TcpListenerService.cs
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using HHECS.BllModel;
using HHECS.RobotTool.Common;
using HHECS.RobotTool.Dto;
using HHECS.RobotTool.Dto.WeldMonitor;
using HHECS.RobotTool.Utils;
using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Xml.Serialization;
namespace HHECS.RobotTool.Service
{
public class TcpListenerService
{
private TcpListener _tcpServer = null!;
private readonly SystemLog _logger = SystemLog.GetInstance();
private readonly GrooveService _grooveService;
public event Action<WeldMonitorModel>? WeldMonitor;
public TcpListenerService(GrooveService grooveService)
{
_grooveService = grooveService;
}
public BllResult Start(int port = 59152)
{
try
{
_tcpServer = new TcpListener(IPAddress.Any, port);
_tcpServer.Start();
_tcpServer.BeginAcceptTcpClient(DoAcceptTcpClient, _tcpServer);
return BllResultFactory.Success();
}
catch (Exception ex)
{
return BllResultFactory.Error(ex.Message);
}
}
private void DoAcceptTcpClient(IAsyncResult ar)
{
try
{
var server = (TcpListener)ar.AsyncState!;
var tcpClient = server.EndAcceptTcpClient(ar);
_logger.LogInfo($"[客户端[{tcpClient.Client.RemoteEndPoint}]已成功建立连接");
Receive(tcpClient);
server.BeginAcceptTcpClient(DoAcceptTcpClient, server);
}
catch (Exception ex)
{
_logger.LogError($"[TcpServer]异常：{ex.Message}");
}
}
private void Receive(TcpClient tcpClient)
{
Task.Run(() =>
{
var remoteEndPoint = tcpClient.Client.RemoteEndPoint;
while (tcpClient.Connected)
{
try
{
var buffer = new byte[8192];
var stream = tcpClient.GetStream();
//接收客户端数据
stream.Read(buffer, 0, buffer.Length);
var bufferString = Encoding.Default.GetString(buffer).TrimEnd('\0');
//无数据则跳过
if (string.IsNullOrWhiteSpace(bufferString))
{
continue;
}
_logger.LogInfo($"接收到客户端[{remoteEndPoint}]报文：{bufferString}");
const string kukaAckFlag1 = "<Robot>";
const string kukaAckFlag2 = "</Robot>";
//库卡机器人
if (bufferString.StartsWith(kukaAckFlag1, StringComparison.OrdinalIgnoreCase)
&& bufferString.EndsWith(kukaAckFlag2, StringComparison.OrdinalIgnoreCase))
{
var kukaHandleResult = KukaTcpHandle(bufferString, stream, remoteEndPoint);
if (!kukaHandleResult.Success)
{
_logger.LogError($"响应客户端[{remoteEndPoint}]请求失败：{kukaHandleResult.Msg}");
continue;
}
_logger.LogSuccess($"响应客户端[{remoteEndPoint}]请求成功");
continue;
}
//Fanuc机器人
if (bufferString.Split(',').Length == 5)
{
var fanucHandleResult = FanucTcpHandle(bufferString, stream, remoteEndPoint);
if (!fanucHandleResult.Success)
{
_logger.LogError($"响应客户端[{remoteEndPoint}]请求失败：{fanucHandleResult.Msg}");
continue;
}
_logger.LogSuccess($"响应客户端[{remoteEndPoint}]请求成功");
continue;
}
//其他
_logger.LogInfo($"收到客户端[{remoteEndPoint}]报文：{bufferString}");
}
catch (Exception ex)
{
_logger.LogError($"客户端[{remoteEndPoint}]：{ex.InnerException?.Message ?? ex.Message}");
}
}
});
}
/// <summary>
/// Fanuc机器人交互
/// </summary>
/// <param name="bufferString"></param>
/// <param name="stream"></param>
/// <param name="remoteEndPoint"></param>
/// <returns></returns>
private BllResult FanucTcpHandle(string bufferString, NetworkStream stream, EndPoint? remoteEndPoint)
{
try
{
var dataArray = bufferString.Split(',');
_ = float.TryParse(dataArray[0], out var grooveWidth);
_ = float.TryParse(dataArray[1], out var grooveDepth);
_ = int.TryParse(dataArray[2], out var type);
_ = int.TryParse(dataArray[3], out var layer);
_ = int.TryParse(dataArray[4], out var channel);
var robotAddress = ((IPEndPoint)remoteEndPoint!).Address.ToString();
var inputParameterResult = _grooveService.GetInputParameterDefault(robotAddress);
if (!inputParameterResult.Success)
{
return inputParameterResult;
}
var inputParameter = inputParameterResult.Data;
//参数赋值
inputParameter.GrooveWidth = grooveWidth;//坡口宽度BC
inputParameter.GrooveDepth = grooveDepth;//坡口深度H
//计算
var result = GrooveComputerTool.GetComputedData(inputParameter);
if (!result.Success)
{
return BllResultFactory.Error($"计算出现异常：{result.Msg}");
}
var outputParameter = result.Data;
if (outputParameter.Layers < layer)
{
return BllResultFactory.Error($"请求参数不正确，当前请求层{layer}，总层数：{outputParameter.Layers}");
}
var currentLayer = outputParameter.LayerModels.Where(x => x.CurrentLayer == layer).FirstOrDefault();
if (currentLayer == null)
{
return BllResultFactory.Error($"{layer}层输出参数为空！");
}
var currentChannel = currentLayer.ChannelModels.Where(x => x.CurrentChannel == channel).FirstOrDefault();
if (currentChannel == null)
{
return BllResultFactory.Error($"{layer}层{channel}道输出参数为空！");
}
var layers = outputParameter.Layers;//总层数
var LayerStartingPoint = currentChannel.StartingPoint;//焊接起点
var layerEndingPoint = currentChannel.EndingPoint;//焊接终点
var layerWeldAttitudeAngle = Math.Round(currentChannel.WeldAttitudeAngle, 3);//焊接姿态角 theta
var layerWeldSpeed = Math.Round(currentChannel.WeldSpeed, 3);//焊接速度（m / s） v11
var weldAmplitude = Math.Round(currentChannel.WeldAmplitude, 3);//振幅（mm）
var weldSwingFrequency = Math.Round(currentLayer.WeldSwingFrequency, 3);//摆动频率（Hz）
var leftAndRightDwellTime = Math.Round(currentLayer.LeftAndRightDwellTime, 3);//左右停留时间（s）
var multiChannel = currentLayer.ChannelModels.Count;//当前层焊接道数
//结果
var ackObj = new List<object>
{
layers,
$"{LayerStartingPoint.X},{LayerStartingPoint.Y},{LayerStartingPoint.Z}",
$"{layerEndingPoint.X},{layerEndingPoint.Y},{layerEndingPoint.Z}",
layerWeldAttitudeAngle,
layerWeldSpeed,
weldAmplitude,
weldSwingFrequency,
leftAndRightDwellTime,
multiChannel,
};
var message = string.Join(',', ackObj);
var bytes2 = Encoding.ASCII.GetBytes(message);
stream.Write(bytes2, 0, bytes2.Length);
Task.Delay(200).Wait();
var weldMonitor = new WeldMonitorModel
{
EquipmentIPAddress = robotAddress,
CurrentLayer = layer,
CurrentChannel = channel,
RobotInputParameter = inputParameter,
RobotOutputParameter = outputParameter,
UpdateTime = DateTime.Now,
};
WeldMonitor?.Invoke(weldMonitor);
_logger.LogInfo($"发送至[{remoteEndPoint}]报文：{message}");
return BllResultFactory.Success();
}
catch (Exception ex)
{
return BllResultFactory.Error(ex.Message);
}
}
/// <summary>
/// Kuka Tcp交互处理
/// </summary>
/// <param name="bufferString"></param>
/// <param name="stream"></param>
private BllResult KukaTcpHandle(string bufferString, NetworkStream stream, EndPoint? remoteEndPoint)
{
var inputXmlSerializer = new XmlSerializer(typeof(KukaRequestDto));
var outputXmlSerializer = new XmlSerializer(typeof(KukaResponseDto));
using var ms = new MemoryStream();
var writer = new StreamWriter(ms);
writer.Write(bufferString.Trim());
writer.Flush();
ms.Position = 0;
var reader = new StreamReader(ms);
try
{
var request = (KukaRequestDto)inputXmlSerializer.Deserialize(reader)!;
_ = int.TryParse(request.Code, out var robotNo);
var robotAddress = ((IPEndPoint)remoteEndPoint!).Address.ToString();
var result = _grooveService.GetComputedData(robotAddress, request.GrooveWidth, request.GrooveDepth);
if (!result.Success)
{
return BllResultFactory.Error($"数据计算出现异常：{result.Msg}");
}
var outputParameter = result.Data;
var resultData = new KukaResponseDto
{
//Weld_Num = outputParameter.Weld_Num,
//WeldHeightAfterWelding = outputParameter.WeldHeightAfterWelding,
//WeldWidthAfterWelding = outputParameter.WeldWidthAfterWelding,
//GrooveCrossSectionalArea = outputParameter.GrooveCrossSectionalArea,
//OneLayerWireFeedingSpeed = outputParameter.OneLayerWireFeedingSpeed,
//OneLayerCurrent = outputParameter.OneLayerCurrent,
//CoverWireFeedingSpeed = outputParameter.CoverWireFeedingSpeed,
//CoverWireFeedingCurrent = outputParameter.CoverWireFeedingCurrent,
//WeldingWireCrossSectionalArea = outputParameter.WeldingWireCrossSectionalArea,
//Layers = outputParameter.Layers,
//TotalDepositionAmount = outputParameter.TotalDepositionAmount,
//WeldingWireLengthAndUsage = outputParameter.WeldingWireLengthAndUsage,
//TotalDepositionTime = outputParameter.TotalDepositionTime,
//WeldingWire = inputParameter.WeldingWire,
//ReservedGapForGroove = inputParameter.ReservedGap,
//SizeOfTheBluntEdgeOfTheGroove = inputParameter.BluntEdgeSize,
//WeldLength = inputParameter.WeldLength,
//AdditionalWidthRequiredOnOneSideAfterCovering = inputParameter.WeldWidth,
//WeldReinforcementRequiredAfterCovering = inputParameter.WeldHeight
};
using var sw = new StringWriter();
outputXmlSerializer.Serialize(sw, resultData);
var response = sw.ToString();
stream.Write(Encoding.Default.GetBytes(response));
_logger.LogInfo($"响应客户端[{remoteEndPoint}]请求报文：{response}");
return BllResultFactory.Success();
}
catch (Exception ex)
{
return BllResultFactory.Error(ex.Message);
}
}
public void Stop()
{
_tcpServer.Stop();
}
}
}