { get; set; }
+        /// <summary>
+        /// 是否可调用
+        /// </summary>
+        public bool IsUse { set; get; }
+        /// <summary>
+        /// 线体名
+        /// </summary>
+        public string LineName { set; get; }
+        public string AliceName { get; set; }
+
+
+        /// <summary>
+        /// 客户端的节点
+        /// </summary>
+        public ClientNode() : base()
+        {
+        }
+        public ClientNode(string nodeName, string rfid, ClientAction clientAction) : base(nodeName)
+        {
+            RFID = rfid;
+            Action = clientAction;
+        }
+        /// <summary>
+        /// 客户端节点
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="ip"></param>
+        /// <param name="isUse"></param>
+        public ClientNode(string name, string aliceName, string lineName, bool isUse) : base(name)
+        {
+            LineName = lineName;
+            AliceName = aliceName;
+            Online = false;
+            IsUse = isUse;
+        }
+        /// <summary>
+        /// 客户端节点
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="rfid"></param>
+        /// <param name="action"></param>
+        /// <param name="level"></param>
+        public ClientNode(string name, string rfid = "", string mark = "", ClientAction action = ClientAction.None, Agv.ClientLevel level = Agv.ClientLevel.Low) : base(name)
+        {
+
+            RFID = rfid;
+            Mark = mark;
+            Level = level;
+            Action = action;
+        }
+
+        /// <summary>
+        /// 脱机
+        /// </summary>
+        public void Offline()
+        {
+            RFID = "";
+            Action = ClientAction.None;
+            Online = false;
+        }
+    }
+}

Server/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("Server")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Server")]
+[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("f539cef2-cbd5-4abf-afd2-56c848ded0c0")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

Server/Server.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{F539CEF2-CBD5-4ABF-AFD2-56C848DED0C0}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Agv</RootNamespace>
+    <AssemblyName>Agv.Server</AssemblyName>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="AgvServer.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Agv\Agv.csproj">
+      <Project>{a2ef9efc-51c5-4bf6-965f-3a06beadd632}</Project>
+      <Name>Agv</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

Server/obj/Debug/.NETFramework,Version=v4.7.2.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.7.2", FrameworkDisplayName = ".NET Framework 4.7.2")]

Server/obj/Debug/Server.csproj.CoreCompileInputs.cache

+16d66be583a4f2090ed9cb687f7d8de924c18050

Server/obj/Debug/Server.csproj.FileListAbsolute.txt

+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\Agv.Server.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\Agv.Server.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\Agv.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\Newtonsoft.Json.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\log4net.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Server\bin\Debug\Agv.pdb
+E:\Neotel\Projects\Gitee\AGV-Com\Server\obj\Debug\Server.csprojAssemblyReference.cache
+E:\Neotel\Projects\Gitee\AGV-Com\Server\obj\Debug\Server.csproj.CoreCompileInputs.cache
+E:\Neotel\Projects\Gitee\AGV-Com\Server\obj\Debug\Server.csproj.CopyComplete
+E:\Neotel\Projects\Gitee\AGV-Com\Server\obj\Debug\Agv.Server.dll
+E:\Neotel\Projects\Gitee\AGV-Com\Server\obj\Debug\Agv.Server.pdb