483 lines
16 KiB
C#
483 lines
16 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Net.Sockets;
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using System.Runtime.ConstrainedExecution;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace DK_DC_Tool
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{
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public class Tighten
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{
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public static Dictionary<string, string> TightenNG_Code = new Dictionary<string, string>()
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{
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// 00 = 无定意；01 = 最终扭矩过大；02 = 最终扭矩过大；03 = 最终角度过大；04 = 最终角度过小；n1 = 第 n 步扭矩过大；n2 = 第 n 步时间超限；1 < n < 5；90 = 总时间超限；
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{ "00", "无定意" },
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{ "01", "最终扭矩过大" },
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{ "02", "最终扭矩过大" },
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{ "03", "最终角度过大" },
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{ "04", "最终角度过小" },
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{ "11", "第 1 步扭矩过大" },
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{ "21", "第 2 步扭矩过大" },
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{ "31", "第 3 步扭矩过大" },
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{ "41", "第 4 步扭矩过大" },
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{ "51", "第 5 步扭矩过大" },
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{ "12", "第 1 步时间超限" },
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{ "22", "第 2 步时间超限" },
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{ "32", "第 3 步时间超限" },
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{ "42", "第 4 步时间超限" },
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{ "52", "第 5 步时间超限" },
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{ "90", "总时间超限" }
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};
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TcpClient _client = null;
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Thread _parse_tid = null;
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Thread _tightenHeartBeat = null;
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bool _isconnected = false;
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bool _is_run = false;
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bool _is_reconnect = true;
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bool _first_connect = true;
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string ip = "127.0.0.1";
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int port = 5000;
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int _reconnect_cnt = 0;
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string currentOpName = "127.0.0.1";
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public static Action<String,String> E_ScanContent = null;
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public static Action<String, String, String> E_LogInsert = null;
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public static Action<String> E_DeviceHeartBeat = null;
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public void Start(string ip ,int port, string opName)
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{
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this.currentOpName = opName;
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this.ip = ip;
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this.port = port;
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_parse_tid = new Thread(new ThreadStart(parse_entry));
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_parse_tid.Name = "data_parse";
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_parse_tid.IsBackground = true;
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_parse_tid.Start();
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_tightenHeartBeat = new Thread(new ThreadStart(hw_send_HeartBeat));
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_tightenHeartBeat.Name = "tightenHeartBeat";
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_tightenHeartBeat.IsBackground = true;
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_tightenHeartBeat.Start();
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_is_run = true;
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_is_reconnect = true;
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_first_connect = true;
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_reconnect_cnt = 0;
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}
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public void Stop()
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{
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_is_run = false;
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_is_reconnect = false;
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_first_connect = false;
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}
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//代理
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private delegate void change_tbx_delegate(string str);
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private string bytes_to_hex_string(byte[] buf, int offset, int len)
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{
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string str = "";
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for (int i = 0; i < len; i++)
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{
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str += buf[offset + i].ToString("X2") + " ";
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}
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return str;
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}
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private string bytes_to_string(byte[] buf, int offset, int len)
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{
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string str = "";
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for (int i = 0; i < len; i++)
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{
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if ((buf[offset + i] < 32) || (buf[offset + i] > 126))
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str += " .";
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else
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str += " " + ((char)buf[offset + i]).ToString();
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str += " ";
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}
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return str;
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}
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private bool tcp_connect(ref TcpClient client, string ip, string port)
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{
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if (!_is_run)
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return false;
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try
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{
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if (client != null)
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client.Close();
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client = null;
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client = new TcpClient();
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if (!client.ConnectAsync(ip, int.Parse(port)).Wait(2000))
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{
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client.Close();
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client = null;
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return false;
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}
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}
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catch(Exception err)
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{
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E_LogInsert("Tighten", "Error", "165：" + err.Message);
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("0");
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}
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client = null;
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return false;
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}
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return true;
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}
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private int tcp_receive(TcpClient client, byte[] buffer, int offset, int max_len)
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{
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if (!_is_run)
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return (int)RETURN_ERR_STATE.RETURN_ESTOP;
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if (!_isconnected)
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return (int)RETURN_ERR_STATE.RETURN_ECONNECT;
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if (client == null)
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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if (client.Connected == false)
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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NetworkStream networkStream = null;
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try
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{
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networkStream = client.GetStream();
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}
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catch
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{
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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}
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int len = 0;
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int rc = 0;
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while (max_len > 0)
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{
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Thread.Sleep(20);
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if (!_is_run)
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{
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rc = (int)RETURN_ERR_STATE.RETURN_ESTOP;
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break;
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}
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if (!_isconnected)
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{
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rc = (int)RETURN_ERR_STATE.RETURN_ECONNECT;
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break;
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}
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try
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{
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if (networkStream.DataAvailable == false)
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break;
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rc = networkStream.Read(buffer, offset + len, max_len);
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if (rc <= 0)
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{
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rc = (int)RETURN_ERR_STATE.RETURN_ERR;
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break;
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}
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len += rc;
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max_len -= rc;
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}
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catch
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{
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rc = (int)RETURN_ERR_STATE.RETURN_ERR;
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break;
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}
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}
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if (rc >= 0)
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rc = len;
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return rc;
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}
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private int tcp_send(TcpClient client, byte[] buffer)
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{
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if (!_is_run)
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return (int)RETURN_ERR_STATE.RETURN_ESTOP;
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if (!_isconnected)
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return (int)RETURN_ERR_STATE.RETURN_ECONNECT;
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if (client == null)
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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if (client.Connected == false)
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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try
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{
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NetworkStream networkStream = _client.GetStream();
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networkStream.Write(buffer, 0, buffer.Length);
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}
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catch(Exception err)
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{
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E_LogInsert("Tighten", "Error", "270：" + err.Message);
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return (int)RETURN_ERR_STATE.RETURN_ERR;
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}
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return buffer.Length;
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}
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private int hw_receive(byte[] buffer, int offset, int max_len)
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{
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int rc = tcp_receive(_client, buffer, offset, max_len);
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string str = null;
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if(rc < 0)
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{
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if(rc != (int)RETURN_ERR_STATE.RETURN_ESTOP)
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{
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string err_str = "拧紧枪接收数据异常！";
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E_LogInsert("Tighten", "Error", err_str);
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}
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}
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else if (rc > 0)
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{
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//buffer = new byte[] { 0x02 ,0x00, 0x00, 0x00, 0xd9, 0x54, 0x30, 0x32, 0x30, 0x32, 0x30, 0x30, 0x30, 0x31, 0x30, 0x3d, 0x30, 0x2e, 0x32, 0x39, 0x37, 0x2c, 0x33, 0x32, 0x30, 0x38, 0x2e, 0x35, 0x36, 0x33, 0x2c, 0x31, 0x2e, 0x36, 0x35, 0x31, 0x3b, 0x30, 0x30, 0x30, 0x31, 0x31, 0x3d, 0x31, 0x3b, 0x30, 0x30, 0x30, 0x31, 0x32, 0x3d, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x31, 0x30, 0x3d, 0x30, 0x2e, 0x30, 0x31, 0x33, 0x2c, 0x2d, 0x38, 0x39, 0x2e, 0x39, 0x35, 0x34, 0x2c, 0x30, 0x2e, 0x31, 0x37, 0x34, 0x3b, 0x30, 0x31, 0x30, 0x31, 0x31, 0x3d, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x32, 0x30, 0x3d, 0x30, 0x2e, 0x30, 0x30, 0x38, 0x2c, 0x38, 0x39, 0x2e, 0x39, 0x35, 0x34, 0x2c, 0x30, 0x2e, 0x31, 0x30, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x32, 0x31, 0x3d, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x33, 0x30, 0x3d, 0x30, 0x2e, 0x30, 0x30, 0x36, 0x2c, 0x32, 0x37, 0x39, 0x39, 0x2e, 0x34, 0x37, 0x32, 0x2c, 0x30, 0x2e, 0x34, 0x30, 0x39, 0x3b, 0x30, 0x31, 0x30, 0x33, 0x31, 0x3d, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x34, 0x30, 0x3d, 0x30, 0x2e, 0x30, 0x35, 0x39, 0x2c, 0x33, 0x30, 0x37, 0x2e, 0x36, 0x37, 0x38, 0x2c, 0x30, 0x2e, 0x32, 0x35, 0x36, 0x3b, 0x30, 0x31, 0x30, 0x34, 0x31, 0x3d, 0x30, 0x3b, 0x30, 0x31, 0x30, 0x35, 0x30, 0x3d, 0x30, 0x2e, 0x32, 0x39, 0x37, 0x2c, 0x31, 0x30, 0x2e, 0x33, 0x31, 0x33, 0x2c, 0x30, 0x2e, 0x34, 0x39, 0x32, 0x3b, 0x30, 0x31, 0x30, 0x35, 0x31, 0x3d, 0x30, 0x3b, 0x03 };
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//rc = buffer.Length;
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var hex_str = bytes_to_hex_string(buffer, offset, rc);
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var raw_str = bytes_to_string(buffer, offset, rc);
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if (E_ScanContent != null)
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{
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E_ScanContent.Invoke(hex_str, raw_str);
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}
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}
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//if (str != null)
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// tbxProtocolDebug_show(str);
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return rc;
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}
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private int hw_send(ToolPacket packet)
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{
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int rc = 0;
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ToolPacket send_packet = null;
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send_packet = packet;
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byte[] buffer = send_packet.compose_protocol();
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rc = tcp_send(_client, buffer);
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string str = null;
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if (rc < 0)
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{
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try
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{
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E_LogInsert("Tighten", "Error", ((RETURN_ERR_STATE)rc).ToString());
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}
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catch (Exception err)
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{
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E_LogInsert("Tighten", "Error", rc.ToString() + "_" + err.Message);
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}
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}
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else
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{
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string send_str = "拧紧枪发送数据！";
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E_LogInsert("Tighten", "Info", send_str);
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//string hex_str = "send: " + bytes_to_hex_string(buffer, 0, buffer.Length);
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string raw_str = " " + bytes_to_string(buffer, 0, buffer.Length);
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E_LogInsert("Tighten", "Info", raw_str);
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}
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//if(str != null)
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// tbxProtocolDebug_show(str);
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return rc;
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}
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private void hw_send_HeartBeat()
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{
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ToolPacket packet = new ToolPacket();
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packet.op = 'R';
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packet.mid = "0204";
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packet.data_domain_str = "";
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new Thread(new ThreadStart(delegate () {
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while (true)
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{
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try
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{
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int rc = 0;
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byte[] buffer = packet.compose_protocol();
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rc = tcp_send(_client, buffer);
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if (rc < 0)
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{
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("0");
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}
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E_LogInsert("Tighten_HeartBeat", "Error", RETURN_ERR_STATE.RETURN_ESTOP.ToString());
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}
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else
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{
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("1");
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}
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}
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}
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catch (Exception err)
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{
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E_LogInsert("Tighten_HeartBeat", "Error", err.Message);
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("0");
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}
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}
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Thread.Sleep(5000);
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}
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}))
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{ IsBackground = true }.Start();
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}
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byte[] normal_buf = new byte[1024];
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private void parse_entry()
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{
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Control.CheckForIllegalCrossThreadCalls = false;
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while (true)
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{
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// 未使能运行时，关闭连接，等待使能
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if(!_is_run)
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{
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try
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{
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if (_client != null)
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_client.Close();
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}
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finally
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{
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_client = null;
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}
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_isconnected = false;
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_first_connect = true;
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Thread.Sleep(50);
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continue;
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}
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// 未连接时，连接硬件接口，失败 2s 周期重连
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if(!_isconnected)
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{
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// 不使能重连
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if(!_is_reconnect && !_first_connect)
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{
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try
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{
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if (_client != null)
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_client.Close();
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}
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finally
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{
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_client = null;
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}
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Thread.Sleep(50);
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continue;
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}
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_first_connect = false;
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_reconnect_cnt++;
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if (tcp_connect(ref _client, this.ip, this.port.ToString()))
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{
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string send_str = "拧紧枪网络连接成功";
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E_LogInsert("Tighten", "Info", send_str);
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_isconnected = true;
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("1");
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}
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/*
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MID 操作类型 描述 备注
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0001 R 建立通信连接
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0002 R 断开连接
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0103 W Pset选择
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0201 R 运行状态 Ready/RUN/OK/NG/Err
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0202 R 最终拧紧结果
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0203 R 实时曲线数据
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0301 W 电机运行正转/反转使能 CW/CCW
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*/
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var packet = new ToolPacket();
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packet.op = 'R';
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packet.mid = "0202";
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packet.data_domain_str = "";
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hw_send(packet);
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Thread.Sleep(50);
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continue;
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}
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else
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{
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string send_str = "拧紧枪网络连接失败";
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E_LogInsert("Tighten", "Error", send_str);
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("0");
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}
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}
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Thread.Sleep(2000);
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continue;
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}
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int recv_len = hw_receive(normal_buf, 0, normal_buf.Length);
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if (recv_len < 0)
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{
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Thread.Sleep(50);
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_isconnected = false;
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if (E_DeviceHeartBeat != null)
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{
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E_DeviceHeartBeat.Invoke("0");
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}
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continue;
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}
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}
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}
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}
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public class TightenParam
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{
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public string hex { get; set; }
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public string raw { get; set; }
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}
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}
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