KukaService.cs
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using HHECS.BllModel;
using HHECS.RobotTool.Common;
using HHECS.RobotTool.Dto;
using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Xml.Serialization;
namespace HHECS.RobotTool.Service
{
public class KukaService
{
private readonly TcpListener _tcpServer;
private readonly SystemLog _logger = SystemLog.GetInstance();
private readonly GrooveService _grooveService;
public KukaService(GrooveService grooveService)
{
_tcpServer = new TcpListener(IPAddress.Any, 59152);
_grooveService = grooveService;
}
public BllResult StartTcpServer()
{
try
{
_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');
if (string.IsNullOrWhiteSpace(bufferString)) continue;
_logger.LogInfo($"接收到客户端[{remoteEndPoint}]报文：{bufferString}");
const string kukaAckFlag1 = "<Robot>";
const string kukaAckFlag2 = "</Robot>";
if (bufferString.StartsWith(kukaAckFlag1, StringComparison.OrdinalIgnoreCase)
&& bufferString.EndsWith(kukaAckFlag2, StringComparison.OrdinalIgnoreCase))
{
var kukaHandleResult = KukaTcpHandle(bufferString, stream, remoteEndPoint);
if (kukaHandleResult.Success)
{
_logger.LogSuccess($"响应客户端[{remoteEndPoint}]请求成功");
}
else
{
_logger.LogError($"响应客户端[{remoteEndPoint}]请求失败：{kukaHandleResult.Msg}");
}
}
else
{
_logger.LogInfo($"收到客户端[{remoteEndPoint}]报文：{bufferString}");
}
}
catch (Exception ex)
{
_logger.LogError($"客户端[{remoteEndPoint}]：{ex.InnerException?.Message ?? ex.Message}");
}
}
});
}
/// <summary>
/// Kuka Tcp交互处理
/// </summary>
/// <param name="bufferString"></param>
/// <param name="stream"></param>
private BllResult KukaTcpHandle(string bufferString, NetworkStream stream, EndPoint? remoteEndPoint)
{
var inputXmlSerializer = new XmlSerializer(typeof(KukaRequestDto));
var outputXmlSerializer = new XmlSerializer(typeof(KukaResponseDto));
using var ms = new MemoryStream();
var writer = new StreamWriter(ms);
writer.Write(bufferString.Trim());
writer.Flush();
ms.Position = 0;
var reader = new StreamReader(ms);
try
{
var request = (KukaRequestDto)inputXmlSerializer.Deserialize(reader)!;
var inputResult = _grooveService.GetInputParameterDefault(request.Code);
if (!inputResult.Success)
{
return BllResultFactory.Error($"获取默认输入参数失败：{inputResult.Msg}");
}
//默认值
var inputParameter = inputResult.Data;
inputParameter.GrooveWidth = request.GrooveWidth;
inputParameter.GrooveDepth = request.GrooveDepth;
var result = _grooveService.GetComputedData(inputParameter);
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 StopTcpServer()
{
_tcpServer.Stop();
}
}
}