private void button1_Click(object sender, EventArgs e){    OpenTCP();}/// <summary>/// TCP放在后台线程/// </summary>private void OpenTCP(){    //新建一个委托线程    ThreadStart myThreadDelegate = new ThreadStart(Listen);    //实例化新线程    myThread = new Thread(myThreadDelegate);    myThread.Start();

}/// <summary>/// 创建TCP服务端并监听/// </summary>public void Listen()//创建tcp服务端{   //设置端口    setPort = 59152;    //初始化SOCKET实例    newsock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);    //允许SOCKET被绑定在已使用的地址上。    newsock.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);    //初始化终结点实例    localEP = new IPEndPoint(IPAddress.Parse("172.31.1.250"), setPort);    try    {        _sessionTable = new Hashtable(53);        //绑定        newsock.Bind(localEP);        //监听        newsock.Listen(10);        //开始接受连接，异步。=        newsock.BeginAccept(new AsyncCallback(OnConnectRequest), newsock);    }    catch (Exception ex)    {
    }
}/// <summary>/// 客户端连接/// </summary>/// <param name="ar"></param>public void OnConnectRequest(IAsyncResult ar){    //初始化一个SOCKET，用于其它客户端的连接
    server1 = (Socket)ar.AsyncState;    Client[theIndex] = server1.EndAccept(ar);    DateTimeOffset now = DateTimeOffset.Now;    Byte[] byteDateLine = new Byte[65534];    remote = Client[theIndex].RemoteEndPoint;    //把连接成功的客户端的SOCKET实例放入哈希表    _sessionTable.Add(Client[theIndex].RemoteEndPoint, null);
    //等待新的客户端连接    theListClient[theIndex, 0] = Client[theIndex].RemoteEndPoint.ToString();    theListClient[theIndex, 1] = "1";    server1.BeginAccept(new AsyncCallback(OnConnectRequest), server1);    theIndex++;    int myIndex = theIndex - 1;    while (true)    {        try        {            if (theListClient[myIndex, 1] == "0") return;            Thread.Sleep(150);            int recv = Client[myIndex].Receive(byteDateLine);
            string stringdata = Encoding.UTF8.GetString(byteDateLine, 0, recv);
            string ip = Client[myIndex].RemoteEndPoint.ToString();
            //接受到客户端消息            if (stringdata != "")            {                MessageBox.Show(stringdata);            }            //显示客户端发送过来的信息
        }        catch (Exception ex)        {            //从列表中移除通讯失败的客户端            string ip = Client[myIndex].RemoteEndPoint.ToString();            _sessionTable.Remove(Client[myIndex].RemoteEndPoint);            for (int i = 0; i < 256; i++)            {                if (Client[myIndex].RemoteEndPoint.ToString() == theListClient[i, 0]) theListClient[i, 1] = "0";            }            break;        }    }}

RET=EKI_Init("XmlCallBack")//初始化xml文件RET=EKI_Open("XmlCallBack")//打开（相当于客户端请求连接）//将变量或值写入到xml文件的元素中;FOLD Write data to connection  ; Write frame to <LastPos X="" Y="" Z="" A="" B="" C="" />  RET=EKI_SetFrame("XmlCallBack","Robot/Data/LastPos", TOOL_DATA[1])  ; Write real to <ActPos X="" />  RET=EKI_SetReal("XmlCallBack","Robot/Data/ActPos/@X", 1000.12)  ; Write int to <Status></Status>  RET=EKI_SetInt("XmlCallBack","Robot/Status", 12345678)  ; Write string to <Mode></Mode>  RET=EKI_SetString("XmlCallBack","Robot/Mode","ConnectSensor")  ; Write bool to <LightOn></LightOn>  RET=EKI_SetBool("XmlCallBack","Robot/RobotLamp/GrenLamp/LightOn",true);ENDFOLD (Write data to connection)//发送xml到服务端RET = EKI_Send("XmlCallBack","Robot")