protected virtual void OnReceived(TCPEventArgs e)
{
if (MessageReceived != null)
{
MessageReceived(this, e);
}
}
private void AnalyzePLCMessage(object sender, TCPEventArgs e)
{
Debug.WriteLine(e.receivedmessage);
string recStr = e.receivedmessage;
recStr.Replace(" ", "");
string[] recStrArr = recStr.Split(' ');
if (recStrArr[0] == "steps:")
{
Steps.RobotInterface = int.Parse(recStrArr[1]);
Steps.WPCPreStop = int.Parse(recStrArr[2]);
Steps.WPCPosing = int.Parse(recStrArr[3]);
Steps.RFIDCheck = int.Parse(recStrArr[4]);
Steps.PCUSBTest = int.Parse(recStrArr[5]);
Steps.CameraColorTest = int.Parse(recStrArr[6]);
Steps.PCCommandToRobot = int.Parse(recStrArr[7]);
Steps.RobotAssemblyStep = int.Parse(recStrArr[8]);
SetStatesTable();
}
//throw new NotImplementedException();
}
private void Polling()
{
while (mark)
{
try
{
string data = Recieve();
if (data != "")
{
TCPEventArgs args = new TCPEventArgs(data, client);
if (MessageReceived != null)
{
MessageReceived(this, args);
}
//Messages.WriteLine(data);
}
Thread.Sleep(20);
if (isconnect != null)
{
isconnect(IsConnected());
}
}
catch (Exception ex)
{
//Log.WriteLog("网络循环出现错误，信息为" + ex.Message);
}
}
}
public void AnalyzePLCMessage(Object sender, TCPEventArgs e)
{
string str = e.receivedmessage;
if (str == "copy")
{
UdiskCopyTest();
}
Debug.WriteLine(str);
}
/// <summary>
/// 数据接收委托函数
/// </summary>
/// <param name="result">传入参数</param>
protected void DataRec(IAsyncResult result)
{
if (IsOnline())
{
int length = networkstream.EndRead(result); //获取接收数据的长度
List <byte> data = new List <byte>(); //新建byte数组
data.AddRange((byte[])result.AsyncState); //获取数据
data.RemoveRange(length, data.Count - length); //根据长度移除无效的数据
byte[] data2 = new byte[1000]; //重新定义接收缓冲
bool c = tcpclient.Connected;
networkstream.BeginRead(data2, 0, 1000, new AsyncCallback(DataRec), data2); //重新挂起数据的接收等待
//自定义代码区域，处理数据data
//for (int i = 0; i < data.Count;i++ )
//{
// Debug.WriteLine(data[i]);
//}
Encoding receiveEncoding_ = Encoding.UTF8;
string receiveStr = receiveEncoding_.GetString((byte[])result.AsyncState, 0, length);
receivedMessage = receiveStr;
receivedMessageCount++;
// Debug.WriteLine(receiveStr);
TCPEventArgs e = new TCPEventArgs(receiveStr);
OnReceived(e);
if (length == 0)
{
//连接已经关闭
Debug.WriteLine("connection closed by server----------------");
}
}
else
{
ReConnect();
}
}
public void AnalyzePLCMessage(Object sender, TCPEventArgs e)
{
string recStr = e.receivedmessage;
string[] recStrArr = recStr.Split(' ');
//Debug.WriteLine(recStr);
if (recStr == "control system is available")
{
_PLCstate = PLCSTATE.AVAILABLE;
}
else if (recStr == "control system and wpc is ready")
{
_PLCstate = PLCSTATE.READY;
}
else if (recStr == "control system is busy")
{
_PLCstate = PLCSTATE.BUSY;
}
else if (recStrArr[0] == "result:")
{
int taskResult = 0;
int checkRejectReason = 0;
int.TryParse(recStrArr[1], out taskResult);
int.TryParse(recStrArr[2], out checkRejectReason);
if (CurrentMESTask.Force == 0)
{
if (taskResult == 1)
{
TaskInfo.TaskResult = TASKRESULT.GOOD;
}
else
{
TaskInfo.TaskResult = TASKRESULT.NOTGOOD;
}
TaskInfo.RejectReason = (REJECTREASON)checkRejectReason;
}
else if (CurrentMESTask.Force == 1)
{
TaskInfo.TaskResult = TASKRESULT.GOOD;
TaskInfo.RejectReason = (REJECTREASON)0;
}
else if (CurrentMESTask.Force == 2)
{
TaskInfo.TaskResult = TASKRESULT.NOTGOOD;
TaskInfo.RejectReason = (REJECTREASON)REJECTREASON.ForceNG;
}
else
{
Messages.WriteLine("Force Value Error Input");
}
TaskInfo.PQCFilePath = recStrArr[3];
Debug.WriteLine("taskresult is :" + TaskInfo.TaskResult.ToString());
Debug.WriteLine("rejectreason is :" + TaskInfo.RejectReason.ToString());
Debug.WriteLine(recStr);
}
// Debug.WriteLine("anastate: "+ _PLCstate.ToString());
eventWait.Set();
// Debug.WriteLine(recStr);
}
public void AnalyzePLCMessage(Object sender, TCPEventArgs e)
{
PCCameraTcp.Send(e.receivedmessage);
Messages.WriteLine("PLC To PC Camera" + e.receivedmessage);
}
private void AnalyzePCCameraMessage(object sender, TCPEventArgs e)
{
PLCTcp.Send(e.receivedmessage);
Messages.WriteLine("PC Camera to PLC" + e.receivedmessage);
}
