/// <summary>
/// 循环体内容
/// </summary>
public override void LoopContent()
{
if (!Config.EnableAngleRecording)
{
return;
}
YawAngle = Config.AngleRecordingSource == AngleSource.PLC ? Const.OpcDatasource.YawAngle_Plc : Const.GnssInfo.YawAngle;
PitchAngle = Config.AngleRecordingSource == AngleSource.PLC ? Const.OpcDatasource.PitchAngle_Plc : Const.GnssInfo.PitchAngle;
WalkingPosition = Config.AngleRecordingSource == AngleSource.PLC ? Const.OpcDatasource.WalkingPositionLeft_Plc : Const.GnssInfo.WalkingPosition;
InAction = Math.Abs(YawAngle) > _angleThres;
if (_actionStarted)
{
FileDate = DateTime.Now;
}
WheelLeftBeyond = Const.OpcDatasource.WheelLeftBeyondStack;
WheelRightBeyond = Const.OpcDatasource.WheelRightBeyondStack;
_yawStorage.Push(YawAngle);
_pitchStorage.Push(PitchAngle);
_walkStorage.Push(WalkingPosition);
double first = _yawStorage.First(), last = _yawStorage.Last();
YawAngleDiff = first - last;
//假如目录不存在，创建
if (!Directory.Exists(_filePath))
{
Directory.CreateDirectory(_filePath);
}
//假如文件不存在，则首先写入表头
if (!File.Exists(_fileName))
{
File.AppendAllLines(_fileName, new string[] { _columnHeader });
}
if (!File.Exists(_fileNameExt))
{
File.AppendAllLines(_fileNameExt, new string[] { _columnHeaderExt });
}
////假如有一边出垛边，则开始记录
//if (Const.OpcDatasource.WheelLeftBeyondStack == 1 || Const.OpcDatasource.WheelRightBeyondStack == 1)
// _recording = true;
//假如斗轮开始转动，则开始记录
if (Const.OpcDatasource.WheelTurningBackwards == 1)
{
_recording = true;
}
//是否记录同时由悬皮状态以及斗轮是否转动决定
if (_recording && Const.OpcDatasource.BeltStatus == 1 && Const.OpcDatasource.WheelTurningBackwards == 1)
{
DateTime now = DateTime.Now;
string stamp = DateTimeHelper.GetTimeStampBySeconds(), fileDateStr = _fileDate.ToString("yyyyMMddHHmmss");
//记录所有数据
File.AppendAllLines(_fileNameExt, new string[] { string.Format(_columnTemplateExt, now, WalkingPosition, PitchAngle, YawAngle, Const.RadarInfo.SurfaceAngleWheelLeft, Const.RadarInfo.SurfaceAngleWheelRight, Const.OpcDatasource.WheelPowerPolished, Const.OpcDatasource.PileHeight, Const.RadarInfo.RadiusAverageLeft, Const.RadarInfo.RadiusAverageRight) });
if (_beyondLeftReached)
{
File.AppendAllLines(_fileName, new string[] { string.Format(_columnTemplate, stamp, WalkingPosition, PitchAngle, YawAngle, string.Empty, string.Empty, string.Empty, "left", 1) });
_dataService.InsertAngleRecord(Config.MachineName, fileDateStr, WalkingPosition, PitchAngle, YawAngle, 1, 1, now);
}
if (_beyondRightReached)
{
File.AppendAllLines(_fileName, new string[] { string.Format(_columnTemplate, stamp, WalkingPosition, PitchAngle, string.Empty, string.Empty, YawAngle, string.Empty, "right", 1) });
_dataService.InsertAngleRecord(Config.MachineName, fileDateStr, WalkingPosition, PitchAngle, YawAngle, 2, 2, now);
}
if (_manualTurnSignal == TurnSignal.Left)
{
File.AppendAllLines(_fileName, new string[] { string.Format(_columnTemplate, stamp, _walkStorage.Last(), _pitchStorage.Last(), string.Empty, last, string.Empty, string.Empty, "left", 2) });
_dataService.InsertAngleRecord(Config.MachineName, fileDateStr, WalkingPosition, PitchAngle, YawAngle, 3, 1, now);
}
else if (_manualTurnSignal == TurnSignal.Right)
{
File.AppendAllLines(_fileName, new string[] { string.Format(_columnTemplate, stamp, _walkStorage.Last(), _pitchStorage.Last(), string.Empty, string.Empty, string.Empty, last, "right", 2) });
_dataService.InsertAngleRecord(Config.MachineName, fileDateStr, WalkingPosition, PitchAngle, YawAngle, 4, 2, now);
}
}
}