MsgRecevie.cs
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using NetTaste;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using RCS.Model.ClientMoel;
using RCS.Model.Comm;
using RCS.Model.Entity;
using RCS.Model.Equipment;
using RCS.Model.ManualModel;
using RCS.Model.WebApi.Respose;
using RCS.WinClient.Common;
using RCS.WinClient.Service;
using System.Collections;
using System.Net;
using System.Text;
using System.Xml.Linq;
using static RCS.Model.Comm.EnumMsg;
namespace RCS.WinClient.TCP
{
public class MsgRecevie
{
/// <summary>
/// 指令解析
/// </summary>
/// <param name="socketOpt">客户端对象</param>
public static void TcpTranslate(SocketOpt socketOpt)
{
try
{
byte[] dataRecv = socketOpt.RecData;
AgvData? clientMsg = null;
#region 功能码，数据初步校验
if (!App.Protocols.TryGetValue(dataRecv[0], out var protocol))
{
App.ExFile.MessageAgvInfo("MsgException", $"和AGV【{socketOpt.ClientIp}】进行Tcp通信错误，第一个字节长度为【{dataRecv[0]}】，不存在与之匹配的协议");
socketOpt.SendData = dataRecv;
return;
}
clientMsg = AgvHeartRecevie(dataRecv, protocol.Details);//无错误时msgClientErr=0；
socketOpt.EquipmentNo = clientMsg.AgvNo;
#endregion
#region 处理接受数据中的异常，
//异常退出
if (clientMsg.NewErrMsg != 0)
{
if (clientMsg.NewErrMsg != EnumMsg.ErrMsg.不作处理)
{
var msg = $"客户端信息出错:【{clientMsg.NewErrMsg}】AGV【{clientMsg.AgvNo}】任务号【{clientMsg.SubTaskNo}】";
App.ExFile.MessageLog("MsgException", msg);
}
return;
}
#endregion
#region 添加循环任务或者单步任务
//单步任务
if (App.SingleControlList.Find(a => a.AgvNo == clientMsg.AgvNo) is SingleControl singleControl)
{
//手动控制AGV
//socketOpt.SendData = SendData.GetNewActionData(singleControl.Action.ToString(), null);
if (singleControl.Action == 200)
{
if (clientMsg.ClientAgv.AgvState < EnumMsg.AGVState.手动)
{
return;
}
else
{
singleControl.Action = 0;
}
}
else if (singleControl.Action == 209 && clientMsg.ClientAgv.AgvState < EnumMsg.AGVState.离线)
{
App.SingleControlList.RemoveAll(a => a.AgvNo == clientMsg.AgvNo);
}
return;
}
//agv循环任务
if (clientMsg.ClientAgv.AgvState == EnumMsg.AGVState.自动空闲
&& clientMsg.ClientAgv.AgvTask == null
&& !App.TaskList.Any(x => x.TaskAgvNo == clientMsg.AgvNo)
&& App.RecurrentTasks.FirstOrDefault(x => x.agv.AgvNo == clientMsg.AgvNo) is var task && task.agv != null)
{
TaskManage.AddRadomTasks(task.agv, [task.taskType], true);
}
#endregion
#region 更新agv ip地址
var address = socketOpt.ClientSocket.RemoteEndPoint is IPEndPoint ipEndPoint ? ipEndPoint.Address.ToString() : "";
if (App.ClientWork.FirstOrDefault(a => a.ClientIp == address) is not ClientControl clientControl)
return;
//启动时更新设备对应ip
if (clientControl.AgvNo == "" || clientControl.AgvNo == null)
{
clientControl.AgvNo = clientMsg.AgvNo;
if (address != clientMsg.ClientAgv.IP)
{
clientMsg.ClientAgv.IP = address;
UpdateManage.UpdateAgvIP(clientControl);
}
}
#endregion
//处理客户端指令
MsgManage.TcpManage(clientMsg, socketOpt);
if (socketOpt.SendData == null && clientMsg.ClientAgv.RCSToAGV != 0)
{
// var currSubTask = clientMsg.ClientAgv.AgvTask?.SubTaskList?.FirstOrDefault();
//var rcsData = new RcsData(currSubTask?.SubTaskNo ?? 0, null);
var rcsData = new RcsData(0, null);
rcsData.RCSToAGV = clientMsg.ClientAgv.RCSToAGV;
socketOpt.SendData = SendData.GetByte(rcsData, clientMsg.ClientAgv.AgvNo, "", "下发报警信息");
}
}
catch (Exception ex)
{
App.ExFile.MessageError("TcpTranslate", ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 获取Agv数据，并且对格式进行校验
/// </summary>
/// <param name="dataRecv">心跳数据报文</param>
/// <returns>Agv心跳信息</returns>
//public static AgvData AgvHeartRecevie(byte[] dataRecv, bool flag)
//{
// try
// {
// //客户端发送数据对象
// var agvData = new AgvData();
// //到校验码之前的数据长度
// var dataLength = dataRecv[0];
// //AGV编码
// agvData.AgvNo = BitConverter.ToUInt16(dataRecv, 1).ToString("X");
// //获取AGV
// var agv = App.AgvList.FirstOrDefault(a => a.AgvNo == agvData.AgvNo);
// if (agv == null)
// {
// agvData.NewErrMsg = EnumMsg.ErrMsg.小车号不存在;
// return agvData;
// }
// if (!agv.IsEnable)
// {
// agvData.NewErrMsg = EnumMsg.ErrMsg.小车状态不合理;
// return agvData;
// }
// //给AGV赋值
// agvData.ClientAgv = agv;
// ////获取校验码之前的数据
// //var checkData = dataRecv.Take(dataLength).ToArray();
// //计算出校验码
// var checkCode = ComnMethod.CheckCode(dataRecv, dataLength);
// if (checkCode != dataRecv[dataLength])
// {
// agvData.NewErrMsg = EnumMsg.ErrMsg.校验位错误;
// agv.StopReason = $"校验码不匹配，AGV上传【{dataRecv[dataLength]}】，RCS计算【{checkCode}】！";
// return agvData;
// }
// //扫码地标
// agv.AGVBarcode = BitConverter.ToUInt16(dataRecv, 3).ToString();
// //上位机地标
// agv.RCSBarcode = BitConverter.ToUInt16(dataRecv, 5);
// //电量
// agv.Voltage = dataRecv[7];
// //自身状态
// agv.AgvState = (EnumMsg.AGVState)dataRecv[8];
// //车头方向
// agv.AgvDirection = (EnumMsg.Direction)dataRecv[9];
// //转盘方向
// agv.DialDirection = (EnumMsg.Direction)dataRecv[10];
// //顶升状态
// agv.HeightState = (EnumMsg.HeightState)dataRecv[11];
// //AGV错误
// agv.ErrorList = (AGVErrorCode)BitConverter.ToInt64(dataRecv, 12);
// //agv.ErrorList = new BitArray(new byte[] { dataRecv[12], dataRecv[13], dataRecv[14], dataRecv[15], dataRecv[16], dataRecv[17], dataRecv[18], dataRecv[19] });
// //行驶距离
// agv.RunDistance = BitConverter.ToUInt16(dataRecv, 20);
// //任务号
// agvData.SubTaskNo = BitConverter.ToUInt32(dataRecv, 22);
// //动作完成状态
// agv.ActState = (EnumMsg.ActState)dataRecv[26];
// //坐标X值
// agv.XLength = BitConverter.ToInt32(dataRecv, 27);
// //坐标Y值
// agv.YLength = BitConverter.ToInt32(dataRecv, 31);
// //位置可信度
// agv.Reliability = dataRecv[35];
// //车头角度
// agv.Angle = BitConverter.ToInt16(dataRecv, 36);
// //顶升高度
// agv.AgvHeight = BitConverter.ToUInt16(dataRecv, 38);
// //动作
// agv.Action = (EnumMsg.ActionType)dataRecv[40];
// //是否有货
// agv.InStock = (EnumMsg.InStock)dataRecv[41];
// //滚筒状态
// agv.RollerState = (EnumMsg.RollerState)dataRecv[42];
// //速度（毫米）
// agv.Speed = dataRecv[68];
// //雷达状态
// agv.RadarStatus = dataRecv[61];
// //雷达区域
// agv.RadarArea = dataRecv[62];
// // 心跳
// agv.Heart = DateTime.Now;
// // 停止原因
// agv.StopReason = string.Empty;
// //记录日志
// //var msg = $"AGV编码【{agv.AgvNo}】自身状态【{agv.AgvState}】当前地标【{agv.AGVBarcode}】上位机地标【{agv.RCSBarcode}】" +
// // $"X坐标【{agv.XLength}】Y坐标【{agv.YLength}】任务号【{agvData.SubTaskNo}】动作状态【{agv.ActState}】" +
// // $"车头方向【{agv.AgvDirection}】顶升状态【{agv.HeightState}】位置可信度【{agv.Reliability}】";
// //App.ExFile.MessageLog("GetMotion" + agvData.AgvNo, msg);
// var msg = $"任务号【{agvData.SubTaskNo}】" + ComnMethod.GetLogInfo(agv);
// App.ExFile.MessageAgvInfo("GetMotionTest" + agvData.AgvNo, msg);
// AgvLogInfo(dataRecv);
// return agvData;
// }
// catch (Exception ex)
// {
// throw new Exception($"AgvHeartRecevie方法，异常信息:{ex.Message}，\n 堆栈：{ex.StackTrace}");
// }
//}
/// <summary>
/// 获取Agv数据，并且对格式进行校验
/// </summary>
/// <param name="dataRecv">心跳数据报文</param>
/// <returns>Agv心跳信息</returns>
public static AgvData AgvHeartRecevie(byte[] dataRecv, IEnumerable<ProtocolDetail> protocolDetails)
{
try
{
//客户端发送数据对象
var agvData = new AgvData();
//到校验码之前的数据长度
var dataLength = dataRecv[0];
//计算出校验码
var checkCode = ComnMethod.CheckCode(dataRecv, dataLength);
if (checkCode != dataRecv[dataLength])
{
agvData.NewErrMsg = EnumMsg.ErrMsg.校验位错误;
App.ExFile.MessageError("AgvHeartRecevie", $"校验码不匹配，AGV上传【{dataRecv[dataLength]}】，RCS计算【{checkCode}】！");
return agvData;
}
//AGV编码
agvData.AgvNo = BitConverter.ToUInt16(dataRecv, 1).ToString("X");
//获取AGV
var agv = App.AgvList.FirstOrDefault(a => a.AgvNo == agvData.AgvNo);
if (agv == null)
{
agvData.NewErrMsg = EnumMsg.ErrMsg.小车号不存在;
return agvData;
}
if (!agv.IsEnable)
{
agvData.NewErrMsg = EnumMsg.ErrMsg.小车状态不合理;
return agvData;
}
//给AGV赋值
agvData.ClientAgv = agv;
//协议解析
var res = ComnMethod.ProtocolAnalysis(protocolDetails, dataRecv);
ComnMethod.ProtocolTempToInstance(res, agv);
agvData.SubTaskNo = agv.SubTaskNo;
agv.Heart = DateTime.Now;
agv.StopReason = "";
agv.RCSToAGV = 0;
var log = new StringBuilder();
foreach (var item in res)
{
log.Append(item.Name)
.Append(':')
.Append('【')
.Append(item.Value)
.Append('】')
.Append(' ');
}
var msg = log.ToString();
App.ExFile.MessageAgvInfo("GetMotionTest" + agvData.AgvNo, msg);
return agvData;
}
catch (Exception ex)
{
throw new Exception($"AgvHeartRecevie方法，异常信息:{ex.Message}，\n 堆栈：{ex.StackTrace}");
}
}
/// <summary>
/// 获取工位/门的信息
/// </summary>
/// <param name="dataRecv"></param>
/// <returns></returns>
public static void StationHeartRecevie(byte[] dataRecv)
{
HslCommunication.Core.IByteTransform ByteTransform = new HslCommunication.Core.ReverseBytesTransform();
try
{
var stationCode = Encoding.ASCII.GetString(dataRecv, 2, 8).Replace("\0", "");
//需要转换
var station = new GlueMachine();
if (station == null)
{
return;
}
station.IsInstock = dataRecv[10] != 0;
station.IsAllowPut = dataRecv[11] != 0;
station.IsLooseShaftInPlace = dataRecv[12] != 0;
station.IsCloseShaftCompleted = dataRecv[13] != 0;
station.IsAllowPick = dataRecv[14] != 0;
station.IsInsertShaftCompleted = dataRecv[18] != 0;
station.IsDownInPlace = dataRecv[19] != 0;
station.IsUnloadShaftCompleted = dataRecv[20] != 0;
station.Size = dataRecv[16];
station.Heigh = BitConverter.ToInt16(dataRecv, 26);
station.CameraX = (sbyte)dataRecv[28];
station.CameraY = (sbyte)dataRecv[29];
station.ScanCodeSuccess = dataRecv[30];
station.ReLoad = (sbyte)dataRecv[23];//重复上布确认
station.ReUnLoad = (sbyte)dataRecv[24];//重复卸布确认
if (station.ReLoad > 0 && station.ReUnLoad == 0)
{
}
if (station.ReLoad == 0 && station.ReUnLoad > 0)
{
}
try
{
App.ExFile.MessageLog($"StationHeartRecevie{station.Name}", $"{Newtonsoft.Json.JsonConvert.SerializeObject(station)}");
}
catch (Exception ex)
{
App.ExFile.MessageLog($"StationHeartRecevie{station.Name}", $"日志记录失败");
}
}
catch (Exception Ex)
{
throw new Exception("StationHeartRecevie:" + Ex.Message.Replace(Environment.NewLine, "") + Ex.StackTrace);
}
}
public static void AgvLogInfo(byte[] bytes)
{
try
{
byte[] tempBytes = new byte[70];
// bytes.CopyTo(tempBytes, 51);
Array.Copy(bytes, 51, tempBytes, 0, 70);
var checkCode = ComnMethod.CheckCode(tempBytes, 55);
var agvNo = BitConverter.ToInt16(bytes, 1).ToString("X");
//if (checkCode != (sbyte)bytes[110])
//{
// App.ExFile.MessageLog($"AgvLogInfo_{agvNo}", $"校验码未通过，上传数据{bytes[107]},计算数据{checkCode}");
// return;
//}
StringBuilder sb = new();
sb.Append("单字节：");
//51 1 手自动
var temp = (sbyte)bytes[51];
sb.Append(temp);
sb.Append('_');
//52 1 当前方向
temp = (sbyte)bytes[52];
sb.Append(temp);
sb.Append('_');
//53 1 下个方向
temp = (sbyte)bytes[53];
sb.Append(temp);
sb.Append('_');
//54 1 下下个方向
temp = (sbyte)bytes[54];
sb.Append(temp);
sb.Append('_');
//55 1 电量
temp = (sbyte)bytes[55];
sb.Append(temp);
sb.Append('_');
//56 1 当前站点
temp = (sbyte)bytes[56];
sb.Append(temp);
sb.Append('_');
//57 1 全部站点数
temp = (sbyte)bytes[57];
sb.Append(temp);
sb.Append('_');
//58 1 完成状态
temp = (sbyte)bytes[58];
sb.Append(temp);
sb.Append('_');
//59 1 充电状态
temp = (sbyte)bytes[59];
sb.Append(temp);
sb.Append('_');
//60 1 物料到位检测
temp = (sbyte)bytes[60];
sb.Append(temp);
sb.Append('_');
//61 1
temp = (sbyte)bytes[61];
sb.Append(temp);
sb.Append('_');
//62 1
temp = (sbyte)bytes[62];
sb.Append(temp);
sb.Append('_');
//63 1
temp = (sbyte)bytes[63];
sb.Append(temp);
sb.Append('_');
//64 1
temp = (sbyte)bytes[64];
sb.Append(temp);
sb.Append('_');
//65 1
temp = (sbyte)bytes[65];
sb.Append(temp);
sb.Append("双字节：");
//66 2 报警代码
var temp2 = BitConverter.ToInt16(bytes, 66);
sb.Append(temp2.ToString("X"));
sb.Append('_');
//68 2 速度
var temp21 = BitConverter.ToUInt16(bytes, 68);
sb.Append(temp21);
sb.Append('_');
//70 2 下发舵轮角度
temp2 = BitConverter.ToInt16(bytes, 70);
sb.Append(temp2);
sb.Append('_');
//72 2 反馈舵轮角度
temp2 = BitConverter.ToInt16(bytes, 72);
sb.Append(temp2);
sb.Append('_');
//74 2 设置高度
temp2 = BitConverter.ToInt16(bytes, 74);
sb.Append(temp2);
sb.Append('_');
//76 2 实际高度
temp2 = BitConverter.ToInt16(bytes, 76);
sb.Append(temp2);
sb.Append('_');
//78 2 角度偏差
temp2 = BitConverter.ToInt16(bytes, 78);
sb.Append(temp2);
sb.Append('_');
//80 2 位置偏差
temp2 = BitConverter.ToInt16(bytes, 80);
sb.Append(temp2);
sb.Append('_');
//82 2
temp2 = BitConverter.ToInt16(bytes, 82);
sb.Append(temp2);
sb.Append('_');
//84 2
temp2 = BitConverter.ToInt16(bytes, 84);
sb.Append(temp2);
sb.Append("四字节：");
//86 4 点1X
var temp3 = BitConverter.ToInt32(bytes, 86);
sb.Append(temp3);
sb.Append('_');
//90 4 点1Y
temp3 = BitConverter.ToInt32(bytes, 90);
sb.Append(temp3);
sb.Append('_');
//94 4 点2X
temp3 = BitConverter.ToInt32(bytes, 94);
sb.Append(temp3);
sb.Append('_');
//98 4 点2Y
temp3 = BitConverter.ToInt32(bytes, 98);
sb.Append(temp3);
sb.Append('_');
//102 4 点3X
temp3 = BitConverter.ToInt32(bytes, 102);
sb.Append(temp3);
sb.Append('_');
//106 4 点3Y
temp3 = BitConverter.ToInt32(bytes, 106);
sb.Append(temp3);
sb.Append('_');
// 110 4 当前X
temp3 = BitConverter.ToInt32(bytes, 110);
sb.Append(temp3);
sb.Append('_');
//114 4 当前Y
temp3 = BitConverter.ToInt32(bytes, 114);
sb.Append(temp3);
sb.Append('_');
//118 2 当前角度
temp2 = BitConverter.ToInt16(bytes, 118);
sb.Append(temp2);
App.ExFile.MessageAgvInfo($"AgvLogInfo_{agvNo}", sb.ToString());
}
catch (Exception ex)
{
App.ExFile.MessageError("AgvLogInfo", ex.ToString());
}
}
}
}