using?System;
using?System.Collections.Generic;
using?System.Text;
using?System.IO;
using?System.Net.Sockets;
using?System.Windows.Forms;


namespace?ROSAPI
{
????class?MK??//ROS?API類
????{
????????Stream?connection;
????????TcpClient?con;

????????public?MK（string?ip）//連接實例
????????{
????????????con?=?new?TcpClient（）;
????????????con.Connect（ip?8728）;
????????????connection?=?（Stream）con.GetStream（）;
????????}
????????public?void?Close（）//連接關閉
????????{
????????????connection.Close（）;
????????????con.Close（）;
????????}
????????public?bool?Login（string?username?string?password）//登陸ROS
????????{
????????????Send（“/login“?true）;
????????????string?hash?=?Read（）[0].Split（new?string[]?{?“ret=“?}?StringSplitOptions.None）[1];
????????????Send（“/login“）;
????????????Send（“=name=“?+?username）;
????????????Send（“=response=00“?+?EncodePassword（password?hash）?true）;
????????????if?（Read（）[0]?==?“!done“）
????????????{
????????????????return?true;
????????????}
????????????else
????????????{
????????????????return?false;
????????????}
????????}


????????public?void?Send（string?co）//發送參數，發送修改命令，操作ROS
????????{
????????????//byte[]?bajty?=?Encoding.ASCII.GetBytes（co.ToCharArray（））;
????????????byte[]?bajty?=?Encoding.Default.GetBytes（co.ToCharArray（））;//轉為中文編碼
????????????byte[]?velikost?=?EncodeLength（bajty.Length）;

????????????connection.Write（velikost?0?velikost.Length）;
????????????connection.Write（bajty?0?bajty.Length）;



????????}
????????public?void?Send（string?co?bool?endsentence）//讀取服務器數據
????????{
????????????byte[]?bajty?=?Encoding.Default.GetBytes（co.ToCharArray（））;//轉為中文編碼
????????????byte[]?velikost?=?EncodeLength（bajty.Length）;
????????????connection.Write（velikost?0?velikost.Length）;
????????????connection.Write（bajty?0?bajty.Length）;
????????????connection.WriteByte（0）;
????????}


????????public?List?Read（）//讀取數據
????????{
????????????List?output?=?new?List（）;
????????????string?o?=?““;
????????????byte[]?tmp?=?new?byte[4];
????????????long?count;
????????????while?（true）
????????????{
????????????????tmp[3]?=?（byte）connection.ReadByte（）;//讀取Stream返回的數據，就是ROS返回的數據
????????????????//if（tmp[3]?==?220）?tmp[3]?=?（byte）connection.ReadByte（）;?it?sometimes?happend?to?me?that?
????????????????//mikrotik?send?220?as?some?kind?of?“bonus“?between?words?this?fixed?things?not?sure?about?it?though

????????????????
????????????????if?（tmp[3]?==?0）//返回空
????????????????{
????????????????????output.Add（o）;//返回空，T類output則為加字符串o的值
????????????????????
????????????????????if?（o.Substring（0?5）?==?“!done“）
????????????????????{
????????????????????????break;
????????????????????}
????????????????????else
????????????????????{
????????????????????????o?=?““;
????????????????????????continue;
????????????????????}
????????????????????
????????????????}
????????????????else
????????????????{
????????????????????if?（tmp[3]?