CenterService.cs
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using HHECS.Communication;
using HHECS.Communication.Modbus;
using HHECS.Communication.Robot;
using HHECS.RobotTool.Common;
using HHECS.RobotTool.Common.Enums;
using HHECS.RobotTool.Model;
using HslCommunication.Core;
using System.Data;
namespace HHECS.RobotTool.Service
{
public class CenterService
{
public List<EquipmentExtend> Equipments = new List<EquipmentExtend>();
private readonly IFreeSql _freeSql;
private readonly GrooveService _grooveService;
private readonly SystemLog _logger = SystemLog.GetInstance();
private CancellationTokenSource _cancellationTokenSource = null!;
private List<IEquipmentCommunication> _equipmentCommunications = new List<IEquipmentCommunication>();
public CenterService(IFreeSql freeSql, GrooveService grooveService)
{
_freeSql = freeSql;
_grooveService = grooveService;
}
internal void Start()
{
try
{
_cancellationTokenSource = new CancellationTokenSource();
Equipments = _freeSql.Queryable<EquipmentExtend>().ToList();
var equipmentTypeIds = Equipments.Select(x => x.EquipmentTypeId).Distinct().ToList();
var equipmentTypes = _freeSql.Queryable<EquipmentTypeExtend>().Where(x => equipmentTypeIds.Contains(x.Id)).ToList();
var equipmentIds = Equipments.Select(x => x.Id).ToList();
var equipmentProps = _freeSql.Queryable<EquipmentPropExtend>().Where(x => equipmentIds.Contains(x.EquipmentId)).ToList();
var equipmentTypeTemps = _freeSql.Queryable<EquipmentTypePropTemplateExtend>().Where(x => equipmentTypeIds.Contains(x.EquipmentTypeId)).ToList();
foreach (var item in Equipments)
{
item.EquipmentType = equipmentTypes.FirstOrDefault(x => x.Id == item.EquipmentTypeId)!;
var props = equipmentProps.Where(x => x.EquipmentId == item.Id).ToList();
props.ForEach(prop =>
{
prop.Equipment = item;
prop.EquipmentTypePropTemplate = equipmentTypeTemps.FirstOrDefault(x => x.Id == prop.EquipmentTypePropTemplateId)!;
});
item.EquipmentProps = props;
}
var communicationConfig = _freeSql.Queryable<CommunicationConfig>().Where(x => x.IsEnable).ToList();
if (communicationConfig.Count == 0)
{
_logger.LogWarning($"设备通讯配置列表为空，请配置数据后再试！");
return;
}
_equipmentCommunications = InitialCommunication(communicationConfig);
if (_equipmentCommunications.Count == 0)
{
_logger.LogWarning($"通讯配置数量：{communicationConfig.Count}，初始化成功数量：{_equipmentCommunications.Count}，请检查基础数据配置是否正确！");
}
foreach (var communication in _equipmentCommunications)
{
_ = Task.Run(async () =>
{
while (!_cancellationTokenSource.IsCancellationRequested)
{
try
{
await Task.Delay(1000);
var currentEquipments = Equipments.Where(x => x.IP == communication.IP).ToList();
var readTemps = currentEquipments.SelectMany(x => x.EquipmentProps).Select(x => new EquipmentCommunicationObj
{
Address = x.Address,
IP = communication.IP,
}).ToArray();
var readResult = communication.Reads(readTemps);
if (!readResult.Success)
{
_logger.LogError($"读取设备[{communication.Name}]，IP：{communication.IP}出现异常：{readResult.Msg}");
continue;
}
//读取成功，数据赋值
foreach (var prop in currentEquipments.SelectMany(x => x.EquipmentProps))
{
var temp = readTemps.Where(x => x.Address == prop.Address).FirstOrDefault();
if (temp != null)
{
prop.Value = temp.Value;
}
}
//数据处理
foreach (var equipment in currentEquipments)
{
var codes = Enum.GetNames<RobotProp>();
if (!equipment.EquipmentProps.All(x => codes.Contains(x.EquipmentTypePropTemplateCode)))
{
//属性数据不全，则跳过
_logger.LogWarning($"设备{equipment.Name}属性数据不全，请完善基础配置数据！");
continue;
}
//请求
var dateSendValue = equipment[RobotProp.RequestMessage.ToString()].Value;
//回复
var ackSendValue = equipment[RobotProp.ReplyMessage.ToString()].Value;
//设备请求
if (dateSendValue == bool.TrueString)
{
//已回复
if (ackSendValue == bool.TrueString)
{
_logger.LogWarning($"已处理设备[{equipment.Name}]请求信号，待设备清除信号！");
continue;
}
_ = float.TryParse(equipment[RobotProp.RequestWidth.ToString()].Value, out var width);
_ = float.TryParse(equipment[RobotProp.RequestDepth.ToString()].Value, out var depth);
_ = int.TryParse(equipment[RobotProp.RequestLayer.ToString()].Value, out var layer);
var computedResult = _grooveService.GetComputedData(equipment.IP, width, depth);
if (!computedResult.Success)
{
_logger.LogError($"响应设备[{equipment.Name}]请求信号失败，数据计算出现异常：{computedResult.Msg}");
continue;
}
var outputParameter = computedResult.Data;
var ackObjs = new List<EquipmentCommunicationObj>
{
new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplyWeldNum.ToString()].Address,
Value = outputParameter.Layers.ToString(),
}
};
//有层号的时候，需要附加其他参数
if (layer > 0 && layer <= outputParameter.Layers)
{
//var speedValue = robotTechnologies.Where(x => x.Layer == layer).Select(x => x.WeldingSpeed).FirstOrDefault();
//var freqValue = robotTechnologies.Where(x => x.Layer == layer).Select(x => x.SwingFrequency).FirstOrDefault();
//var swingValue = robotTechnologies.Where(x => x.Layer == layer).Select(x => x.Amplitude).FirstOrDefault();
//var stayValue = robotTechnologies.Where(x => x.Layer == layer).Select(x => x.LeftAndRightDwellTime).FirstOrDefault();
var speedValue = 0;
var freqValue = 0;
var swingValue = 0;
var stayValue = 0;
ackObjs.AddRange(new List<EquipmentCommunicationObj>
{
new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplySpeed.ToString()].Address,
Value = speedValue.ToString(),
},
new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplyFreq.ToString()].Address,
Value = freqValue.ToString(),
},
new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplySwing.ToString()].Address,
Value = swingValue.ToString(),
},
new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplyStay.ToString()].Address,
Value = stayValue.ToString(),
}
});
}
//回复地址
ackObjs.Add(new EquipmentCommunicationObj
{
IP = equipment.IP,
Address = equipment[RobotProp.ReplyMessage.ToString()].Address,
Value = bool.TrueString,
});
var ackTempsResult = communication.Writes(ackObjs.ToArray());
if (!ackTempsResult.Success)
{
_logger.LogSuccess($"响应设备[{equipment.Name}]请求信号失败：{ackTempsResult.Msg}");
continue;
}
//回复
_logger.LogSuccess($"响应设备[{equipment.Name}]请求信号成功");
continue;
}
//清除交互信号
if (dateSendValue == bool.FalseString && ackSendValue == bool.TrueString)
{
var ackObj = new EquipmentCommunicationObj
{
Address = equipment[RobotProp.ReplyMessage.ToString()].Address,
IP = equipment.IP,
Value = bool.FalseString
};
var ackResult = communication.Write(ackObj);
if (!ackResult.Success)
{
_logger.LogError($"清除设备[{equipment.Name}]信号失败：{ackResult.Msg}");
continue;
}
_logger.LogSuccess($"清除设备[{equipment.Name}]信号成功");
}
}
}
catch (Exception ex)
{
_logger.LogException($"设备[{communication.Name}]，IP：{communication.IP}处理线程出现异常：{ex.Message}");
}
}
});
}
}
catch (Exception ex)
{
_logger.LogError($"启动失败：{ex.Message}");
}
}
internal void Stop()
{
_cancellationTokenSource.Cancel();
_equipmentCommunications.ForEach(x => x.DisConnect());
_equipmentCommunications.Clear();
Equipments.Clear();
}
/// <summary>
/// 初始化设备通讯
/// </summary>
/// <param name="communicationConfigs"></param>
/// <returns></returns>
private static List<IEquipmentCommunication> InitialCommunication(IEnumerable<CommunicationConfig> communicationConfigs)
{
var temps = new List<IEquipmentCommunication>();
foreach (var item in communicationConfigs)
{
IEquipmentCommunication? communication = item.CommunicationType switch
{
CommunicationTypeConst.Fanuc => new HslFanucImplement(new FanucBuildModel
{
Name = item.Name,
IP = item.IpAddress,
Port = item.Port,
}),
CommunicationTypeConst.ModbusTcp => new ModbusTcpClientImplement(new ModbusClientBuildModel
{
Name = item.Name,
IP = item.IpAddress,
Port = item.Port,
Station = 3,
DataFormat = DataFormat.CDAB.ToString(),
}),
_ => null
};
if (communication == null)
{
continue;
}
temps.Add(communication);
}
return temps;
}
}
}