MsgRecevie.cs
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using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using XingYe_ACS.WebApi;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
namespace XingYe_ACS.Business
{
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
{
ClientMsg clientMsg = null;
byte[] dataRecv = socketOpt.recData;
clientMsg = AgvHeartRecevie(dataRecv);//无错误时msgClientErr=0；
#region 注释功能码
//switch (dataRecv[1])
//{
// case 0:
// clientMsg = AgvHeartRecevie(dataRecv);//无错误时msgClientErr=0；
// break;
// default:
// App.ExFile.MessageLog("MsgException", string.Format("Tcp指令功能码无定义:FuncCode[{0}]", dataRecv[1].ToString()));
// socketOpt.sendData = GetSendData.GetRepeatData();
// break;
//}
#endregion
if (clientMsg.clientErr != 0)
{
if (clientMsg.clientErr != EnumMsg.ErrMsg.不作处理)
{
App.ExFile.MessageLog("MsgException", "客户端信息出错:" + clientMsg.clientErr.ToString()
+ "=名称=" + clientMsg.strAddress + "=任务号=" + clientMsg.intTaskNo + "=动作状态=" + clientMsg.actState);
}
return;
}
else if (App.SingleControlList.Exists(a => a.agvNo == clientMsg.strAddress))
{
List<ClientMotion> listMotion = new List<ClientMotion>();
SingleControl singleControl = App.SingleControlList.Find(a => a.agvNo == clientMsg.strAddress);
socketOpt.sendData = GetSendData.GetNewActionData(singleControl.agvAction, null);
if (singleControl.agvAction == 200)
{
if (clientMsg.intState < (int)EnumMsg.State.手动无码) return;
else
{
singleControl.agvAction = 0;
}
}
else if (singleControl.agvAction == 209 && clientMsg.intState < (int)EnumMsg.State.离线)
{
App.SingleControlList.RemoveAll(a => a.agvNo == clientMsg.strAddress);
}
}
else
{
Config_ClientControl clientControl = App.ClientWork.Find(a => a.strClientIp == ((IPEndPoint)socketOpt.clientSocket.RemoteEndPoint).Address.ToString());
if (clientControl.strAgvNo == "" || clientControl.strAgvNo == null)
{
clientControl.strAgvNo = clientMsg.strAddress;
//将小车IP地址更新到agv表中
UpdateManage.UpdateAgvIP(clientControl);
}
MsgManage.TcpManage(clientMsg, socketOpt);
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("TcpTranslate", Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 获取Agv心跳信息
/// </summary>
/// <param name="dataRecv">心跳数据报文</param>
/// <returns>Agv心跳信息</returns>
public static ClientMsg AgvHeartRecevie(byte[] dataRecv)
{
try
{
//客户端发送数据对象
ClientMsg clientMsg = new ClientMsg();
clientMsg.intDataLength = dataRecv[0];
clientMsg.strAddress = Encoding.ASCII.GetString(dataRecv, 1, 10).Replace("\0", "");
clientMsg.msgAgv = App.AgvList.FirstOrDefault(a => a.strAgvNo == clientMsg.strAddress);
if (clientMsg.msgAgv == null)
{
clientMsg.clientErr = EnumMsg.ErrMsg.小车号不存在;
return clientMsg;
}
if (!clientMsg.msgAgv.isEnable)
{
clientMsg.clientErr = EnumMsg.ErrMsg.不作处理;
return clientMsg;
}
clientMsg.msgAgv.agvHeart = DateTime.Now;
clientMsg.intCheckCode = ComnMethod.checkCode(dataRecv, clientMsg.intDataLength + 12); //校验
if (clientMsg.intCheckCode != dataRecv[30])
{
clientMsg.clientErr = EnumMsg.ErrMsg.校验位错误;
clientMsg.msgAgv.strStopReason = ComnMethod.GetStopReason(clientMsg.msgAgv.strStopReason, clientMsg.clientErr.ToString());
return clientMsg;
}
clientMsg.msgAgv.strStopReason = "";
clientMsg.strBarcode = BitConverter.ToUInt32(dataRecv, 11).ToString();
clientMsg.intVoltage = dataRecv[15];
#region 记录AGV电量显示
if (ComnMethod.DiffTime(DateTime.Parse(clientMsg.msgAgv.logTime.ToString())) > 10)
{
clientMsg.msgAgv.logTime = DateTime.Now;
App.ExFile.AgvVoltageLog("agvVoltage" + clientMsg.msgAgv.strAgvNo, clientMsg.intVoltage.ToString());
}
#endregion
clientMsg.intState = dataRecv[16];
clientMsg.agvDirection = (EnumMsg.OriType)dataRecv[17];
clientMsg.dialDirection = (EnumMsg.OriType)dataRecv[18];
clientMsg.intHeightState = dataRecv[19];
clientMsg.ErrorList = new int[] { dataRecv[20], dataRecv[21], dataRecv[22] };
clientMsg.intRunDistance = BitConverter.ToUInt16(dataRecv, 23);
string strTaskNo = BitConverter.ToUInt32(dataRecv, 25).ToString();
if (string.IsNullOrEmpty(strTaskNo))
clientMsg.intTaskNo = 0;
else
clientMsg.intTaskNo = int.Parse(strTaskNo);
clientMsg.actState = (EnumMsg.ActState)dataRecv[29];
// clientMsg.isCarry = dataRecv[31];
return clientMsg;
}
catch (Exception Ex)
{
throw new Exception("AgvHeartRecevie:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
}
}