add - TCP信号接收

SlnMesnac.Config/AppConfig.cs

@@ -67,6 +67,11 @@ namespace SlnMesnac.Config
         /// </summary>
         public string ManipulatorIpConfig { get; set; }
 
+        /// <summary>
+        /// 机械臂地址配置
+        /// </summary>
+        public string TCPVisionConfig { get; set; }
+
         public AppConfig Value => this;
     }
 }

SlnMesnac.TouchSocket/AirPorthttpClient.cs

@@ -36,8 +36,16 @@ namespace SlnMesnac.TouchSocket
         private WebApiClient CreateWebApiClient(string IpHost)
         {
             var client = new WebApiClient();
-            client.Connect(IpHost);
+            try
-            _logger.LogInformation(IpHost + "连接成功");
+            {
+                client.Connect(IpHost);
+                _logger.LogInformation(IpHost + "连接成功");
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError("ERROR: " + ex.Message);
+                return null;
+            }
             return client;
         }
 
@@ -50,7 +58,7 @@ namespace SlnMesnac.TouchSocket
             }
             catch (Exception ex)
             {
-                _logger.LogError("ERROR: " + ex);
+                _logger.LogError("ERROR: " + ex.Message);
                 return Task.FromException(ex);
             }
             return Task.CompletedTask;

SlnMesnac.TouchSocket/AirportTcpServer.cs

@@ -0,0 +1,19 @@
+using Microsoft.Extensions.Hosting;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace SlnMesnac.TouchSocket
+{
+    public class AirportTcpServer : BackgroundService
+    {
+        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            return Task.CompletedTask;
+        }
+
+
+    }
+}

SlnMesnac.TouchSocket/ApiServer.cs

@@ -33,12 +33,12 @@ namespace SlnMesnac.TouchSocket
     {
         public ApiServer()
         {
-            SubscribeToAGVArrivalEvent();
+
         }
 
         public delegate void AGVArrivalStart(string message, AGVArrivalSingalEntity aGVArrivalSingalEntity);
         /// <summary>
-        /// AGV呼叫事件刷新
+        /// AGV到位信号刷新
         /// </summary>
         public event AGVArrivalStart AGVArrivalStartEvent;
 
@@ -57,7 +57,7 @@ namespace SlnMesnac.TouchSocket
 
         public delegate void ManipulatorWorkDoneStart(string message, ManipulatorWorkDoneEntity manipulatorWorkDoneEntity);
         /// <summary>
-        /// 机械臂开始抓取事件刷新
+        /// 机械臂抓取完毕事件刷新
         /// </summary>
         public event ManipulatorWorkDoneStart ManipulatorWorkDoneEvent;
 

SlnMesnac.TouchSocket/BufferDataAnalysis.cs

@@ -0,0 +1,83 @@
+using Microsoft.Extensions.Logging;
+using Serilog.Core;
+using SlnMesnac.Config;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.TouchSocket.Entity;
+using System;
+using System.Buffers;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using TouchSocket.Sockets;
+
+namespace SlnMesnac.TouchSocket
+{
+
+    public class BufferDataAnalysis
+    {
+        public static TcpVisionEntity BufferRootAnalysis(byte[] bytes)
+        {
+            TcpVisionEntity entity;
+            //数据校验，从起始符开始到数据位，按字节求和得出的结果对256求余
+            int checkDatalength = bytes.Length - 2;
+            byte checksum = bytes[checkDatalength];
+            byte[] checkData = new byte[checkDatalength];
+            Array.Copy(bytes, 0, checkData, 0, checkDatalength);
+            int sum = 0;
+            foreach (byte b in checkData)
+            {
+                sum += b;
+            }
+            int count = sum % 256;
+            if (count == checksum)
+            {
+                entity = new TcpVisionEntity();
+                entity.Checksum = checksum;
+            }
+            else
+            {
+                return null;
+            }
+            int index = 2;
+
+            //取序列号
+            entity.SN = new byte[2] { bytes[index], bytes[index + 1] };
+            index += 2;
+
+            //取时间戳
+            entity.Timestamp = new byte[4] { bytes[index], bytes[index + 1], bytes[index + 2], bytes[index + 3] };
+            index += 4;
+
+            //取命令字
+            entity.Command = bytes[index];
+            index += 1;
+
+            //取数据位长度
+            entity.DataLength = bytes[index];
+            index += 1;
+
+            //取数据位
+            byte[] dataBytes = new byte[entity.DataLength];
+            Array.Copy(bytes, index, dataBytes, 0, entity.DataLength);
+            entity.DataBytes = dataBytes;
+            index += entity.DataLength;
+            return entity;
+        }
+
+        public byte[] DataCombine(byte[] bytes)
+        {
+
+            return null;
+        }
+
+        public static byte[] GetCurrentUnixTimestampAsBytes()
+        {
+            // 获取当前的Unix时间戳，表示自1970-01-01以来的秒数
+            int unixTimestamp = (int)(DateTimeOffset.UtcNow.ToUnixTimeSeconds());
+            // 将时间戳转换为字节数组
+            byte[] bytes = BitConverter.GetBytes(unixTimestamp);
+            return bytes;
+        }
+
+    }
+}

SlnMesnac.TouchSocket/Entity/TcpVisionEntity.cs

@@ -0,0 +1,39 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.TouchSocket.Entity
+{
+    public class TcpVisionEntity
+    {
+        /// <summary>
+        /// 序列号
+        /// </summary>
+        public byte[] SN {  get; set; }
+
+        /// <summary>
+        /// 时间戳
+        /// </summary>
+        public byte[] Timestamp { get; set; }
+
+        /// <summary>
+        /// 命令字
+        /// </summary>
+        public byte Command { get; set; }
+
+        /// <summary>
+        /// 数据长度
+        /// </summary>
+        public byte DataLength { get; set; }
+
+        /// <summary>
+        /// 数据位
+        /// </summary>
+        public byte[]? DataBytes { get; set; }
+
+        /// <summary>
+        /// 校验和
+        /// </summary>
+        public byte Checksum { get; set; }
+     }
+}

SlnMesnac.TouchSocket/TcpServer.cs

@@ -1,7 +1,12 @@
-using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Hosting;
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Config;
+using SlnMesnac.TouchSocket.Entity;
 using System;
 using System.Collections.Generic;
 using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
 using TouchSocket.Core;
 using TouchSocket.Sockets;
 
@@ -29,10 +34,13 @@ using TouchSocket.Sockets;
 #endregion << 版 本 注 释 >>
 namespace SlnMesnac.TouchSocket
 {
-    public class TcpServer
+    public class TcpServer : BackgroundService
     {
+
         private ILogger<TcpServer> _logger;
         private readonly TcpService _service;
+        private readonly AppConfig _appConfig;
+
         /// <summary>
         /// 接收客户端指令委托
         /// </summary>
@@ -42,26 +50,63 @@ namespace SlnMesnac.TouchSocket
         public delegate void RefreshClientInfo(TcpService tcpService);
         public event RefreshClientInfo? RefreshClientInfoEvent;
 
-        public TcpServer(ILogger<TcpServer> logger,TcpService tcpService)
+        public delegate void GetVisionData(TcpVisionEntity entity);
+
+        /// <summary>
+        /// 视觉系统反馈给上位机调度系统状态
+        /// </summary>
+        public event GetVisionData? VisionSysStateEvent;
+
+        /// <summary>
+        /// 视觉系统回复给上位机调度系统开始工作状态
+        /// </summary>
+        public event GetVisionData? VisionStartWorkEvent;
+
+        /// <summary>
+        /// 一次码垛完成，发送码垛结果
+        /// </summary>
+        public event GetVisionData? StackWorkDoneEvent;
+
+        /// <summary>
+        /// 视觉系统发送给机器人码垛位置定位结果
+        /// </summary>
+        public event GetVisionData? StackRobotLocationEvent;
+
+        /// <summary>
+        /// 人工异常处理完成并更新计数
+        /// </summary>
+        public event GetVisionData? ManualExceptionDealDoneEvent;
+
+        private string ClientID = "";
+
+        public TcpServer(ILogger<TcpServer> logger,TcpService tcpService, AppConfig appConfig)
         {
             _logger = logger;
             _service = tcpService;
+            _appConfig = appConfig;
+        }
+                                                                                                                                                                                                                          
+        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            Init(_appConfig.TCPVisionConfig);
+            return Task.CompletedTask;
         }
 
-        public void Init(int serverPort)
+        public void Init(string serverPort)
         {
             try
             {
-                _service.Connecting = (client, e) => {  
+                _service.Connecting = (client, e) => {
                     _logger.LogInformation($"客户端{client.IP}正在接入服务");
                     return EasyTask.CompletedTask;
                 };
-                _service.Connected = (client, e) => {   
+                _service.Connected = (client, e) => {
                     _logger.LogInformation($"客户端{client.IP}接入服务成功");
                     RefreshClientInfoEvent?.Invoke(_service);
+                    ClientID = client.Id;
                     return EasyTask.CompletedTask;
                 };
-                _service.Disconnected = (client, e) => { 
+                _service.Disconnected = (client, e) => {
                     _logger.LogInformation($"客户端{client.IP}断开连接");
                     RefreshClientInfoEvent?.Invoke(_service);
                     return EasyTask.CompletedTask;
@@ -69,17 +114,18 @@ namespace SlnMesnac.TouchSocket
                 _service.Received = (client, e) =>
                 {
                     //从客户端收到信息
-                    var mes = Encoding.UTF8.GetString(e.ByteBlock.Buffer, 0, e.ByteBlock.Len);//注意：数据长度是byteBlock.Len
+                    //var mes = Encoding.UTF8.GetString(e.ByteBlock.Buffer, 0, e.ByteBlock.Len);//注意：数据长度是byteBlock.Len
 
                     byte[] receivedBuffer = new byte[e.ByteBlock.Len];
                     Array.Copy(e.ByteBlock.Buffer, 0, receivedBuffer, 0, e.ByteBlock.Len);
-                    ReceivedClientBufferEvent?.Invoke(receivedBuffer);
+                    //ReceivedClientBufferEvent?.Invoke(receivedBuffer);
-                    
+                    DataClassify(BufferDataAnalysis.BufferRootAnalysis(receivedBuffer));
+
                     return EasyTask.CompletedTask;
                 };
 
                 _service.Setup(new TouchSocketConfig()//载入配置     
-                    .SetListenIPHosts(new IPHost[] { new IPHost($"0.0.0.0:{serverPort}") })
+                    .SetListenIPHosts(new IPHost[] { new IPHost(serverPort) })
                     .ConfigureContainer(a =>//容器的配置顺序应该在最前面
                     {
                         a.AddConsoleLogger();
@@ -100,15 +146,37 @@ namespace SlnMesnac.TouchSocket
         }
 
         /// <summary>
-        /// 向所有客户端发送心跳
+        /// 数据类型区分
         /// </summary>
-        public void SendHeartBeat()
+        /// <param name="entity"></param>
+        public void DataClassify(TcpVisionEntity entity)
         {
-            var clients = _service.SocketClients.GetClients();
+            if(entity == null)
-            foreach (var item in clients)
             {
-                _service.Send(item.Id,"heartbeat");
+                _logger.LogError("数据格式校验错误！");
+                return;
+            }
+            switch(entity.Command)
+            {
+                case 10: VisionSysStateEvent?.Invoke(entity); break;
+                case 11: VisionStartWorkEvent?.Invoke(entity); break;
+                case 12: StackWorkDoneEvent?.Invoke(entity); break;
+                case 13: StackRobotLocationEvent?.Invoke(entity); break;
+                case 14: ManualExceptionDealDoneEvent?.Invoke(entity); break;
+                    default: _logger.LogInformation("未知命令字！"); return;
             }
         }
+
+        ///// <summary>
+        ///// 向所有客户端发送心跳
+        ///// </summary>
+        //public void SendHeartBeat()
+        //{
+        //    var clients = _service.SocketClients.GetClients();
+        //    foreach (var item in clients)
+        //    {
+        //        _service.Send(item.Id,"heartbeat");
+        //    }
+        //}
     }
 }

SlnMesnac.WPF/Startup.cs

@@ -48,6 +48,9 @@ namespace SlnMesnac.WPF
             //注册httpClient
             services.AddHostedService<AirPorthttpClient>();
 
+            //注册TCPServer
+            services.AddHostedService<TcpServer>();
+
             //注册RFID工厂
             //services.AddRfidFactorySetup();
 

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -75,11 +75,11 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private void Init()
         {
             #region 测试数据
-            _StateRefreshBusiness.UpdateManipulatorStateByResposne(
+            //_StateRefreshBusiness.UpdateManipulatorStateByResposne(
-                new Model.AirportApiEntity.ManipulatorStateRequestEntity() 
+            //    new Model.AirportApiEntity.ManipulatorStateRequestEntity() 
-                { ManipulatorNo = "1", SignalSendTime = DateTime.Now.ToString()});
+            //    { ManipulatorNo = "1", SignalSendTime = DateTime.Now.ToString()});
-            List<AirportTask> AirportTaskItem = _taskservice.GetTaskInfos();
+            //List<AirportTask> AirportTaskItem = _taskservice.GetTaskInfos();
-            TaskItems = new ObservableCollection<AirportTask>(AirportTaskItem);
+            //TaskItems = new ObservableCollection<AirportTask>(AirportTaskItem);
             // TaskItems = new ObservableCollection<AirportTask>
             // {
             //     new AirportTask { TaskCode = "1", StationName = "1#站台", TaskDetails = "入库：P04->C01", Status = "任务状态：执行中" },

SlnMesnac.WPF/appsettings.json

@@ -62,6 +62,8 @@
     ],
     "redisConfig": "175.27.215.92:6379,password=redis@2023",
     "AGVIpConfig": "127.0.0.1:4523",
-    "ManipulatorIpConfig": "127.0.0.1:4523"
+    "ManipulatorIpConfig": "127.0.0.1:4523",
+    "TCPVisionConfig": "127.0.0.1:6000"
+
   }
 }