using System;
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using System.Collections.Generic;
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using System.Drawing.Text;
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using System.Linq;
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using System.Net;
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using System.Text;
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using System.Net.Sockets;
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using System.Threading;
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using System.Windows.Forms.VisualStyles;
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using HalconDotNet;
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namespace M423project
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{
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//上料检测类
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public class LoadDetection
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{
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#region 上料检测相关私有成员
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private ConfigStruct opcConfig;
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private TcpListener robotServer;
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private ImageProcess ipImage;
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private Thread loadProcesser;
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#endregion
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/// <summary>
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/// 上料检类构造函数
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/// </summary>
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/// <param name="_opcConfig">OPC配置对象引用</param>
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/// <param name="_ipImage">图象处理对象引用</param>
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public LoadDetection(ConfigStruct _opcConfig, ImageProcess _ipImage)
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{
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opcConfig = _opcConfig;
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ipImage = _ipImage;
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robotServer = new TcpListener(IPAddress.Any, opcConfig.loadRobotConfig.port);
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}
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/// <summary>
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/// 启动检测线程
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/// </summary>
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public void Start()
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{
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loadProcesser = new Thread(Execute);
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loadProcesser.Start();
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}
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public void Stop()
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{
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if (loadProcesser != null && loadProcesser.IsAlive)
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{
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loadProcesser.Abort();
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loadProcesser.Join();
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}
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loadProcesser = null;
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}
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/// <summary>
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/// 启动对机械手臂监听
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/// </summary>
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/// <returns>是否正常启动</returns>
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public bool OpenListener()
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{
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try
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{
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robotServer.Start();
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CommonUtil.WriteLog(LogType.Inf, string.Format("机械手臂监听服务已启动，绑定端口：{0}", opcConfig.loadRobotConfig.port));
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return true;
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}
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catch (Exception e)
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{
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CommonUtil.WriteLog(LogType.Exc, string.Format("监听服务启动失败：{0}", e.Message));
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return false;
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}
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}
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public void CloseListener()
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{
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robotServer.Stop();
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CommonUtil.WriteLog(LogType.Inf, string.Format("机械手臂监听服务已关闭"));
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}
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/// <summary>
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/// 执行和机械手臂会话，处理上料检测结果。
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/// 连结是否需要多次建立还 是只建立一次？
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/// </summary>
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public void Execute()
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{
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TcpClient robortClient = null;
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NetworkStream netStream = null;
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byte[] recvBuf = new byte[1024];
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byte[] sendBuf;
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while (true)
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{
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try
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{
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robortClient = robotServer.AcceptTcpClient();
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CommonUtil.WriteLog(LogType.Inf, string.Format("机械手臂已连接：{0}", robortClient.Client.RemoteEndPoint));
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netStream = robortClient.GetStream();
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while (robortClient.Connected)
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{
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if (netStream.DataAvailable)
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{
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int n = netStream.Read(recvBuf, 0, 1024);
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string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
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CommonUtil.WriteLog(LogType.Inf, string.Format("接收到机械手臂上传数据：{0}", receivedMsg));
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if (receivedMsg.Contains("slgrab"))
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{
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HObject ihImage = null;
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HObject ihInterestImage = null;
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VisionDetect vd = new VisionDetect();
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ipImage.GrapLoad(ref ihImage);
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ipImage.GetImageIntrest(ihImage, out ihInterestImage);
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//
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string resp = ipImage.JudgeLoad(ihInterestImage) ? "ok" : "ng";
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CommonUtil.WriteLog(LogType.Inf, string.Format("上料判断结果：{0}", resp));
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sendBuf = System.Text.Encoding.ASCII.GetBytes(resp);
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netStream.Write(sendBuf, 0, sendBuf.Length);
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}
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}
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Thread.Sleep(20);
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}
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}
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catch (Exception e)
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{
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if (e is ThreadAbortException) //手动终止则退出，否则继续等待连接
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{
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CommonUtil.WriteLog(LogType.Inf, "用户手动终止程序, 连接关闭");
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break;
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}
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else
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CommonUtil.WriteLog(LogType.Exc, string.Format("处理上料检测过程中出现异常：{0}", e.Message));
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}
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finally
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{
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if (robortClient != null)
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robortClient.Close();
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if (netStream != null)
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netStream.Close();
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}
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Thread.Sleep(10);
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}
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CommonUtil.WriteLog(LogType.Exc, string.Format("上料检测过程退出"));
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}
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}
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}
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