20221215

SO1049-CarriageClient.sln

@@ -11,8 +11,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "source\Lo
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CarriageClient", "source\CarriageClient\CarriageClient.csproj", "{0D2542F5-DD62-4352-82D0-383D9A045E74}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Dolen", "..\..\..\..\Projects\CSharp-Workspace\Dolen\Dolen\Dolen.csproj", "{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}"
-EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "JAKA", "source\JAKA\JAKA.csproj", "{B702AB04-BB76-491F-812A-603298D08FBF}"
 EndProject
 Global
@@ -37,10 +35,6 @@ Global
 		{0D2542F5-DD62-4352-82D0-383D9A045E74}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{0D2542F5-DD62-4352-82D0-383D9A045E74}.Release|Any CPU.Build.0 = Release|Any CPU
-		{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}.Release|Any CPU.Build.0 = Release|Any CPU
 		{B702AB04-BB76-491F-812A-603298D08FBF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{B702AB04-BB76-491F-812A-603298D08FBF}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{B702AB04-BB76-491F-812A-603298D08FBF}.Release|Any CPU.ActiveCfg = Release|Any CPU

source/DeviceLibrary/clientEquip/ClientBean.cs

@@ -288,7 +288,7 @@ namespace OnlineStore.DeviceLibrary
                         case RunStatus.Runing:
                             if ((isInSuddenDown.Equals(false) && isNoAirpressure_Check.Equals(false)))
                             {
-                                //清理超时异常
+                                //清理异常
                                 IOTimeOutProcess();
                             }
                             break;

source/DeviceLibrary/clientEquip/inletEquip/InletEquip_InStore.cs

@@ -399,6 +399,7 @@ namespace OnlineStore.DeviceLibrary
                             getPosIdMsg = result.Msg;
                             Thread.Sleep(ms);
                             LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次  " + MoveInfo.SLog + "  结果【" + result.Result + "】，等待" + ms + "后重新获取");
+                            continue;
                         }
                         else if (!result.Result.Equals(0))
                         {

source/DeviceLibrary/clientEquip/outletEquip/OutletEquip_OutStore.cs

@@ -58,20 +58,18 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.Outlet_02_CheckTray))
             {
-                if (TrayCheck())
+                //if (TrayCheck())
                 {
                     NextMoveStep(StepEnum.Outlet_03_CheckAllowFeedOut, "有料盘，准备送走");
                     AddWaitAllowFeedOut(true);
-                    AddWaitTime(2000);
-                    MoveInfo.OneWaitCanEndStep = true;
-                }
-                else//无料盘
-                {
-                    NextMoveStep(StepEnum.Outlet_05_JackUp, "无料盘，顶升抬起，准备料盘放入");
-                    JackUp(true);
-                    if (BufferDataManager.TrayInOutletInfo != null)
-                        BufferDataManager.TrayInOutletInfo = null;
                 }
+                //else//无料盘
+                //{
+                //    NextMoveStep(StepEnum.Outlet_05_JackUp, "无料盘，顶升抬起，准备料盘放入");
+                //    JackUp(true);
+                //    if (BufferDataManager.TrayInOutletInfo != null)
+                //        BufferDataManager.TrayInOutletInfo = null;
+                //}
             }
             else if (MoveInfo.IsStep(StepEnum.Outlet_03_CheckAllowFeedOut))
             {
@@ -79,7 +77,7 @@ namespace OnlineStore.DeviceLibrary
                 OutletRun(true);
                 AddWaitTrayCheck1(false);
                 AddWaitTrayCheck2(false);
-                //AddWaitAllowFeedOut(false);
+                AddWaitAllowFeedOut(false);
             }
             else if (MoveInfo.IsStep(StepEnum.Outlet_04_WaitTrayLeave))
             {

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs

@@ -214,7 +214,7 @@ namespace OnlineStore.DeviceLibrary
                     {
                         MoveInfo.EndMove();
                         runStatus = RunStatus.Runing;
-                        BufferDataManager.TrayInRobotInfo=null;
+                        BufferDataManager.TrayInRobotInfo = null;
                     }
                     else
                     {
@@ -438,6 +438,7 @@ namespace OnlineStore.DeviceLibrary
         #region NG箱
         bool preNgSig = false;
         bool curNgSig = false;
+        AlarmType preAlram = AlarmType.None;
         void NGBoxProcess()
         {
             preNgSig = curNgSig;
@@ -449,10 +450,23 @@ namespace OnlineStore.DeviceLibrary
             if (NGBoxAlarm())
             {
                 SetWarnMsg($"NG箱中的料盘需要处理，数量大于{validityCnt}或者料盘放置时间大于{validityPeriod}分钟");
+                if (alarmType <= AlarmType.AxisAlarm)
+                {
+                    preAlram = alarmType;
+                    Alarm(AlarmType.NGBoxWarn);
+                }
             }
             else
             {
                 ClearSpecifiedAlarm($"NG箱中的料盘需要处理，数量大于");
+                if (isInSuddenDown || isNoAirpressure_Check)
+                {
+                    return;
+                }
+                if (alarmType.Equals(AlarmType.NGBoxWarn))
+                {
+                    alarmType = preAlram;
+                }
             }
         }
         #endregion

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs

@@ -84,6 +84,7 @@ namespace OnlineStore.DeviceLibrary
             if (!bean.RobotData.Online)
             {
                 SetWarnMsg("无法读取机器人状态，因机器人离线");
+                Alarm(AlarmType.RobotError);
                 robotOnline = false;
                 return false;
             }

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -405,6 +405,10 @@ namespace OnlineStore.DeviceLibrary
         /// 收到急停
         /// </summary>
         SuddenStop = 10000,
-
+        /// <summary>
+        /// 机器人报警
+        /// </summary>
+        RobotError=20000,
+        NGBoxWarn=30000
     }
 }

source/Dolen/Agv/Client.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Dolen.Agv
+{
+    class Client
+    {
+    }
+}

source/Dolen/Agv/ClientInfo.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Dolen.Agv
+{
+    /// <summary>
+    /// 客户端的动作
+    /// </summary>
+    public enum ClientAction : byte
+    {
+        /// <summary>
+        /// 没有动作
+        /// </summary>
+        None,
+        #region 服务器发送
+        /// <summary>
+        /// 到达线体（服务端）
+        /// </summary>
+        Arrive,
+        /// <summary>
+        /// 小车准备好（服务端）
+        /// </summary>
+        Ready,
+        /// <summary>
+        /// 料架请求进入线体（服务端）
+        /// </summary>
+        ReadyEnter,
+        /// <summary>
+        /// 料架正在进入线体（服务端）
+        /// </summary>
+        Entering,
+
+        /// <summary>
+        /// 料架请求离开线体（服务端）
+        /// </summary>
+        ReadyLeave,
+        /// <summary>
+        /// 料架正在离开线体（服务端）
+        /// </summary>
+        Leaving,
+        /// <summary>
+        /// 完成进入/离开（服务端）
+        /// </summary>
+        Complete,
+        #endregion
+
+        #region 客户端
+        /// <summary>
+        /// 线体需要流入料架（客户端）
+        /// </summary>
+        NeedEnter,
+        /// <summary>
+        /// 线体需要流出料架（客户端）
+        /// </summary>
+        NeedLeave,
+        /// <summary>
+        /// 线体可以进入料架/线体可以流出料架（客户端）
+        /// </summary>
+        NeedEnterLeave,
+        /// <summary>
+        /// 允许料架进入线体（客户端）
+        /// </summary>
+        MayEnter,
+        /// <summary>
+        /// 允许料架流出线体（客户端）
+        /// </summary>
+        MayLeave,
+        /// <summary>
+        /// 料架进入线体完成（客户端）
+        /// </summary>
+        FinishEnter,
+        /// <summary>
+        /// 料架流出线体完成（客户端）
+        /// </summary>
+        FinishLeave,
+        /// <summary>
+        /// 不允许料架进入线体（客户端）
+        /// </summary>
+        MayNotEnter,
+        /// <summary>
+        /// 不允许料架流出线体（客户端）
+        /// </summary>
+        MayNotLeave,
+        #endregion
+    }
+
+    /// <summary>
+    /// 客户端的优先级
+    /// </summary>
+    public enum ClientLevel : byte
+    {
+        None,
+        /// <summary>
+        /// 低
+        /// </summary>
+        Low,
+        /// <summary>
+        /// 中等
+        /// </summary>
+        Middle,
+        /// <summary>
+        /// 高
+        /// </summary>
+        High
+    }
+
+    /// <summary>
+    /// 客户端的料架类型
+    /// </summary>
+    public enum ClientShelf : byte
+    {
+        /// <summary>
+        /// 没有架子
+        /// </summary>
+        None,
+        /// <summary>
+        /// 空架子
+        /// </summary>
+        Empty,
+        /// <summary>
+        /// 满架子
+        /// </summary>
+        Full,
+        /// <summary>
+        /// 空的料串
+        /// </summary>
+        EmptyString,
+        /// <summary>
+        /// 满料串
+        /// </summary>
+        FullString,
+        /// <summary>
+        /// 空料架
+        /// </summary>
+        EmptyShelf,
+        /// <summary>
+        /// 满料架
+        /// </summary>
+        FullShelf,
+        /// <summary>
+        /// 空包装料架
+        /// </summary>
+        EmptyPack,
+        /// <summary>
+        /// 满包装料架
+        /// </summary>
+        FullPack,
+    }
+
+    /// <summary>
+    /// 客户端类型
+    /// </summary>
+    public enum ClientType : byte
+    {
+        /// <summary>
+        /// 无
+        /// </summary>
+        None,
+        /// <summary>
+        /// 紧急料线体
+        /// </summary>
+        Urgent,
+        /// <summary>
+        /// 包装料线体
+        /// </summary>
+        Pack,
+        /// <summary>
+        /// 分盘料线体
+        /// </summary>
+        Cut,
+        /// <summary>
+        /// 混合料线体
+        /// </summary>
+        Mix
+    }
+}

source/Dolen/Agv/ClientNode.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Dolen.Agv
+{
+    /// <summary>
+    /// 客户端节点
+    /// </summary>
+    public class ClientNode
+    {
+        /// <summary>
+        /// 编号
+        /// </summary>
+        public int ID { get; private set; }
+        /// <summary>
+        /// IP地址
+        /// </summary>
+        public string IP { get; private set; }
+        /// <summary>
+        /// 名称
+        /// </summary>
+        public string Name { get; private set; }
+        /// <summary>
+        /// 别名
+        /// </summary>
+        public string AliceName { get; set; } = "";
+        /// <summary>
+        /// 料架号
+        /// </summary>
+        public string RFID { set; get; } = "";
+        /// <summary>
+        /// 备注
+        /// </summary>
+        public string Remark { set; get; } = "";
+        /// <summary>
+        /// 在线状态
+        /// </summary>
+        public bool Online { get; private set; } = false;
+        /// <summary>
+        /// 是否开启
+        /// </summary>
+        public bool Enabled { private set; get; }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public ClientAction Action { set; get; } = ClientAction.None;
+        /// <summary>
+        /// 优先级
+        /// </summary>
+        public ClientLevel Level { set; get; } = ClientLevel.None;
+        /// <summary>
+        /// 客户端类型
+        /// </summary>
+        public ClientType Type {private set; get; } = ClientType.None;
+        /// <summary>
+        /// 料架类型
+        /// </summary>
+        public ClientShelf Shelf { private set; get; } = ClientShelf.None;
+
+        public ClientNode(int id,string ip,string name,bool enabled=false,ClientType clientType = ClientType.None)
+        {
+            ID = id;
+            IP = ip;
+            Name = name;
+            AliceName = name;
+            Enabled = enabled;
+            Type = clientType;
+        }
+        /// <summary>
+        /// 修改节点状态
+        /// </summary>
+        /// <param name="action">动作</param>
+        /// <param name="rfid">rfid</param>
+        /// <param name="clientShelf">料架类型</param>
+        /// <param name="level">紧急程度</param>
+        public void ChangeState(ClientAction action, string rfid = "",ClientShelf clientShelf = ClientShelf.None,ClientLevel level= ClientLevel.None)
+        {
+            Action = action;
+            RFID = rfid;
+            Level = level;
+        }
+
+        /// <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 ClientNode)
+            {
+                ClientNode node = (ClientNode)obj;
+                if (ID.Equals(node.ID) && RFID.Equals(node.RFID) && Remark.Equals(node.Remark) &&
+                    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;
+
+        //}
+
+        /// <summary>
+        /// 节点离线
+        /// </summary>
+        public void Offline()
+        {
+            RFID = "";
+            Remark = "";
+            Action = ClientAction.None;
+            Level = ClientLevel.None;
+            Shelf = ClientShelf.None;
+            Online = false;
+        }
+    }
+}

source/Dolen/App.config

+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+  <configSections>
+    <!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
+    <section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false"/>
+  </configSections>
+  <entityFramework>
+    <providers>
+      <provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer"/>
+      <provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6"/>
+    </providers>
+  </entityFramework>
+  <system.data>
+    <DbProviderFactories>
+      <remove invariant="System.Data.SQLite.EF6"/>
+      <add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6"/>
+    <remove invariant="System.Data.SQLite"/><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite"/></DbProviderFactories>
+  </system.data>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/></startup></configuration>

source/Dolen/Communication/TCP/TCPClient.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 Dolen.Communication.TCP
+{
+    public class TCPClient
+    {
+        Thread threadRecv = null; // 负责接收消息的线程；
+        Socket clientSocket = null;
+        int buffLength = 1024;// 定义一个1M的缓存区；
+        log4net.ILog Log;
+        private bool loop = false;
+        /// <summary>
+        /// 消息变化委托
+        /// </summary>
+        /// <param name="msg">服务端发送的消息</param>
+        public delegate void MsgEventHandler(string msg);
+
+        public delegate void ConnectedStateEventHandler(bool state);
+        /// <summary>
+        /// 消息事件
+        /// </summary>
+        public event MsgEventHandler MsgEvent;
+        public event ConnectedStateEventHandler ConnectedStateEvent;
+        /// <summary>
+        /// 是否打开调试
+        /// </summary>
+        public bool IsDebug { get; set; } = false;
+        /// <summary>
+        /// 服务端信息
+        /// </summary>
+        public string ServerInfo { get
+            {
+                return string.Format("{0}:{1}",ip,port.ToString());
+            } }
+        /// <summary>
+        /// 服务端IP
+        /// </summary>
+        private string ip;
+        /// <summary>
+        /// 服务端端口
+        /// </summary>
+        private int port;
+        private bool connectState = false;
+        /// <summary>
+        /// 连接状态
+        /// </summary>
+        public bool Connected { get { if (clientSocket == null) return false; else return connectState && clientSocket.Connected; } }
+        public TCPClient(string ip = "127.0.0.1", int port = 8888, string logName = "TCPClient")
+        {
+            Log = log4net.LogManager.GetLogger(logName);
+            this.ip = ip;
+            this.port = port;
+        }
+        /// <summary>
+        /// 开启服务
+        /// </summary>
+        public void Connect()
+        {
+            loop = true;
+            IPAddress address = IPAddress.Parse(ip);
+            // 创建包含ip和端口号的网络节点对象；
+            IPEndPoint endPoint = new IPEndPoint(address, port);
+            try
+            {
+                clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+                clientSocket.Connect(endPoint);
+                threadRecv = new Thread(RecMsg);
+                threadRecv.Start(clientSocket);
+                connectState = true;
+                Log.Info(string.Format("客户端[{0}]连接服务端[{1}]成功", clientSocket.RemoteEndPoint.ToString(), ServerInfo));
+            }
+            catch(Exception ex)
+            {
+                connectState = false;
+                Log.Error(string.Format("客户端[{0}]连接服务端[{1}]失败", clientSocket.RemoteEndPoint.ToString(), ServerInfo),ex);
+            }
+            ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+
+        }
+        public void DisConnect()
+        {
+            if(clientSocket.Connected)
+            {
+                loop = false;
+                try
+                {
+                    string client = clientSocket.RemoteEndPoint.ToString();
+                    connectState = false;
+                    threadRecv.Abort();
+                    threadRecv = null;
+                    clientSocket.Close();
+                    Log.Info(string.Format("客户端[{0}]断开服务端[{1}]成功", client, ServerInfo));
+                }
+                catch(Exception e)
+                {
+                    Log.Error(string.Format("客户端[{0}]断开服务端[{1}]成功", clientSocket.RemoteEndPoint.ToString(), ServerInfo),e);
+                }
+
+                ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+            }
+        }
+
+        void RecMsg(object sokConnectionparn)
+        {
+            Socket sokClient = sokConnectionparn as Socket;           
+            while (loop)
+            {
+                // 定义一个缓存区；
+                byte[] arrMsgRec = new byte[buffLength];
+                // 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
+                        {
+                            connectState = false;
+                            Log.Info(string.Format("服务端[{1}]断开与客户端[{0}]的连接", clientSocket.RemoteEndPoint.ToString(), ServerInfo));
+                            ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+                            break;
+                        }
+                    }
+                    catch (SocketException se)
+                    {
+                        connectState = false;
+                        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);
+                        ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+                        break;
+                    }
+                    catch (Exception e)
+                    {
+                        connectState = false;
+                        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);
+                        ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+                        break;
+                    }
+                }
+
+                if (length > 0)
+                {
+                    string strMsg = System.Text.Encoding.UTF8.GetString(arrMsgRec, 0, length);// 将接收到的字节数据转化成字符串；
+                    if (IsDebug)
+                        Log.Debug(string.Format("客户端[{0}]收到服务端[{1}]的消息:{2}[{3}]", clientSocket.RemoteEndPoint.ToString(), ServerInfo, strMsg, string.Join(" ", arrMsgRec)));
+                    Log.Info(string.Format("客户端[{0}]收到服务端[{1}]的消息:{2}", clientSocket.RemoteEndPoint.ToString(), ServerInfo, strMsg));
+                    MsgEvent?.Invoke(strMsg);
+                }
+
+            }
+        }
+
+        /// <summary>
+        /// 向客户端发送信息
+        /// </summary>
+        public void SendMsg(string txt)
+        {
+            try
+            {
+                byte[] arrMsg = System.Text.Encoding.UTF8.GetBytes(txt); // 将要发送的字符串转换成Utf-8字节数组；
+                                                                         // arrSendMsg[0] = 0; // 表示发送的是消息数据
+                                                                         //Buffer.BlockCopy(arrMsg, 0, arrSendMsg, 1, arrMsg.Length);    
+                if (Connected)
+                {    
+                    int len = clientSocket.Send(arrMsg);
+                    Log.Info(string.Format("客户端[{0}]向服务端[{1}]发送消息:{2}[{3} Bytes]", clientSocket.RemoteEndPoint.ToString(), ServerInfo, txt, len));
+                }
+                else
+                {
+                    Log.Info(string.Format("客户端[{0}]向服务端[{1}]发送消息失败,网络已断开:{2}", clientSocket.RemoteEndPoint.ToString(), ServerInfo, txt));
+                }
+            }
+            catch (Exception e)
+            {
+                connectState = false;
+                Log.Error(string.Format("客户端[{0}]向服务端[{1}]发送消息异常:{2}", clientSocket.RemoteEndPoint.ToString(), ServerInfo, txt), e);
+                ConnectedStateEvent?.Invoke(connectState && clientSocket.Connected);
+            }
+
+        }
+    }
+
+}

source/Dolen/Dolen.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="..\packages\EntityFramework.6.4.4\build\EntityFramework.props" Condition="Exists('..\packages\EntityFramework.6.4.4\build\EntityFramework.props')" />
+  <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>{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Dolen</RootNamespace>
+    <AssemblyName>Dolen</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <NuGetPackageImportStamp>
+    </NuGetPackageImportStamp>
+    <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>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+  </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>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\packages\EntityFramework.6.4.4\lib\net45\EntityFramework.dll</HintPath>
+    </Reference>
+    <Reference Include="EntityFramework.SqlServer, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\packages\EntityFramework.6.4.4\lib\net45\EntityFramework.SqlServer.dll</HintPath>
+    </Reference>
+    <Reference Include="log4net">
+      <HintPath>dll\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="MySql.Data">
+      <HintPath>dll\MySql.Data.8.0.22\lib\net452\MySql.Data.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.ComponentModel.DataAnnotations" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Data.SQLite, Version=1.0.115.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\Stub.System.Data.SQLite.Core.NetFramework.1.0.115.0\lib\net46\System.Data.SQLite.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Data.SQLite.EF6, Version=1.0.115.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\System.Data.SQLite.EF6.1.0.115.0\lib\net46\System.Data.SQLite.EF6.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Data.SQLite.Linq, Version=1.0.115.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\System.Data.SQLite.Linq.1.0.115.0\lib\net46\System.Data.SQLite.Linq.dll</HintPath>
+    </Reference>
+    <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="Communication\TCP\TCPClient.cs" />
+    <Compile Include="Communication\TCP\TCPServer.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup />
+  <ItemGroup>
+    <None Include="App.config" />
+    <None Include="packages.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
+    <PropertyGroup>
+      <ErrorText>这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。</ErrorText>
+    </PropertyGroup>
+    <Error Condition="!Exists('..\packages\EntityFramework.6.4.4\build\EntityFramework.props')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\EntityFramework.6.4.4\build\EntityFramework.props'))" />
+    <Error Condition="!Exists('..\packages\EntityFramework.6.4.4\build\EntityFramework.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\EntityFramework.6.4.4\build\EntityFramework.targets'))" />
+    <Error Condition="!Exists('..\packages\Stub.System.Data.SQLite.Core.NetFramework.1.0.115.0\build\net46\Stub.System.Data.SQLite.Core.NetFramework.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Stub.System.Data.SQLite.Core.NetFramework.1.0.115.0\build\net46\Stub.System.Data.SQLite.Core.NetFramework.targets'))" />
+  </Target>
+  <Import Project="..\packages\EntityFramework.6.4.4\build\EntityFramework.targets" Condition="Exists('..\packages\EntityFramework.6.4.4\build\EntityFramework.targets')" />
+  <Import Project="..\packages\Stub.System.Data.SQLite.Core.NetFramework.1.0.115.0\build\net46\Stub.System.Data.SQLite.Core.NetFramework.targets" Condition="Exists('..\packages\Stub.System.Data.SQLite.Core.NetFramework.1.0.115.0\build\net46\Stub.System.Data.SQLite.Core.NetFramework.targets')" />
+</Project>
\ No newline at end of file

source/Dolen/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("Dolen")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Dolen")]
+[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("1d8684a2-5358-4f9c-9b42-9794f8f4b6b6")]
+
+// 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")]

source/Dolen/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="EntityFramework" version="6.4.4" targetFramework="net472" />
+  <package id="Stub.System.Data.SQLite.Core.NetFramework" version="1.0.115.0" targetFramework="net472" />
+  <package id="System.Data.SQLite" version="1.0.115.0" targetFramework="net472" />
+  <package id="System.Data.SQLite.Core" version="1.0.115.0" targetFramework="net472" />
+  <package id="System.Data.SQLite.EF6" version="1.0.115.0" targetFramework="net472" />
+  <package id="System.Data.SQLite.Linq" version="1.0.115.0" targetFramework="net472" />
+</packages>
\ No newline at end of file

source/JAKA/JAKA.csproj

@@ -56,6 +56,7 @@
     <Compile Include="JAKATYPE.cs" />
     <Compile Include="RobotData.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="TCPServer.cs" />
     <Compile Include="UCJoint.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -97,11 +98,5 @@
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
   </ItemGroup>
-  <ItemGroup>
-    <ProjectReference Include="..\..\..\..\..\..\Projects\CSharp-Workspace\Dolen\Dolen\Dolen.csproj">
-      <Project>{1D8684A2-5358-4F9C-9B42-9794F8F4B6B6}</Project>
-      <Name>Dolen</Name>
-    </ProjectReference>
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

source/JAKA/JAKAServer.cs

-using Dolen.Communication.TCP;
+
+using Dolen.Communication.TCP;
 using System;
 using System.Collections.Generic;
 namespace JAKA