public Robot_Method(Robot_Device _Device)
        {
            Device = _Device;
        }
        private Robot_Device Device;//设备实体类
        private Socket Socket = null;//服务端Socket。
        private Socket ClientSocket = null;//客户端Socket
        Thread th;//接收数据线程
        //接收数据事件
        public Action<string> recvMessageEvent = null;
       
        public void Connect()
        {
            Socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
            IPAddress Localhost = IPAddress.Any;
            int LocalPort = Device.Device_Port;
            IPEndPoint endPoint = new IPEndPoint(Localhost, LocalPort);//服务端需要开启的网络终结点。客户端链接这个IP地址和端口号。
            Socket.Bind(endPoint);//绑定网络终结点
            Socket.Listen(1);
            Thread th = new Thread(ListenClientConnect);//开启线程来等待客户端连接。
            th.IsBackground = true;
            th.Start();
        }
        public void DisConnect()
        {
            Socket.Close();//关闭服务端
        }

        public void ListenClientConnect()
        {
            while (true)
            {
                ClientSocket = Socket.Accept();//等待客户端连接。
                th?.Abort();//如果接收数据线程不为空，则终止它。
                th = new Thread(ReceiveMessage);//开启接收数据线程。
                th.IsBackground = true;
                th.Start();
            }
        }

        public void ReceiveMessage()
        {
            while (true)
            {
                string ErrorMessage = "";
                try
                {
                    byte[] vs = new byte[1024];
                    int lenght = ClientSocket.Receive(vs);
                    if (lenght == 177)
                    {
                        if (vs[0] != 0xFE && vs[1] != 0x5A && vs[2] != 0xA5)
                        {
                            ErrorMessage = "报文头错误";
                            recvMessageEvent?.Invoke(ErrorMessage);
                            ClientSocket.Close();
                            break;
                        }
                        else
                        {
                            Device.Device_State = true;
                            GetResult(vs);//处理接收的报文数据
                            ErrorMessage = "";//当ErrorMessage为""时，表示接收数据报文成功，且解析成功。通过事件通知数据已经处理完成。
                            recvMessageEvent?.Invoke(ErrorMessage);
                        }
                    }
                    else
                    {
                        Device.Device_State = false;
                        ErrorMessage = "收到的长度不是规定的报文长度：177";
                        recvMessageEvent?.Invoke(ErrorMessage);
                        ClientSocket.Close();
                        break;
                    }
                }
                catch (Exception ex)
                {
                    Device.Device_State = false;
                    ErrorMessage = ex.Message;
                    recvMessageEvent?.Invoke(ErrorMessage);
                    ClientSocket.Close();
                    break;
                } 
            }
        }