C# 实现激光雷达与天线 TCP 通信，含重发机制和数据帧格式解析

{/'title/': /'C# 实现激光雷达与天线 TCP 通信，含重发机制和数据帧格式解析/', /'description/': /'本文介绍如何使用 C# 实现激光雷达与天线之间的 TCP 通信，包括数据帧格式定义、重发机制、CRC 校验等，并提供示例代码。/', /'keywords/': /'激光雷达, 天线, TCP 通信, C#, 数据帧格式, 重发机制, CRC 校验/', /'content/': /'以下是使用 C# 实现通信功能的示例代码：//n//ncsharp//nusing System;//nusing System.Collections.Generic;//nusing System.IO;//nusing System.Net;//nusing System.Net.Sockets;//nusing System.Text;//nusing System.Threading;//n//npublic class LaserRadar//n{//n private const int MaxRetries = 3;//n private const int RetryInterval = 120;//n//n private TcpClient client;//n private NetworkStream stream;//n private bool isConnected;//n//n public void Connect(string ipAddress, int port)//n {//n try//n {//n client = new TcpClient();//n client.Connect(ipAddress, port);//n stream = client.GetStream();//n isConnected = true;//n }//n catch (Exception ex)//n {//n Console.WriteLine(/'Failed to connect: /' + ex.Message);//n isConnected = false;//n }//n }//n//n public void Disconnect()//n {//n if (isConnected)//n {//n stream.Close();//n client.Close();//n isConnected = false;//n }//n }//n//n public bool SendFrame(Frame frame)//n {//n if (!isConnected)//n {//n Console.WriteLine(/'Not connected to the server./');//n return false;//n }//n//n byte[] data = frame.ToBytes();//n int retries = 0;//n//n while (retries < MaxRetries)//n {//n try//n {//n stream.Write(data, 0, data.Length);//n stream.Flush();//n//n // Wait for the response//n byte[] response = new byte[1024];//n int bytesRead = stream.Read(response, 0, response.Length);//n//n if (bytesRead > 0)//n {//n Frame responseFrame = Frame.FromBytes(response);//n if (responseFrame != null && responseFrame.IsAck())//n {//n return true;//n }//n }//n//n retries++;//n Thread.Sleep(RetryInterval);//n }//n catch (Exception ex)//n {//n Console.WriteLine(/'Failed to send frame: /' + ex.Message);//n retries++;//n Thread.Sleep(RetryInterval);//n }//n }//n//n Console.WriteLine(/'Failed to receive ACK after multiple retries./');//n return false;//n }//n}//n//npublic class Frame//n{//n private const ushort StartFlag = 0xFFFF;//n//n public byte Version { get; set; }//n public uint Length { get; set; }//n public byte Command { get; set; }//n public string Data { get; set; }//n public ushort CRC { get; set; }//n//n public Frame() { }//n//n public Frame(byte version, uint length, byte command, string data)//n {//n Version = version;//n Length = length;//n Command = command;//n Data = data;//n CRC = CalculateCRC();//n }//n//n public bool IsAck()//n {//n return (Command & 0x80) == 0x80;//n }//n//n public byte[] ToBytes()//n {//n byte[] dataBytes = Encoding.ASCII.GetBytes(Data);//n ushort crc = CalculateCRC();//n//n using (MemoryStream ms = new MemoryStream())//n using (BinaryWriter writer = new BinaryWriter(ms))//n {//n writer.Write(StartFlag);//n writer.Write(Version);//n writer.Write(Length);//n writer.Write(Command);//n writer.Write(dataBytes);//n writer.Write(crc);//n//n return ms.ToArray();//n }//n }//n//n public static Frame FromBytes(byte[] bytes)//n {//n using (MemoryStream ms = new MemoryStream(bytes))//n using (BinaryReader reader = new BinaryReader(ms))//n {//n ushort startFlag = reader.ReadUInt16();//n if (startFlag != StartFlag)//n {//n Console.WriteLine(/'Invalid start flag./');//n return null;//n }//n//n byte version = reader.ReadByte();//n uint length = reader.ReadUInt32();//n byte command = reader.ReadByte();//n byte[] dataBytes = reader.ReadBytes((int)length - 5);//n ushort crc = reader.ReadUInt16();//n//n string data = Encoding.ASCII.GetString(dataBytes);//n//n Frame frame = new Frame(version, length, command, data);//n if (frame.CalculateCRC() != crc)//n {//n Console.WriteLine(/'Invalid CRC./');//n return null;//n }//n//n return frame;//n }//n }//n//n private ushort CalculateCRC()//n {//n byte[] bytes = Encoding.ASCII.GetBytes(Version.ToString(/'X2/') + Length.ToString(/'X8/') + Command.ToString(/'X2/') + Data);//n ushort crc = 0xFFFF;//n//n foreach (byte b in bytes)//n {//n crc ^= (ushort)(b << 8);//n//n for (int i = 0; i < 8; i++)//n {//n if ((crc & 0x8000) != 0)//n {//n crc = (ushort)((crc << 1) ^ 0x1021);//n }//n else//n {//n crc <<= 1;//n }//n }//n }//n//n return crc;//n }//n}//n//npublic class Program//n{//n public static void Main(string[] args)//n {//n LaserRadar laserRadar = new LaserRadar();//n laserRadar.Connect(/'127.0.0.1/', 1234);//n//n Frame frame = new Frame(0x00, 13, 0x00, /'{///'type///':///'ask///',///'value///':///'{///'errCode///':1,///'errDesc///':///'the 2nd parameter is wrong///'}/'}/');//n if (laserRadar.SendFrame(frame))//n {//n Console.WriteLine(/'Frame sent successfully./');//n }//n else//n {//n Console.WriteLine(/'Failed to send frame./');//n }//n//n laserRadar.Disconnect();//n }//n}//n//n//n请注意，上述示例代码仅实现了通信功能的基本框架，具体的数据处理和业务逻辑需要根据实际需求进行补充和修改。/