新增视觉交互

SlnMesnac.Config/AppConfig.cs

@@ -53,6 +53,11 @@ namespace SlnMesnac.Config
         public List<RfidConfig> rfidConfig { get; set; }
 
 
+        /// <summary>
+        /// 视觉机械臂连接配置
+        /// </summary>
+        public List<VisionConfig> visionConfig { get; set; }
+
         /// <summary>
         /// Redis配置
         /// </summary>

SlnMesnac.Config/VisionConfig.cs

@@ -0,0 +1,40 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Config
+{
+    public class VisionConfig
+    {
+
+        /// <summary>
+        /// 视觉系统 ID
+        /// </summary>
+        public int VisionId { get; set; }
+
+        /// <summary>
+        /// 视觉系统 IP
+        /// </summary>
+        public string VisionIp { get; set; }
+
+        /// <summary>
+        /// 视觉系统 Port
+        /// </summary>
+        public int VisionPort { get; set; }
+
+        /// <summary>
+        /// AGV ID
+        /// </summary>
+        public string AGVID { get; set; }
+
+        /// <summary>
+        /// 视觉系统状态
+        /// </summary>
+        public string VisionState { get; set; }
+
+        /// <summary>
+        /// 是否启用(false未启用 true启用)
+        /// </summary>
+        public bool IsFlag { get; set; }
+    }
+}

SlnMesnac.TouchSocket/BufferDataAnalysis.cs

@@ -8,6 +8,7 @@ using System.Buffers;
 using System.Collections.Generic;
 using System.Text;
 using System.Threading;
+using System.Xml;
 using TouchSocket.Sockets;
 
 namespace SlnMesnac.TouchSocket
@@ -15,14 +16,20 @@ namespace SlnMesnac.TouchSocket
 
     public class BufferDataAnalysis
     {
+        /// <summary>
+        /// 拆包接收数据
+        /// </summary>
+        /// <param name="bytes">TCP接受的原始数据</param>
+        /// <returns></returns>
         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
-            if(bytes.Length <= 2)
+            //一帧正常的数据最少12位
+            if (bytes.Length < 12)
             {
                 return null;
             }
+            //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];
@@ -68,10 +75,60 @@ namespace SlnMesnac.TouchSocket
             return entity;
         }
 
-        public byte[] DataCombine(byte[] bytes)
+        /// <summary>
+        /// 装包发送数据
+        /// </summary>
+        /// <param name="SN">序列号</param>
+        /// <param name="Command">命令字</param>
+        /// <param name="data">数据体</param>
+        /// <returns></returns>
+        public static byte[] DataCombine(byte[] SN, byte Command, byte[] data)
         {
+            byte[] message = new byte[12 + data.Length];
+            int index = 0;
+            //head
+            message[index++] = 0x55;
+            message[index++] = 0xAA;
+
+            //SN
+            message[index++] = SN[0];
+            message[index++] = SN[1];
+
+            //timestamp
+            // 获取当前时间的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[] timestampBytes = BitConverter.GetBytes(unixTimestamp);
+            if (BitConverter.IsLittleEndian)
+            {
+                Array.Reverse(timestampBytes);
+            }
+            message[index++] = timestampBytes[0];
+            message[index++] = timestampBytes[1];
+            message[index++] = timestampBytes[2];
+            message[index++] = timestampBytes[3];
+
+            //command
+            message[index++] = Command;
+
+            //datalength
+            message[index++] = (byte)data.Length;
+
+            foreach (byte b in data) message[index++] = b;
+
+            //CRC
+            int checkDatalength = message.Length - 2;
+            byte[] checkData = new byte[checkDatalength];
+            Array.Copy(message, 0, checkData, 0, checkDatalength);
+            int sum = 0;
+            foreach (byte b in checkData) sum += b;
+            int count = sum % 256;
+            message[index++] = (byte)count;
+            
+            //end
+            message[index++] = 0xEE;
 
-            return null;
+            return message;
         }
 
         public static byte[] GetCurrentUnixTimestampAsBytes()

SlnMesnac.TouchSocket/TcpServer.cs

@@ -56,58 +56,67 @@ namespace SlnMesnac.TouchSocket
 
         public Action<String, bool> RefreshStateAction;
 
-        public delegate void GetVisionData(TcpVisionEntity entity);
+        public delegate void GetVisionData(TcpVisionEntity entity, string id);
 
         /// <summary>
         /// 视觉系统反馈给上位机调度系统状态
         /// </summary>
-        public event GetVisionData? VisionSysStateEvent;
+        public event GetVisionData? ReceiveVisionSysStateEvent;
 
         /// <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;
+        public event GetVisionData? ReceiveVisionStartWorkEvent;
 
         /// <summary>
         /// 一次码垛完成，发送码垛结果
         /// </summary>
-        public event GetVisionData? StackWorkDoneEvent;
+        public event GetVisionData? ReceiveStackWorkDoneEvent;
 
         /// <summary>
         /// 视觉系统发送给机器人码垛位置定位结果
         /// </summary>
-        public event GetVisionData? StackRobotLocationEvent;
+        public event GetVisionData? ReceiveStackRobotLocationEvent;
 
         /// <summary>
         /// 人工异常处理完成并更新计数
         /// </summary>
-        public event GetVisionData? ManualExceptionDealDoneEvent;
+        public event GetVisionData? ReceiveManualExceptionDealDoneEvent;
 
-        private string ClientID = "";
+        private string TestClientID = "";
 
-        public TcpServer(ILogger<TcpServer> logger,TcpService tcpService, AppConfig appConfig)
+        public TcpServer(ILogger<TcpServer> logger, TcpService tcpService, AppConfig appConfig)
         {
             _logger = logger;
             _service = tcpService;
             _appConfig = appConfig;
+
+            ReceiveStackWorkDoneEvent += StackResultSend;
+            ReceiveManualExceptionDealDoneEvent += ManualExceptionDealDone;
+
+            
         }
-        
+
         public void Init(int 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);
-                    RefreshStateAction?.Invoke(client.IP,true);
-                    ClientID = client.Id;
+                    RefreshStateAction?.Invoke(client.IP, true);
+                    client.ResetId(client.Port.ToString());
+                    TestClientID = client.Port.ToString();
                     return EasyTask.CompletedTask;
                 };
-                _service.Disconnected = (client, e) => {
+                _service.Disconnected = (client, e) =>
+                {
                     _logger.LogInformation($"客户端{client.IP}断开连接");
                     RefreshStateAction?.Invoke(client.IP, false);
                     RefreshClientInfoEvent?.Invoke(_service);
@@ -116,18 +125,19 @@ namespace SlnMesnac.TouchSocket
                 _service.Received = (client, e) =>
                 {
                     var mes = Encoding.UTF8.GetString(e.ByteBlock.Buffer, 0, e.ByteBlock.Len);//注意：数据长度是byteBlock.Len
-                    _logger.LogInformation($"客户端{client.IP}:"+ mes);
+                    _logger.LogInformation($"客户端{client.IP}:" + mes);
                     //区分一下指令类型，委托传参
+
                     if (mes == "heartbeat")
                     {
                         RefreshStateAction?.Invoke(client.IP, true);
                     }
-                    //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);
-                    DataClassify(BufferDataAnalysis.BufferRootAnalysis(receivedBuffer));
+                    DataClassify(BufferDataAnalysis.BufferRootAnalysis(receivedBuffer), client.Id);
 
                     return EasyTask.CompletedTask;
                 };
@@ -185,37 +195,243 @@ namespace SlnMesnac.TouchSocket
 
 
         /// <summary>
-        /// 数据类型区分
+        /// 接收数据类型区分
         /// </summary>
         /// <param name="entity"></param>
-        public void DataClassify(TcpVisionEntity entity)
+        public void DataClassify(TcpVisionEntity entity, string id)
         {
-            if(entity == null)
+            if (entity == null)
             {
                 _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;
+            switch (entity.Command)
+            {
+                case 0x10: ReceiveVisionSysStateEvent?.Invoke(entity, id); break;
+                case 0x11: ReceiveVisionStartWorkEvent?.Invoke(entity, id); break;
+                case 0x12: ReceiveStackWorkDoneEvent?.Invoke(entity, id); break;
+                case 0x13: ReceiveStackRobotLocationEvent?.Invoke(entity, id); break;
+                case 0x14: ReceiveManualExceptionDealDoneEvent?.Invoke(entity, id); 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");
-        //    }
-        //}
+        #region 数据发送
+
+        /// <summary>
+        /// 上位机调度系统请求视觉系统状态
+        /// </summary>
+        /// <param name="SN">SN码</param>
+        /// <param name="id">客户端ID</param>
+        public void SendRequestVisionSysState(byte[] SN, string id)
+        {
+            try
+            {
+                _service.SendAsync(id, BufferDataAnalysis.DataCombine(SN, 0x00, new byte[0]));
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+        }
+
+        /// <summary>
+        /// AMR就绪，请求视觉开始工作
+        /// </summary>
+        /// <param name="SN">SN码</param>
+        /// <param name="data">数据体</param>
+        /// <param name="id">客户端ID</param>
+        public void SendAMRRequestVisionStartWork(byte[] SN, byte[] data, string id)
+        {
+            try
+            {
+                _service.SendAsync(id, BufferDataAnalysis.DataCombine(SN, 0x01, data));
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+        }
+
+        /// <summary>
+        /// 上位机调度系统回复收到码垛结果
+        /// </summary>
+        /// <param name="SN">SN码</param>
+        /// <param name="id">客户端ID</param>
+        public void SendReplayStackResult(byte[] SN, string id)
+        {
+            try
+            {
+                _service.SendAsync(id, BufferDataAnalysis.DataCombine(SN, 0x02, new byte[0]));
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+        }
+
+        /// <summary>
+        /// 码垛结束，请求视觉系统复位
+        /// </summary>
+        /// <param name="SN">SN码</param>
+        /// <param name="id">客户端ID</param>
+        public void SendStackOverRequestVisionSysReplace(byte[] SN, string id)
+        {
+            try
+            {
+                _service.SendAsync(id, BufferDataAnalysis.DataCombine(SN, 0x03, new byte[0]));
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+        }
+
+        /// <summary>
+        /// 上位机调度系统回复收到人工异常处理
+        /// </summary>
+        /// <param name="SN">SN码</param>
+        /// <param name="id">客户端ID</param>
+        public void SendReplyGetManualException(byte[] SN, string id)
+        {
+            try
+            {
+                _service.SendAsync(TestClientID, BufferDataAnalysis.DataCombine(SN, 0x04, new byte[0]));
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+        }
+
+        /// <summary>
+        /// 上位机调度系统请求视觉系统状态（默认SN）
+        /// </summary>
+        /// <param name="id">客户端ID</param>
+        public void SendRequestVisionSysState(string id)
+        {
+            SendRequestVisionSysState(new byte[2] { 0x00, 0x00 }, id);
+        }
+
+        /// <summary>
+        /// AMR就绪，请求视觉开始工作（默认SN）
+        /// </summary>
+        /// <param name="data">数据体</param>
+        /// <param name="id">客户端ID</param>
+        public void SendAMRRequestVisionStartWork(byte[] data, string id)
+        {
+            SendAMRRequestVisionStartWork(new byte[2] { 0x00, 0x00 }, data, id);
+        }
+
+        /// <summary>
+        /// 上位机调度系统回复收到码垛结果（默认SN）
+        /// </summary>
+        /// <param name="id">客户端ID</param>
+        public void SendReplayStackResult(string id)
+        {
+            SendReplayStackResult(new byte[2] { 0x00, 0x00 }, id);
+        }
+
+        /// <summary>
+        /// 码垛结束，请求视觉系统复位（默认SN）
+        /// </summary>
+        /// <param name="id">客户端ID</param>
+        public void SendStackOverRequestVisionSysReplace(string id)
+        {
+            SendStackOverRequestVisionSysReplace(new byte[2] { 0x00, 0x00 }, id);
+        }
+
+        /// <summary>
+        /// 上位机调度系统回复收到人工异常处理（默认SN）
+        /// </summary>
+        /// <param name="id">客户端ID</param>
+        public void SendReplyGetManualException(string id)
+        {
+            SendReplyGetManualException(new byte[2] { 0x00, 0x00 }, id);
+        }
+
+        #endregion
+
+        /// <summary>
+        /// 上位机调度系统每隔固定时间，请求视觉系统状态
+        /// </summary>
+        public void VisionStateRequest(int port)
+        {
+            SendRequestVisionSysState(port.ToString());
+        }
+
+        /// <summary>
+        /// AMR就绪，请求视觉开始工作
+        /// </summary>
+        public void RequestVisionStartWork(StackState state, int port)
+        {
+            SendAMRRequestVisionStartWork(new byte[1] { (byte)state }, port.ToString());
+        }
+
+        /// <summary>
+        /// 一次码垛完成，发送码垛结果
+        /// </summary>
+        public void StackResultSend(TcpVisionEntity entity, string id)
+        {
+            SendReplayStackResult(id);
+        }
+
+        /// <summary>
+        /// 码垛结束，请求视觉系统复位
+        /// </summary>
+        public void RequestVisionReplace(int port)
+        {
+            SendStackOverRequestVisionSysReplace(port.ToString());
+        }
+
+        /// <summary>
+        /// 人工异常处理完成并更新计数
+        /// </summary>
+        public void ManualExceptionDealDone(TcpVisionEntity entity, string id)
+        {
+            SendReplyGetManualException(id);
+        }
+
+        public void InitGetVisionMessage()
+        {
+            ReceiveVisionSysStateEvent = (entity, id) =>
+            {
+                _logger.LogInformation("视觉系统被动反馈给上位机调度系统状态，端口：" + id);
+            };
+
+            ReceiveVisionStartWorkEvent = (entity, id) =>
+            {
+                _logger.LogInformation("视觉系统回复给上位机调度系统开始工作状态，端口：" + id);
+            };
+
+            ReceiveStackRobotLocationEvent = (entity, id) =>
+            {
+                _logger.LogInformation("视觉系统回复机器人复位结果，端口：" + id);
+            };
+        }
     }
+
+    public enum StackState
+    {
+        /// <summary>
+        /// 复合机器人码垛无需定位
+        /// </summary>
+        AMRNoPositioning = 0x00,
+
+        /// <summary>
+        /// 复合机器人码垛需要定位
+        /// </summary>
+        AMRNeedPositioning = 0x01,
+
+        /// <summary>
+        /// 搬运机器人码垛无需定位
+        /// </summary>
+        RGVNoPositioning = 0x10,
+
+        /// <summary>
+        /// 搬运机器人码垛需要定位
+        /// </summary>
+        RGVNeedPositioning = 0x11,
+    }
+
 }

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -19,6 +19,8 @@ using SlnMesnac.WPF.Page.IndexPage;
 using System.Windows.Documents;
 using SlnMesnac.TouchSocket;
 using HslCommunication.Enthernet;
+using SlnMesnac.Config;
+using System.Threading;
 
 #region << 版 本 注 释 >>
 /*--------------------------------------------------------------------
@@ -56,6 +58,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private BaseStateRefreshBusiness _StateRefreshBusiness;
         private DispatcherTimer _timer;
         private TcpServer _tcpServer;
+        private AppConfig _appConfig;
 
         public IndexContentViewModel()
         {
@@ -64,6 +67,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             _taskservice = App.ServiceProvider.GetService<IAirportTaskService>();
             _agvstateService = App.ServiceProvider.GetService<IAGVStateService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
+            _appConfig = App.ServiceProvider.GetService<AppConfig>();
 
             _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _tcpServer);
             _taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage;
@@ -107,6 +111,12 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
 
             LoadTaskInfo();
 
+            //Thread.Sleep(5000);
+
+            //_tcpServer.SendReplyGetManualException(
+            //         _appConfig.visionConfig.Where(x => x.VisionPort == 7001).First().VisionPort.ToString()
+            //    );
+
             //_StateRefreshBusiness.UpdateManipulatorStateByResposne(
             //    new Model.AirportApiEntity.ManipulatorStateRequestEntity() 
             //    { ManipulatorNo = "1", SignalSendTime = DateTime.Now.ToString()});

SlnMesnac.WPF/appsettings.json

@@ -23,7 +23,7 @@
       {
         "configId": "AGV",
         "dbType": 2,
-        "connStr": "Data Source=F:\\Mesnac\\2023部门项目\\机场AGV调度\\HightWay_AirPot_WCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\data\\Airport_db.sqlite"
+        "connStr": "Data Source=D:\\WorkCode\\AirPortWCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\data\\Airport_db.sqlite"
       }
     ],
     "PlcConfig": [
@@ -60,6 +60,24 @@
         "isFlage": true
       }
     ],
+    "visionConfig": [
+      {
+        "VisionId": 1,
+        "VisionIp": "127.0.0.1",
+        "VisionPort": 7001,
+        "AGVID": "1",
+        "VisionState": "1",
+        "IsFlag": true
+      },
+      {
+        "VisionId": 2,
+        "VisionIp": "127.0.0.1",
+        "VisionPort": 7002,
+        "AGVID": "2",
+        "VisionState": "1",
+        "IsFlag": true
+      }
+    ],
     "AMRIP": "127.0.0.1",