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 UnLoadDetection
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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 Thread unloadProcesser;
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private VisionDetect vd = new VisionDetect();
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private List<ProductMeasureResult> productTestCollection;
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private DateTime unloadTime = DateTime.MaxValue;
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private OPC _opc;
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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 UnLoadDetection(OPC opc, ConfigStruct _opcConfig, List<ProductMeasureResult> _productTestCollection)
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{
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_opc = opc;
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opcConfig = _opcConfig;
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robotServer = new TcpListener(IPAddress.Parse(opcConfig.unloadRobotConfig.localIpAddress), opcConfig.unloadRobotConfig.port);
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productTestCollection = _productTestCollection;
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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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unloadProcesser = new Thread(Execute);
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unloadProcesser.Start();
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}
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public void Stop()
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{
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if (unloadProcesser != null && unloadProcesser.IsAlive)
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{
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unloadProcesser.Abort();
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unloadProcesser.Join();
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}
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unloadProcesser = 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("下料机械手臂监听服务已启动，绑定地址：{0}，端口：{1}", opcConfig.unloadRobotConfig.localIpAddress,
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opcConfig.unloadRobotConfig.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("下料机械手臂监听服务启动失败：{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("下料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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/// </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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string sendMsg = string.Empty;
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int detectID = 0;
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while (true)
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{
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try
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{
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while (!robotServer.Pending())
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Thread.Sleep(10);
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robortClient = robotServer.AcceptTcpClient();
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string timeStr = DateTime.Now.ToString("hh:mm:ss fff");
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CommonUtil.WriteLog(LogType.Inf, string.Format("下料机械手臂已连接：{0}, {1}", robortClient.Client.RemoteEndPoint, timeStr));
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sendMsg = string.Empty;
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netStream = robortClient.GetStream();
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//while (robortClient.Connected && !netStream.DataAvailable)
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// Thread.Sleep(10);
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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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Thread.Sleep(10);
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continue;
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}
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#region data trans
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//每次一个，完成断开
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int n = netStream.Read(recvBuf, 0, 1024);
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while (n > 0)
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{
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string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
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CommonUtil.WriteLog(LogType.Inf, string.Format("接收到下料机械手臂发来的消息：{0}, {1}", receivedMsg, CommonUtil.StepControl.ToString()));
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// 处理接收到的数据。
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if (receivedMsg.Contains("xlrate"))
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{
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sendMsg = opcConfig.unloadRbtSpeed.ToString();
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}
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if (receivedMsg.Contains("result"))
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{
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bool isOk = false;
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detectID = CommonUtil.StepControl.GetUnloadStepID();
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if (detectID > 0)
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{
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var x = (from t in productTestCollection
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where t.DetectID == detectID
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select t
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).FirstOrDefault();
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if (x != default(ProductMeasureResult))
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{
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if (x.ProductResult == MeasureState.OK.ToString())
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{
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isOk = true;
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}
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}
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}
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sendMsg = isOk ? "ok" : "ng";
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//_opc.Write(OPCOutputTag.TurnDiskReadyConfirm, false);
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CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.RemoveDetectedItem(detectID)));
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CommonUtil.WriteLog(LogType.Inf, string.Format("{0}, {1}", detectID, sendMsg));
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#region add by Patrick 2018-07-13
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if (!isOk)
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{
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CommonUtil.StepControl.RemoveById(detectID);
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}
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#endregion
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}
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if (sendMsg != string.Empty)
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{
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sendBuf = System.Text.Encoding.ASCII.GetBytes(sendMsg);
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netStream.Write(sendBuf, 0, sendBuf.Length);
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CommonUtil.WriteLog(LogType.Inf, string.Format("向下料机械手臂发送的消息：{0}", sendMsg));
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if (unloadTime != DateTime.MaxValue)
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{
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TimeSpan ts = DateTime.Now - unloadTime;
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CommonUtil.mainForm.Invoke(new Action(() => CommonUtil.mainForm.DisplayCycleTime((int)Math.Round(ts.TotalMilliseconds))));
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}
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unloadTime = DateTime.Now;
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}
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n = netStream.Read(recvBuf, 0, 1024);
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}
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#endregion
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}
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/*
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if (netStream != null)
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netStream.Close();
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if (robortClient != null)
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robortClient.Close();
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*/
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CommonUtil.WriteLog(LogType.Inf, string.Format("下料机械连接断开"));
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Thread.Sleep(10);
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}
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catch (ThreadAbortException)
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{
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break;
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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("与下料通信过程出现异常：{0}", e.Message));//;
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}
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Thread.Sleep(10);
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}
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}
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}
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}
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