void server_ClientConnected(object sender, TcpClientConnectedEventArgs e)
{
try
{
bool PLCComm = false; bool CoderComm = false; bool RobotComm = false;
IPEndPoint ClientIP = e.TcpClient.Client.RemoteEndPoint as IPEndPoint;
if (ClientIP.Address.ToString() == Properties.Settings.Default.样件架PLC端)
{
clientPLC = e.TcpClient;
PLCComm = true;
}
if (ClientIP.Address.ToString() == Properties.Settings.Default.拉力机PLC端)
{
clientCoder = e.TcpClient;
CoderComm = true;
}
if (ClientIP.Address.ToString() == Properties.Settings.Default.Robot端)
{
clientRobot = e.TcpClient;
RobotComm = true;
}
if (PLCComm && CoderComm && RobotComm)
{
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has connected.", null, dic["测试命令模式"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Communication) });
}
}
catch (Exception ex) { log.Exception(ex); }
}
void server_DatagramReceived(object sender, TcpDatagramReceivedEventArgs <byte[]> e)
{
IPEndPoint ClientIP = (IPEndPoint)e.TcpClient.Client.RemoteEndPoint;
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + " has sent messages:", CommonFunction.byteToHexString(e.Datagram), dic["测试命令模式"]);
try
{
#region 样架PLC端
if (e.TcpClient == clientPLC)
{
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + " has sent messages:", CommonFunction.byteToHexString(e.Datagram), dic["测试命令模式"]);
switch (pd.receiveCommand(e.Datagram))
{
case Params.PLC2PCCommandType.Ready:
dic["上夹钳闭合"] = false;
dic["下夹钳闭合"] = false;
dic["批次试验完成"] = false;
MsgSend(clientPLC, pd.createCommand(Params.PC2PLCCommandType.Active), dic["暂停模式选择"]);
tsbAdd_Click(null, null);
break;
case Params.PLC2PCCommandType.Operation:
break;
case Params.PLC2PCCommandType.DataSend:
dic["上夹钳闭合"] = false;
dic["下夹钳闭合"] = false;
dic["批次试验完成"] = false;
SampleDiameter = seDiameter.Value;
SampleLength = seLength.Value;
MsgSend(clientPLC, pd.createCommand(Params.PC2PLCCommandType.DataFeedBack), dic["暂停模式选择"]);
break;
case Params.PLC2PCCommandType.CatchSample:
MsgSend(clientPLC, pd.createCommand(Params.PC2PLCCommandType.WaitKey), dic["暂停模式选择"]);
if (dic["Robot就绪"] && !dic["从样件架接料并夹持"] && dic["U型架升降到位"] && !dic["批次试验完毕"])
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.ZQ1B), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.CatchSample) });
dic["从样件架接料并夹持"] = true;
}
break;
case Params.PLC2PCCommandType.Complete:
dic["批次试验完毕"] = true; //该批次实验完毕
break;
case Params.PLC2PCCommandType.UrgencyStop:
break;
case Params.PLC2PCCommandType.ServoMotorError:
break;
case Params.PLC2PCCommandType.MeasuerRrror:
break;
case Params.PLC2PCCommandType.Error:
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has sent messages: " + CommonFunction.byteToHexString(e.Datagram), " [Receive Unvalid Data!Please Check the PLC's Status]", dic["测试命令模式"]);
break;
case Params.PLC2PCCommandType.CoderER:
dic["有急停信号"] = true;
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has sent messages: " + CommonFunction.byteToHexString(e.Datagram), " [样件架触发急停！请检查相关设备！]", false);
break;
case Params.PLC2PCCommandType.DevER:
dic["有急停信号"] = true;
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has sent messages: " + CommonFunction.byteToHexString(e.Datagram), " [伺服电机触发急停！请检查相关设备！]", false);
break;
case Params.PLC2PCCommandType.IntrusionDetectionER:
dic["有急停信号"] = true;
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has sent messages: " + CommonFunction.byteToHexString(e.Datagram), " [入侵检测触发急停！请检查相关设备！]", false);
break;
case Params.PLC2PCCommandType.RobotER:
dic["有急停信号"] = true;
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has sent messages: " + CommonFunction.byteToHexString(e.Datagram), " [机器人触发急停！请检查相关设备！]", false);
break;
}
}
#endregion
#region 拉力机PLC端
else if (e.TcpClient == clientCoder)
{
if (dic["系统开始运行"]) //系统开始运行
{
ss = ma.StatusAnalysis(e);
BeginInvoke(new UpdateDisplayDelegate(HeightDisplay), new object[] { ss.HeightValue.ToString() });
if (ss.HeightValue >= 1200)
{
MouseMovementControl(Params.MouseMovementType.ToStop, dic["暂停模式选择"]);
MessageBox.Show("拉力机移动到达上限位，请确认系统状态！");
}
if (dic["开始试验"] && dic["试验完毕"] && dic["拉断后U型架抬升完成"])
{
if (positionFlag == 1)
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.M1), dic["暂停模式选择"]);
Thread.Sleep(1000);
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.ZQ3B), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Zq3b) });
}
else if (positionFlag == 2)
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.M2), dic["暂停模式选择"]);
Thread.Sleep(1000);
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.ZQ3B), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Zq3b) });
}
}
if (!dic["样件上半段下料至夹取位"] && dic["开始试验"] && dic["试验完毕"] && dic["拉断后U型架抬升完成"]) //获取上升高度，命令机器人抓取
{
if ((positionFlag == 1 && dic["样件下半段下料至夹取位反馈"]) || positionFlag == 3)
{
if (!dic["U型架正在下降"])
{
if (!ss.isPlatformMoving)
{
MouseMovementControl(Params.MouseMovementType.ToDown, dic["暂停模式选择"]); BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Down) });
}
else
{
dic["U型架正在下降"] = true;
}
}
for (; ss.HeightValue < 800;)
{
MouseMovementControl(Params.MouseMovementType.ToStop, dic["暂停模式选择"]);
//tsbRead_Click(null, null);
dic["U型架下降到位"] = true;
break;
}
}
if (dic["U型架下降到位"])
{
if (positionFlag != 0)
{
if (positionFlag == 1 || positionFlag == 3)
{
rd.AxisValue = (ss.HeightValue - float.Parse(seZBHeight.Value.ToString())).ToString();
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.ZBAXIS), dic["暂停模式选择"]);
Thread.Sleep(1000);
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.ZQ2B), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Zq2b) });
}
dic["样件上半段下料至夹取位"] = true;
}
else
{
LogRefresh("未能正确获得断裂位置！", null, dic["测试命令模式"]);
MessageBox.Show("未能正确获得断裂位置！");
}
}
}
else if (!dic["放入拉力机并返回反馈"] && !dic["拉力机准备就绪"]) //初始化
{
#region 初始化逻辑修改：防止上下夹钳先后打开造成死机的情况发生，修改为先打开下夹钳，然后下降U型台，最后打开上夹钳的过程
//调整下夹钳
if (ss.isLowCaliperClamp)//下夹钳关闭
{
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.LowCaliperOpen), dic["暂停模式选择"]);
}
if (!ss.isLowCaliperClamp)
{
dic["下夹钳打开"] = true;//下夹钳打开
}
//调整上台高度
if ((ss.HeightValue > 805) || (ss.HeightValue < 795))
{
if (dic["下夹钳打开"]) //下夹钳已打开完成
{
if (ss.HeightValue > 805) //下降
{
if (!dic["U型架上升命令触发"])
{
if (!ss.isPlatformMoving)
{
MouseMovementControl(Params.MouseMovementType.ToDown, dic["暂停模式选择"]);
}
else
{
dic["U型架上升命令触发"] = true;
}
}
}
if (ss.HeightValue < 795)//上升
{
if (!dic["U型架下降命令触发"])
{
if (!ss.isPlatformMoving)
{
MouseMovementControl(Params.MouseMovementType.ToUp, dic["暂停模式选择"]);
}
else
{
dic["U型架下降命令触发"] = true;
}
}
}
}
}
else
{
MouseMovementControl(Params.MouseMovementType.ToStop, dic["暂停模式选择"]);
dic["U型架升降到位"] = true;
}
//调整上夹钳
if (ss.isTopCaliperClamp && dic["下夹钳打开"] && dic["U型架升降到位"])
{
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.TopCaliperOpen), dic["暂停模式选择"]);
}
if (!ss.isTopCaliperClamp)
{
dic["上夹钳打开"] = true;
}
//全部调整完毕以后，执行后续过程
if (dic["上夹钳打开"] && dic["下夹钳打开"] && dic["U型架升降到位"])
{
MsgSend(clientPLC, pd.createCommand(Params.PC2PLCCommandType.CatchSampleRequest), dic["暂停模式选择"]);
tsbAdd_Click(null, null);
dic["拉力机准备就绪"] = true;
}
#endregion
}
else if (dic["样件架样件夹持反馈"] && !dic["拉断后U型架抬升完成"]) //机器人抓取样件完成，送入拉力机位置
{
if (ss.isTopCaliperClamp)
{
Thread.Sleep(3000);
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.Return1), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Return1) });
} //上夹钳闭合，机器人退回
else
{
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.TopCaliperClamp), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.ClampClosing) });
}
if (dic["放入拉力机并返回反馈"])//机器人放入完成
{
if (!ss.isLowCaliperClamp)
{
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.LowCaliperClamp), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.ClampClosing) });
}
if (ss.isLowCaliperClamp && ss.isTopCaliperClamp && !dic["开始试验"]) //开始试验
{
if (Properties.Settings.Default.类别 == "1")
{
//试验版本
MouseMovementControl(Params.MouseMovementType.ToStart, dic["暂停模式选择"]);
if (ss.isPlatformMoving)
{
dic["开始试验"] = true;
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Test) });
}
}
else
{
//模拟测试版本
if (!dic["开始试验"])
{
MouseMovementControl(Params.MouseMovementType.ToUp, dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Test) });
}
if (ss.isPlatformMoving)
{
dic["开始试验"] = true;
if (ss.HeightValue > 830)
{
MouseMovementControl(Params.MouseMovementType.ToStop, dic["暂停模式选择"]);
}
}
}
}
if (dic["开始试验"])
{
if (ss.isPlatformMoving)
{
dic["U型架正在移动"] = true;
}
else
{
i++;
if (i > 5)
{
dic["U型架移动到位并停止"] = true;
}
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.TestFinished) });
}
}
}
if (dic["放入拉力机并返回反馈"] && dic["U型架正在移动"] && dic["U型架移动到位并停止"])//机器人放入样件完成，已经移动且停止（试验完毕）
{
if (!dic["U型架当前高度获得"])
{
V_Height = ss.HeightValue;
dic["U型架当前高度获得"] = true;
}
dic["试验完毕"] = true;
if (Properties.Settings.Default.类别 == "1")
{
MouseMovementControl(Params.MouseMovementType.ToSave, dic["暂停模式选择"]);
Thread.Sleep(2000);
tsbRead_Click(null, null);
if (dic["试验数据保存完成"])
{
fracturePositionResult = dt.Rows[0][53].ToString();//“需要根据数据库文件就行索引修改”
switch (fracturePositionResult)
{
case "中间":
positionFlag = 1;
break;
case "断于下钳口":
positionFlag = 2;
break;
case "断于上钳口":
positionFlag = 3;
break;
}
}
}
dic["拉断后U型架抬升完成"] = true;
}
}
if (dic["样件上半段下料至夹取位反馈"] && !ss.isTopCaliperClamp) //机器人取出上断裂样件后返回
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.Return2), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Return2) });
}
if (dic["样件下半段下料至夹取位反馈"] && !ss.isLowCaliperClamp) //机器人取出下断裂样件后返回
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.Return3), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Return3) });
}
if (dic["样件上半段夹取位到达"])
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.JQ1), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.JQ1) });
if (ss.isTopCaliperClamp)
{
Thread.Sleep(10000);
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.TopCaliperOpen), dic["暂停模式选择"]);
}
}
if (dic["样件下半段夹取位到达"])
{
MsgSend(clientRobot, rd.createCommand(Params.PC2RobotCommandType.JQ2), dic["暂停模式选择"]);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.JQ2) });
if (ss.isLowCaliperClamp)
{
Thread.Sleep(10000);
MsgSend(clientCoder, ma.CommandAnalysis(Params.PC2CoderCommandType.LowCaliperOpen), dic["暂停模式选择"]);
}
}
}
}
#endregion
}
catch (Exception ex)
{
LogRefresh(ipC.iPConfig[ClientIP.Address.ToString()] + e.TcpClient.Client.RemoteEndPoint.ToString() + " has some errors:", ex.Message, dic["测试命令模式"]);
}
}
private void btnPause_Click(object sender, EventArgs e)
{
if (dic["有急停信号"])
{
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Emergency) });
}
else
{
MsgSend(clientPLC, pd.createCommand(Params.PC2PLCCommandType.PS), false);
BeginInvoke(new CheckStateControlDelegate(CheckStateControl), new Object[] { PlatformStatusClassifier.StatusClassifier(Params.ProcessName.Pause) });
}
btnManual.Enabled = true;
dic["暂停模式选择"] = true;
if (dic["开始试验"] && !dic["U型架移动到位并停止"])
{
MouseMovementControl(Params.MouseMovementType.ToStop, dic["暂停模式选择"]);
}
}