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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public class ProductDeltaPosition
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{
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public string[] deltaloadRowStr = new string[2];
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public string[] deltaloadColumnStr = new string[2];
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public string[] deltaloadAngleStr = new string[2];
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public double[] deltaloadRow = new double[2];
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public double[] deltaloadColumn = new double[2];
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public double[] deltaloadAngle = new double[2];
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}
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//上料检测类
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public class UpLoadDetection
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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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private VisionDetect vd = new VisionDetect();
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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 UpLoadDetection(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.Parse(opcConfig.loadRobotConfig.localIpAddress), 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("上料机械手臂监听服务已启动，绑定地址：{0}，端口：{1}", opcConfig.loadRobotConfig.localIpAddress,
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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("上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("上料机械手臂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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//
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//int batteryStatus = 10;
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//int batteryNumber = 0;
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InitPosition initPosition = default(InitPosition);
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HObject imageIntrest = new HObject();
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ProductDeltaPosition productDeltaPosition = new ProductDeltaPosition();
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HTuple ScoreTriRects = new HTuple(), ScoreTriAngles = new HTuple();
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//
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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("上料机械手臂已连接：{0}, {1}, {2}", robortClient.Client.RemoteEndPoint, timeStr,
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CommonUtil.StepControl.ToString()));
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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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if (!robortClient.Connected)
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continue;
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//每次一个，完成断开
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int n = 0;
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n = netStream.Read(recvBuf, 0, 1024);
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while (n > 0)
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{
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#region 接收处理
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string receivedMsg = System.Text.Encoding.ASCII.GetString(recvBuf, 0, n);
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string sendMsg = string.Empty;
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// 处理接收到的数据。
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if (receivedMsg.Contains("slgrab"))
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{
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sendMsg = "ok";
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}
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if (receivedMsg.Contains("num"))
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{
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sendMsg = "2";//batteryStatus.ToString();
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}
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if (receivedMsg.Contains("slrate"))
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{
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sendMsg = opcConfig.loadRbtSpeed.ToString();
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}
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if (receivedMsg.Contains("sldata"))
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{
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sendMsg = productDeltaPosition.deltaloadColumnStr[0] + "," + productDeltaPosition.deltaloadRowStr[0] + "," + "+000.000"
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+ "," + productDeltaPosition.deltaloadColumnStr[1] + "," + productDeltaPosition.deltaloadRowStr[1] + "," + "+000.000";
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sendMsg = "+000.000,+000.000,+000.000,+000.000,+000.000,+000.000";
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}
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if (receivedMsg.Contains("1"))
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{
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initPosition.x1 = opcConfig.loadPosition11.x;
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initPosition.y1 = opcConfig.loadPosition11.y;
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initPosition.a1 = opcConfig.loadPosition11.angle;
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initPosition.x2 = opcConfig.loadPosition12.x;
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initPosition.y2 = opcConfig.loadPosition12.y;
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initPosition.a2 = opcConfig.loadPosition12.angle;
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sendMsg = "1";
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}
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if (receivedMsg.Contains("2"))
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{
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initPosition.x1 = opcConfig.loadPosition21.x;
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initPosition.y1 = opcConfig.loadPosition21.y;
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initPosition.a1 = opcConfig.loadPosition21.angle;
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initPosition.x2 = opcConfig.loadPosition22.x;
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initPosition.y2 = opcConfig.loadPosition22.y;
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initPosition.a2 = opcConfig.loadPosition22.angle;
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sendMsg = "2";
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}
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if (receivedMsg.Contains("3"))
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{
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initPosition.x1 = opcConfig.loadPosition31.x;
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initPosition.y1 = opcConfig.loadPosition31.y;
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initPosition.a1 = opcConfig.loadPosition31.angle;
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initPosition.x2 = opcConfig.loadPosition32.x;
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initPosition.y2 = opcConfig.loadPosition32.y;
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initPosition.a2 = opcConfig.loadPosition32.angle;
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sendMsg = "3";
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}
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if (receivedMsg.Contains("4"))
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{
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initPosition.x1 = opcConfig.loadPosition41.x;
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initPosition.y1 = opcConfig.loadPosition41.y;
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initPosition.a1 = opcConfig.loadPosition41.angle;
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initPosition.x2 = opcConfig.loadPosition42.x;
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initPosition.y2 = opcConfig.loadPosition42.y;
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initPosition.a2 = opcConfig.loadPosition42.angle;
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sendMsg = "4";
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}
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if (receivedMsg.Contains("5"))
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{
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initPosition.x1 = opcConfig.loadPosition51.x;
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initPosition.y1 = opcConfig.loadPosition51.y;
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initPosition.a1 = opcConfig.loadPosition51.angle;
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initPosition.x2 = opcConfig.loadPosition52.x;
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initPosition.y2 = opcConfig.loadPosition52.y;
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initPosition.a2 = opcConfig.loadPosition52.angle;
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sendMsg = "5";
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}
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if (receivedMsg.Contains("6"))
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{
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initPosition.x1 = opcConfig.loadPosition61.x;
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initPosition.y1 = opcConfig.loadPosition61.y;
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initPosition.a1 = opcConfig.loadPosition61.angle;
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initPosition.x2 = opcConfig.loadPosition62.x;
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initPosition.y2 = opcConfig.loadPosition62.y;
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initPosition.a2 = opcConfig.loadPosition62.angle;
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sendMsg = "6";
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}
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if (receivedMsg.Contains("7"))
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{
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initPosition.x1 = opcConfig.loadPosition71.x;
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initPosition.y1 = opcConfig.loadPosition71.y;
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initPosition.a1 = opcConfig.loadPosition71.angle;
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initPosition.x2 = opcConfig.loadPosition72.x;
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initPosition.y2 = opcConfig.loadPosition72.y;
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initPosition.a2 = opcConfig.loadPosition72.angle;
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sendMsg = "7";
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}
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if (receivedMsg.Contains("8"))
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{
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initPosition.x1 = opcConfig.loadPosition81.x;
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initPosition.y1 = opcConfig.loadPosition81.y;
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initPosition.a1 = opcConfig.loadPosition81.angle;
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initPosition.x2 = opcConfig.loadPosition82.x;
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initPosition.y2 = opcConfig.loadPosition82.y;
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initPosition.a2 = opcConfig.loadPosition82.angle;
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sendMsg = "8";
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}
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if (receivedMsg.Contains("9"))
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{
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initPosition.x1 = opcConfig.loadPosition91.x;
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initPosition.y1 = opcConfig.loadPosition91.y;
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initPosition.a1 = opcConfig.loadPosition91.angle;
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initPosition.x2 = opcConfig.loadPosition92.x;
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initPosition.y2 = opcConfig.loadPosition92.y;
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initPosition.a2 = opcConfig.loadPosition92.angle;
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sendMsg = "9";
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}
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if (receivedMsg.Contains("10"))
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{
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initPosition.x1 = opcConfig.loadPosition101.x;
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initPosition.y1 = opcConfig.loadPosition101.y;
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initPosition.a1 = opcConfig.loadPosition101.angle;
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initPosition.x2 = opcConfig.loadPosition102.x;
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initPosition.y2 = opcConfig.loadPosition102.y;
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initPosition.a2 = opcConfig.loadPosition102.angle;
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sendMsg = "10";
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}// 结束
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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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}
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Thread.Sleep(20);
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n = netStream.Read(recvBuf, 0, 1024);
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#endregion
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}
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Thread.Sleep(10);
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}
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catch (Exception)
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{
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break;
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}
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finally
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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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Thread.Sleep(10);
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}
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CommonUtil.WriteLog(LogType.Inf, "上料检测退出");
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}
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}
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}
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