private void pictureBox1_Click(object sender, EventArgs e)
{
if (pictureBox1.Image.Tag.ToString() == "open")
{
pictureBox1.Image = WinFromStart.Properties.Resources.close;
pictureBox1.Image.Tag = "close";
mc.App_Close();
}
else
{
pictureBox1.Image = WinFromStart.Properties.Resources.open;
pictureBox1.Image.Tag = "open";
UdpSever udps = new UdpSever();
udps.eventTrigger += ProtocolAnalysisSE_MainUdp.ProtocolPackageUdpResolver;
udps.Listener(int.Parse(MainStatic.Port));
//解析
Subject sub = new Subject();
sub.DataAnalysis += ProtocolAnalysisSE_Main.ProtocolPackageResolver;
//命令下发
CommandIssued_Main.CommandIssued_MainInit();
sub.CommandSending += CommandIssued_Main.CommandIssuedInitEvent;
mc.App_Open(sub);
}
}
private void fun()
{
while (this.IsHandleCreated && this.IsDisposed == false)
{
this.Invoke(new MethodInvoker(delegate
{
//更新数据
for (int i = 0; i < UdpSever.RegisterNum; i++)
{
doubleBufferListView1.Items[i].SubItems[1].Text = UdpSever.StampToString(UdpSever.Register[deviceNum, i, 1]); //时间戳
doubleBufferListView1.Items[i].SubItems[2].Text = UdpSever.Register[deviceNum, i, 0].ToString(); //十进制
doubleBufferListView1.Items[i].SubItems[3].Text = UdpSever.Register[deviceNum, i, 0].ToString("X2"); //十六进制
doubleBufferListView1.Items[i].SubItems[4].Text = Convert.ToString(UdpSever.Register[deviceNum, i, 0], 2).PadLeft(16, '0'); //二进制
byte[] bt = new byte[2];
bt[0] = (byte)(UdpSever.Register[deviceNum, i, 0] >> 8);
bt[1] = (byte)(UdpSever.Register[deviceNum, i, 0]);
string str = Encoding.GetEncoding("GB2312").GetString(bt, 0, 2).Replace("\0", "");
doubleBufferListView1.Items[i].SubItems[5].Text = str;//ASCII字符串
if (i % 2 == 0)
{
doubleBufferListView1.Items[i].BackColor = Color.FromArgb(200, 0xf5, 0xf6, 0xeb);
}
}
}));
Thread.Sleep(1000);
}
}
private void DataForm_Load(object sender, EventArgs e)
{
UdpSever.ReturnMsg rm = UdpSever.Read_Multiple_Registers(deviceNum, 0, UdpSever.RegisterNum);
if (rm.resault)
{
for (int i = 0; i < rm.DataBuf.Length; i++)
{
UdpSever.Register[deviceNum, i, 0] = rm.DataBuf[i];
UdpSever.Register[deviceNum, i, 1] = UdpSever.DateTimeToStamp(DateTime.Now);
}
}
else
{
UdpSever.Shell.WriteError("错误信息", "读取失败！");
}
//加载数据
for (int i = 0; i < UdpSever.RegisterNum; i++)
{
ListViewItem item = new ListViewItem();
item.Text = i.ToString(); //"寄存器"
item.SubItems.Add(UdpSever.Register[deviceNum, i, 1].ToString()); //"时间戳"
item.SubItems.Add(UdpSever.Register[deviceNum, i, 0].ToString()); //"十进制"
item.SubItems.Add(UdpSever.Register[deviceNum, i, 0].ToString("X2")); // "十六进制"
item.SubItems.Add(Convert.ToString(UdpSever.Register[deviceNum, i, 0], 2).PadLeft(16, '0')); //"二进制"
byte[] bt = new byte[2];
bt[0] = (byte)(UdpSever.Register[deviceNum, i, 0] >> 8);
bt[1] = (byte)(UdpSever.Register[deviceNum, i, 0]);
string str = Encoding.GetEncoding("GB2312").GetString(bt, 0, 2).Replace("\0", "");
item.SubItems.Add(str);//"字符串"
doubleBufferListView1.Items.Add(item);
}
//启动自动更新进程
th = new Thread(fun);
th.Start();
}
private void sendstr(TextBox tx)
{
UdpSever.ReturnMsg returnmsg = new UdpSever.ReturnMsg();
if (tx.Text.Length > 0)
{
byte[] byt = Encoding.Default.GetBytes(textBox_str1.Text);
UInt16 data = 0;
if (byt.Length > 0)
{
if (byt.Length == 1)
{
data = (UInt16)(byt[0]);
}
else
if (byt.Length == 2)
{
data = (UInt16)((byt[0] << 8) | byt[1]);
}
returnmsg = UdpSever.Write_Register(deviceID, registerID, data);
// Console.WriteLine(string.Format("写单个字节结果:{0}\r\n", returnmsg.resault.ToString()));
if (!returnmsg.resault)
{
MessageBox.Show("写入失败！");
}
UdpSever.Register[deviceID, registerID, 0] = data;
}
}
}
private void mainThread()
{
//启动Console信息同步进程
ConsoleThread = new ExThread(ConsoleFunc);
ConsoleThread.Start();
MyConsole.Add("系统启动中...");
MyConsole.Add(string.Format("服务器地址:{0}", UdpSever.ServerAddress));
MyConsole.Add(string.Format("设备数:{0}", UdpSever.DeviceNum));
MyConsole.Add(string.Format("寄存器数:{0}", UdpSever.RegisterNum));
MyConsole.Add(string.Format("单帧数据长度:{0}", UdpSever.FrameLen));
MyConsole.Add(string.Format("心跳周期:{0}秒", UdpSever.HeartCycle));
MyConsole.Add(string.Format("重发次数:{0}", UdpSever.RepeatNum));
MyConsole.Add(string.Format("超时时间:{0}", UdpSever.ResponseTimeout));
MyConsole.Add(string.Format("响应帧缓冲池容量:{0}", UdpSever.RESPONSE_MAX_LEN));
MyConsole.Add(string.Format("设备总数:{0}", UdpSever.DeviceNum));
//测试ModbusTcp服务器连接
Ping pingSender = new Ping();
PingReply reply = pingSender.Send("192.168.250.102", 100);//第一个参数为ip地址，第二个参数为ping的时间
if (reply.Status == IPStatus.Success)
{
MyConsole.Add("ModbusTcp服务器连接成功!", Color.Green);
}
else
{
MyConsole.Add("ModbusTcp服务器连接失败!", Color.Red);
}
#region 获取本机IP，自动开启Dbus服务器
string name = Dns.GetHostName();
IPAddress[] ipadrlist = Dns.GetHostAddresses(name);
foreach (IPAddress ipa in ipadrlist)
{
if (ipa.AddressFamily == AddressFamily.InterNetwork)
{
MyConsole.Add(string.Format("本机IP:[{0}]", ipa));
UdpSever.ipaddress = ipa;
}
}
//自动启动服务器
UdpSever.Resault rs = UdpSever.Start();
//更新界面
udpConfigForm_MyEvent();
#endregion
#region 启动任务界面
this.Invoke(new MethodInvoker(delegate
{
taskForm.TopLevel = false;
taskForm.Parent = splitContainer3.Panel1;
taskForm.Show(); //弹出这个窗口
taskForm.Focus(); //激活显示
}));
#endregion
}
//读多个寄存器
private void button1_Click(object sender, EventArgs e)
{
//UdpSever.Log("debug", "开始执行{0}", DateTime.Now.ToLocalTime());
var bb = sender as Button;
bb.Enabled = false;
UdpSever.ReturnMsg rm = UdpSever.Read_Multiple_Registers(deviceNum, 0, 128);
bb.Enabled = true;
//UdpSever.Log("debug", "结束{0}", DateTime.Now.ToLocalTime());
}
private async void WriteRegister(Button bb, int reg, int data, string str)
{
await Task.Run(() =>
{
UdpSever.Write_Register(deviceNum, reg, data);
});
//UdpSever.Log("debug", str);
bb.Enabled = true;
}
private void fun()
{
while (true)
{
Thread.Sleep(50);
this.Invoke(new MethodInvoker(delegate
{
//更新数据
label_Hex.Text = UdpSever.Register[deviceID, registerID, 0].ToString("X2"); //十六进制
label_Dec.Text = UdpSever.Register[deviceID, registerID, 0].ToString(); //十进制
string bin = Convert.ToString(UdpSever.Register[deviceID, registerID, 0], 2).PadLeft(16, '0');//二进制
byte[] bt = new byte[2];
bt[0] = (byte)(UdpSever.Register[deviceID, registerID, 0] >> 8);
bt[1] = (byte)(UdpSever.Register[deviceID, registerID, 0]);
string str = Encoding.GetEncoding("GB2312").GetString(bt, 0, 2).Replace("\0", "");
label_str.Text = str;//ASCII字符串
//显示时间
DateTime dtstart = TimeZone.CurrentTimeZone.ToLocalTime(new DateTime(1970, 1, 1));
long itime = long.Parse(UdpSever.Register[deviceID, registerID, 1] + "0000000");
TimeSpan tonow = new TimeSpan(itime);
label_updataTime.Text = UdpSever.StampToString(UdpSever.Register[deviceID, registerID, 1]);
//label_updataTime.Text = dtstart.Add(tonow).ToLongDateString() + " " + dtstart.Add(tonow).ToLongTimeString();
string b = string.Empty;
for (int i = 0; i < 16; i++)
{
b = "button_" + i.ToString();
((Button)this.Controls.Find(b, true)[0]).Text = bin.Substring(15 - i, 1);
}
Color trueColor = Color.Green;
Color falseColor = Color.Red;
for (int i = 0; i < 16; i++)
{
b = "button_" + i.ToString();
Button btn = ((Button)this.Controls.Find(b, true)[0]);
if (btn.Text == "0")
{
btn.BackColor = falseColor;
}
else
{
btn.BackColor = trueColor;
}
}
}));
}
}
private void MDIParent1_FormClosing(object sender, FormClosingEventArgs e)
{
if (MessageBox.Show("真的要退出程序吗？", "退出程序", MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
e.Cancel = true;
}
else
if (UdpSever.State)//如果服务器运行，则关闭服务器
{
UdpSever.Stop();
}
}
//写多个寄存器
private void button2_Click(object sender, EventArgs e)
{
Random rd = new Random();
UInt16[] data = new ushort[128];
for (int i = 0; i < data.Length; i++)
{
data[i] = (ushort)(rd.Next(1, 1000));
}
UdpSever.ReturnMsg rm = UdpSever.Write_Multiple_Registers(deviceNum, 0, 128, data);
//Console.WriteLine("写入结果:\r\n{0}", rm.ToString());
}
private void MDIParent1_Load(object sender, EventArgs e)
{
//初始化系统参数
XmlHelper.InitDebug();
int delay = 30;
UdpSever.Shell.WriteNotice(delay, "系统消息", "系统启动...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "加载调试信息...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "获取本机IP...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "加载服务器配置...");
UdpSever.Shell.WriteLine(delay, "[服务器][服务器地址][ServerAddress][{0}]", UdpSever.ServerAddress);
UdpSever.Shell.WriteLine(delay, "[服务器][设备数][DeviceNum][{0}]", UdpSever.DeviceNum);
UdpSever.Shell.WriteLine(delay, "[服务器][寄存器数][RegisterNum][{0}]", UdpSever.RegisterNum);
UdpSever.Shell.WriteLine(delay, "[服务器][单帧数据长度][FrameLen][{0}]", UdpSever.FrameLen);
UdpSever.Shell.WriteLine(delay, "[服务器][心跳周期][HeartCycle][{0}]秒", UdpSever.HeartCycle);
UdpSever.Shell.WriteLine(delay, "[服务器][重发次数][RepeatNum][{0}]", UdpSever.RepeatNum);
UdpSever.Shell.WriteLine(delay, "[服务器][超时时间][ResponseTimeout][{0}]", UdpSever.ResponseTimeout);
UdpSever.Shell.WriteLine(delay, "[服务器][响应帧缓冲池容量][RESPONSE_MAX_LEN][{0}]", UdpSever.RESPONSE_MAX_LEN);
UdpSever.Shell.WriteLine(delay, "[服务器][设备总数][DeviceNum][{0}]\r\n", UdpSever.DeviceNum);
#region 获取本机IP，自动开启服务器
string name = Dns.GetHostName();
IPAddress[] ipadrlist = Dns.GetHostAddresses(name);
foreach (IPAddress ipa in ipadrlist)
{
if (ipa.AddressFamily == AddressFamily.InterNetwork)
{
UdpSever.ipaddress = ipa;
UdpSever.Shell.WriteNotice(delay, "系统消息", "本机IP:[{0}]", ipa.ToString());
string str = Ini.Read("网络配置", "Port");
if (str != "null")
{
UdpSever.port = int.Parse(str);
}
UdpSever.Shell.WriteNotice(delay, "系统消息", "本机端口:[{0}]", str);
}
}
//自动启动服务器
UdpSever.Resault rs = UdpSever.Start();
//更新界面
udpConfigForm_MyEvent();
#endregion
treeView1.Nodes.Clear();
}
private void button_0_Click(object sender, EventArgs e)
{
Int64 data = UdpSever.Register[deviceID, registerID, 0];
data ^= 1;
UdpSever.ReturnMsg returnmsg = new UdpSever.ReturnMsg();
returnmsg = UdpSever.Write_Register(deviceID, registerID, (UInt16)data);
//Console.WriteLine(string.Format("写单个字节结果:{0}\r\n", returnmsg.resault.ToString()));
if (!returnmsg.resault)
{
MessageBox.Show("写入失败！");
}
}
//设置多个数据
public static void SetRegister(int deviceAddress, int start, int end)
{
ushort[] temp;
string Msg = string.Format("设置:{0,-2}-{1,-2}", start, end);
////检测待写入数据和上次写入是否有变化
//for (int i = start; i <= end; i++)
//{
// if (UdpSever.Register[deviceAddress, i, 0] != DbusCompare[deviceAddress, i])
// {
// temp = new ushort[end - start + 1];
// for (int j = start; j <= end; j++)
// {
// temp[j - start] = (ushort)UdpSever.Register[deviceAddress, j, 0];
// }
// UdpSever.ReturnMsg mg = UdpSever.Write_Multiple_Registers(deviceAddress, start, end - start + 1, temp);
// //发送成功，更新比较数组
// if (mg.resault)
// {
// for (int j = start; j <= end; j++)
// {
// DbusCompare[deviceAddress, j] = temp[j];
// }
// }
// else
// ConsoleLog.WriteLog(string.Format("Dbus操作失败!:[{0}]", Msg), Color.Red, 20);
// break;
// }
//}
//检测待写入数据和上次写入是否有变化
temp = new ushort[end - start + 1];
for (int j = start; j <= end; j++)
{
temp[j - start] = (ushort)UdpSever.Register[deviceAddress, j, 0];
}
UdpSever.Post_Multiple_Registers(deviceAddress, start, end - start + 1, temp);
//if (mg.resault == false)
// ConsoleLog.WriteLog(string.Format("Dbus操作失败!:[{0}]", Msg), Color.Red, 20);
}
private void WriteRegister()
{
while (true)
{
Thread.Sleep(10);
try
{
if (checkBoxWriteRegister.Checked)
{
int time = int.Parse(textBoxWriteRegisterTime.Text);
if (time > 1)
{
Thread.Sleep(time);
}
UInt16 value = 0;
switch (WriteRegisterState)
{
case "固定值":
value = UInt16.Parse(textBoxWriteRegisterValue.Text);
break;
case "随机数":
value = (ushort)rd.Next(0, 65535);
break;
case "顺序循环":
value = WriterRegisterValue++;
break;
default:
break;
}
UdpSever.Post_Register(LocalAddress, TargetAddress, int.Parse(textBoxWriteRegisterAddress.Text), value, endPoint);
lbLedWriteRegister.Trigger = true;
}
}
catch //(Exception)
{
// throw;
}
}
}
private void senddec(TextBox tx)
{
UdpSever.ReturnMsg returnmsg = new UdpSever.ReturnMsg();
try
{
if (tx.Text.Length > 0)
{
UInt16 data = UInt16.Parse(tx.Text);
returnmsg = UdpSever.Write_Register(deviceID, registerID, data);
// Console.WriteLine(string.Format("写单个字节结果:{0}\r\n", returnmsg.resault.ToString()));
if (!returnmsg.resault)
{
MessageBox.Show("写入失败！");
}
}
}
catch
{
}
}
//设置单个数据
public static void SetRegister(int deviceAddress, int start)
{
string Msg = string.Format("设置:{0,-2}", start);
UdpSever.Post_Register(deviceAddress, start, (ushort)UdpSever.Register[deviceAddress, start, 0]);
//if (mg.resault == false)
// ConsoleLog.WriteLog(string.Format("Dbus操作失败!:[{0}]", Msg), Color.Red, 20);
//if (UdpSever.Register[deviceAddress, start, 0] != DbusCompare[deviceAddress, start])
//{
// UdpSever.ReturnMsg mg = UdpSever.Write_Register(deviceAddress, start, (ushort)UdpSever.Register[deviceAddress, start, 0]);
// //发送成功，更新比较数组
// if (mg.resault)
// {
// DbusCompare[deviceAddress, start] = (ushort)UdpSever.Register[deviceAddress, start, 0];
// }
// else
// ConsoleLog.WriteLog(string.Format("Dbus操作失败!:[{0}]", Msg), Color.Red, 20);
//}
}
// 启动或停止服务
private void UdpStartStop(object sender, EventArgs e)
{
if (UdpSever.State)//启动状态
{
UdpSever.Resault rs = UdpSever.Stop();
if (rs.Reault)
{
buttonStart.Text = "启动";
textBoxIP.ReadOnly = false;
textBoxPort.ReadOnly = false;
//MessageBox.Show(rs.Message, "提示");
this.Close();
}
else
{
MessageBox.Show(rs.Message, "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else//停止状态
{
UdpSever.ipaddress = IPAddress.Parse(textBoxIP.Text);
UdpSever.port = int.Parse(textBoxPort.Text);
UdpSever.Resault rs = UdpSever.Start();
if (rs.Reault)
{
buttonStart.Text = "停止";
textBoxIP.ReadOnly = true;
textBoxPort.ReadOnly = true;
this.Close();
//MessageBox.Show(rs.Message, "提示");
}
else
{
MessageBox.Show(rs.Message, "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
//触发事件
MyEvent();
}
private void button_write_Click(object sender, EventArgs e)
{
UInt16 value = 0;
switch (WriteRegisterState)
{
case "固定值":
value = UInt16.Parse(textBoxWriteRegisterValue.Text);
break;
case "随机数":
value = (ushort)rd.Next(0, 65535);
break;
case "顺序循环":
value = WriterRegisterValue++;
break;
default:
break;
}
UdpSever.Write_Register(LocalAddress, TargetAddress, int.Parse(textBoxWriteRegisterAddress.Text), value, endPoint);
lbLedWriteRegister.Trigger = true;
}
//心跳
private void Heart()
{
while (true)
{
Thread.Sleep(10);
try
{
if (checkBoxHeart.Checked)
{
int time = int.Parse(textBoxTimeHeart.Text);
if (time > 1)
{
Thread.Sleep(time);
}
UdpSever.Heart(LocalAddress, TargetAddress, endPoint);
lbLedHeart.Trigger = true;
}
}
catch //(Exception)
{
// throw;
}
}
}
/// <summary>
/// 更新界面
/// </summary>
/// <param name="change">有变化才更新</param>
private void update(bool change)
{
var num = 0;
var reg = 51;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "电量";
dataGridView1.Rows[num].Cells[3].Value = string.Format("{0}%", UdpSever.Register[deviceNum, reg, 0]);
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 1;
reg = 52;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "电压";
dataGridView1.Rows[num].Cells[3].Value = string.Format("{0}mV", UdpSever.Register[deviceNum, reg, 0]);
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 2;
reg = 53;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "电池循环次数";
dataGridView1.Rows[num].Cells[3].Value = string.Format("{0}次", UdpSever.Register[deviceNum, reg, 0]);
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 3;
reg = 54;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "低电压报警阈值";
dataGridView1.Rows[num].Cells[3].Value = string.Format("{0}%", UdpSever.Register[deviceNum, reg, 0]);
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 4;
reg = 55;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "当前速度档位";
switch (UdpSever.Register[deviceNum, reg, 0])
{
case 0:
dataGridView1.Rows[num].Cells[3].Value = "高速";
break;
case 1:
dataGridView1.Rows[num].Cells[3].Value = "中速";
break;
case 2:
dataGridView1.Rows[num].Cells[3].Value = "低速";
break;
case 3:
dataGridView1.Rows[num].Cells[3].Value = "对接速度";
break;
}
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 5;
reg = 56;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "当前模式";
dataGridView1.Rows[num].Cells[3].Value = UdpSever.Register[deviceNum, reg, 0] == 0 ? "自动" : "手动";
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 6;
reg = 57;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "当前方向";
dataGridView1.Rows[num].Cells[3].Value = UdpSever.Register[deviceNum, reg, 0] == 0 ? "前进" : "后退";
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 7;
reg = 58;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "当前分叉";
switch (UdpSever.Register[deviceNum, reg, 0])
{
case 1:
dataGridView1.Rows[num].Cells[3].Value = "左分叉";
break;
case 2:
dataGridView1.Rows[num].Cells[3].Value = "右分叉";
break;
case 11:
dataGridView1.Rows[num].Cells[3].Value = "前左分叉";
break;
case 12:
dataGridView1.Rows[num].Cells[3].Value = "前左分叉";
break;
case 21:
dataGridView1.Rows[num].Cells[3].Value = "后左分叉";
break;
case 22:
dataGridView1.Rows[num].Cells[3].Value = "后又分叉";
break;
}
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 8;
reg = 59;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "磁导航1";
dataGridView1.Rows[num].Cells[3].Value = Convert.ToString(UdpSever.Register[deviceNum, reg, 0], 2).PadLeft(16, '0');
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 9;
reg = 60;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "磁导航2";
dataGridView1.Rows[num].Cells[3].Value = Convert.ToString(UdpSever.Register[deviceNum, reg, 0], 2).PadLeft(16, '0');
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 10;
reg = 61;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "磁导航3";
dataGridView1.Rows[num].Cells[3].Value = Convert.ToString(UdpSever.Register[deviceNum, reg, 0], 2).PadLeft(16, '0');
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 11;
reg = 62;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "磁导航4";
dataGridView1.Rows[num].Cells[3].Value = Convert.ToString(UdpSever.Register[deviceNum, reg, 0], 2).PadLeft(16, '0');
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 12;
reg = 63;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "急停状态";
dataGridView1.Rows[num].Cells[3].Value = UdpSever.Register[deviceNum, reg, 0] == 0 ? "正常" : "急停";
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 13;
reg = 64;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "滚筒左侧红外";
dataGridView1.Rows[num].Cells[3].Value = UdpSever.Register[deviceNum, reg, 0] == 0 ? "正常" : "触发";
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 14;
reg = 65;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "滚筒右侧红外";
dataGridView1.Rows[num].Cells[3].Value = UdpSever.Register[deviceNum, reg, 0] == 0 ? "正常" : "触发";
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 15;
reg = 8;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "运行状态";
switch (UdpSever.Register[deviceNum, reg, 0])
{
case 0:
dataGridView1.Rows[num].Cells[3].Value = "未就绪";
break;
case 1:
dataGridView1.Rows[num].Cells[3].Value = "运行";
break;
case 2:
dataGridView1.Rows[num].Cells[3].Value = "就绪";
break;
case 3:
dataGridView1.Rows[num].Cells[3].Value = "充电";
break;
default:
break;
}
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
num = 16;
reg = 9;
if (comparebuf[reg] != UdpSever.Register[deviceNum, reg, 0] || change)
{
dataGridView1.Rows[num].Cells[0].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "yyyy - MM - dd");
dataGridView1.Rows[num].Cells[1].Value = UdpSever.StampToString(UdpSever.Register[deviceNum, reg, 1], "HH: mm:ss");
dataGridView1.Rows[num].Cells[2].Value = "报警信息";
string temp = string.Empty;
if (UdpSever.Register[deviceNum, reg, 0] == 0)
{
temp = "正常";
}
else
{
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 1)) > 0)
{
temp += "[机械碰撞]";
}
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 2)) > 0)
{
temp += "[出轨]";
}
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 3)) > 0)
{
temp += "[红外避障]";
}
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 4)) > 0)
{
temp += "[电量低]";
}
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 5)) > 0)
{
temp += "[驱动断电]";
}
if ((UdpSever.Register[deviceNum, reg, 0] & (0x0001 << 6)) > 0)
{
temp += "[地标出错]";
}
}
dataGridView1.Rows[num].Cells[3].Value = temp;
comparebuf[reg] = UdpSever.Register[deviceNum, reg, 0];
}
}
private void MDIParent1_Load(object sender, EventArgs e)
{
//初始化系统参数
XmlHelper.InitDebug();
int delay = 30;
UdpSever.Shell.WriteNotice(delay, "系统消息", "系统启动...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "加载调试信息...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "获取本机IP...");
UdpSever.Shell.WriteNotice(delay, "系统消息", "加载服务器配置...");
UdpSever.Shell.WriteLine(delay, "[服务器][服务器地址][ServerAddress][{0}]", UdpSever.ServerAddress);
UdpSever.Shell.WriteLine(delay, "[服务器][设备数][DeviceNum][{0}]", UdpSever.DeviceNum);
UdpSever.Shell.WriteLine(delay, "[服务器][寄存器数][RegisterNum][{0}]", UdpSever.RegisterNum);
UdpSever.Shell.WriteLine(delay, "[服务器][单帧数据长度][FrameLen][{0}]", UdpSever.FrameLen);
UdpSever.Shell.WriteLine(delay, "[服务器][心跳周期][HeartCycle][{0}]秒", UdpSever.HeartCycle);
UdpSever.Shell.WriteLine(delay, "[服务器][重发次数][RepeatNum][{0}]", UdpSever.RepeatNum);
UdpSever.Shell.WriteLine(delay, "[服务器][超时时间][ResponseTimeout][{0}]", UdpSever.ResponseTimeout);
UdpSever.Shell.WriteLine(delay, "[服务器][响应帧缓冲池容量][RESPONSE_MAX_LEN][{0}]", UdpSever.RESPONSE_MAX_LEN);
UdpSever.Shell.WriteLine(delay, "[服务器][设备总数][DeviceNum][{0}]\r\n", UdpSever.DeviceNum);
#region 获取本机IP，自动开启服务器
string name = Dns.GetHostName();
IPAddress[] ipadrlist = Dns.GetHostAddresses(name);
foreach (IPAddress ipa in ipadrlist)
{
if (ipa.AddressFamily == AddressFamily.InterNetwork)
{
UdpSever.Shell.WriteNotice(delay, "系统消息", "本机IP:[{0}]", ipa.ToString());
UdpSever.ipaddress = ipa;
}
}
//自动启动服务器
UdpSever.Resault rs = UdpSever.Start();
//更新界面
udpConfigForm_MyEvent();
#endregion
treeView1.Nodes.Clear();
try
{
if (listenForm.IsDisposed != true)
{
listenForm.Show(); //弹出这个窗口
listenForm.Focus(); //激活显示
}
else
{
listenForm = new ListenForm();
listenForm.Show(); //弹出这个窗口
listenForm.Focus(); //激活显示
}
}
catch
{
}
}
private void button1_Click(object sender, EventArgs e)
{
//读取寄存器值
UdpSever.ReturnMsg rm = UdpSever.Read_Register(deviceNum, 1);
Console.WriteLine("读取结果:{0},{1}", rm.resault, rm.Data.ToString("X2"));
}
/// <summary>
/// 任务方法
/// </summary>
private void taskFunc()
{
//this.Invoke(new MethodInvoker(delegate
//{
while (true)
{
#region 判断MES是否有新任务
if (TaskData.Modbus[(int)TaskData.RegBind.newTask] == 0x11)
{
//加入任务队列
Task task = new Task();
task.TaskNum = TaskData.Modbus[(int)TaskData.RegBind.taskNum];
task.Level = TaskData.Modbus[(int)TaskData.RegBind.taskLevel];
task.LineNum = TaskData.Modbus[(int)TaskData.RegBind.lineNum];
TaskData.taskWaiting.Add(task);
//按优先级排序(降序)
TaskData.taskWaiting = TaskData.taskWaiting.OrderByDescending(s => s.Level).ToList();
//按下单时间排序(升序)
//TaskData.taskWaiting = TaskData.taskWaiting.OrderBy(s => s.Level).ToList();
this.Invoke(new MethodInvoker(delegate
{
//更新到界面
var index = dataGridViewWaiting.Rows.Add();
//序号
dataGridViewWaiting.Rows[index].Cells[0].Value = index;
//任务编号
dataGridViewWaiting.Rows[index].Cells[1].Value = task.TaskNum;
//产线编号
dataGridViewWaiting.Rows[index].Cells[2].Value = task.LineNum;
//下单时间
dataGridViewWaiting.Rows[index].Cells[3].Value = task.CreatTime.ToString("yyyy-MM-dd HH:mm:ss");
//任务优先级
dataGridViewWaiting.Rows[index].Cells[4].Value = task.Level;
}));
//清除MES任务标志寄存器
modbusMaster.WriteSingleRegister((int)TaskData.RegBind.newTask, 0);
}
#endregion
#region 派发任务到AGV
//有需要完成的任务
if (TaskData.taskWaiting.Count > 0)
{
//1号产线有空闲的AGV
if (TaskData.AGV1.state == (int)Agv.State.Ready)
{
for (int i = 0; i < TaskData.taskWaiting.Count; i++)
{
//1号产线有任务
if (TaskData.taskWaiting[i].LineNum == 1)
{
//将1号产线的任务分配给1号车
ushort[] temp = new ushort[2];
temp[0] = 0x11; //有新任务 8
temp[1] = (ushort)TaskData.taskWaiting[i].TaskNum; //任务编号 9
//下发到AGV
UdpSever.Write_Multiple_Registers(1, 8, 2, temp);
//更新任务状态
TaskData.taskWaiting[i].StartTime = DateTime.Now; //任务启动时间
TaskData.taskWaiting[i].AgvNum = TaskData.AGV1.AgvNum; //执行该任务的AGV编号
//将该任务转至正在进行任务列表
TaskData.taskRuning.Add(TaskData.taskWaiting[i]);
//将该任务从等待执行任务列表删除
TaskData.taskWaiting.RemoveAt(i);
break;
}
}
}
//2号产线有空闲的AGV
if (TaskData.AGV2.state == (int)Agv.State.Ready)
{
for (int i = 0; i < TaskData.taskWaiting.Count; i++)
{
//2号产线有任务
if (TaskData.taskWaiting[i].LineNum == 2)
{
//将2号产线的任务分配给2号车
ushort[] temp = new ushort[2];
temp[0] = 0x11; //有任务
temp[1] = (ushort)TaskData.taskWaiting[i].TaskNum; //任务编号
//下发到AGV
UdpSever.Write_Multiple_Registers(2, 8, 2, temp);
//更新任务状态
TaskData.taskWaiting[i].StartTime = DateTime.Now; //任务启动时间
TaskData.taskWaiting[i].AgvNum = TaskData.AGV2.AgvNum; //执行该任务的AGV编号
//将该任务转至正在进行任务列表
TaskData.taskRuning.Add(TaskData.taskWaiting[i]);
//将该任务从等待执行任务列表删除
TaskData.taskWaiting.RemoveAt(i);
break;
}
}
}
}
#endregion
#region 更新任务执行状态
//是否有正在执行的任务
if (TaskData.taskRuning.Count > 0)
{
for (int i = 0; i < TaskData.taskRuning.Count; i++)
{
//判断任务是否执行完成
if (UdpSever.Register[TaskData.taskRuning[i].AgvNum, 10, 0] == 0x12)
{
//正在执行
TaskData.taskRuning[i].TaskState = (int)TaskRunState.Runing;
}
else if (UdpSever.Register[TaskData.taskRuning[i].AgvNum, 10, 0] == 0x13)
{
//执行完成
TaskData.taskRuning[i].TaskState = (int)TaskRunState.Finished;
//将该任务转至执行完成任务列表
TaskData.taskFinished.Add(TaskData.taskRuning[i]);
//将该任务从正在执行任务列表删除
TaskData.taskRuning.RemoveAt(i);
//清空AGV执行状态标志位，AGV收到该信号后为设置车为空闲状态
UdpSever.Write_Register(TaskData.taskRuning[i].AgvNum, 10, 0x11);
}
}
}
#endregion
#region 更新AGV状态
//AGV1
TaskData.AGV1.Connect = false;
TaskData.AGV1.state = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 1, 0];
TaskData.AGV1.Process = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 2, 0];
TaskData.AGV1.Route = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 3, 0];
TaskData.AGV1.Station = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 4, 0];
TaskData.AGV1.Power = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 5, 0];
TaskData.AGV1.Speed = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 6, 0];
TaskData.AGV1.error = (ushort)UdpSever.Register[TaskData.AGV1.AgvNum, 7, 0];
//AGV2
TaskData.AGV2.Connect = false;
TaskData.AGV2.state = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 1, 0];
TaskData.AGV2.Process = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 2, 0];
TaskData.AGV2.Route = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 3, 0];
TaskData.AGV2.Station = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 4, 0];
TaskData.AGV2.Power = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 5, 0];
TaskData.AGV2.Speed = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 6, 0];
TaskData.AGV2.error = (ushort)UdpSever.Register[TaskData.AGV2.AgvNum, 7, 0];
#endregion
#region 更新任务界面
//未进行任务
//dataGridViewWaiting.Rows.Clear();
//foreach (var item in TaskData.taskWaiting)
//{
// var index = this.dataGridViewWaiting.Rows.Add();
// this.dataGridViewWaiting.Rows[index].Cells[0].Value = item.TaskNum;
// this.dataGridViewWaiting.Rows[index].Cells[1].Value = item.CmdTime.ToString("yyyy-MM-dd HH:mm:ss");
// this.dataGridViewWaiting.Rows[index].Cells[2].Value = item.TaskState;
// this.dataGridViewWaiting.Rows[index].Cells[3].Value = item.AgvNum;
// this.dataGridViewWaiting.Rows[index].Cells[4].Value = item.Connect;
// this.dataGridViewWaiting.Rows[index].Cells[5].Value = item.Route;
// this.dataGridViewWaiting.Rows[index].Cells[6].Value = item.Station;
// this.dataGridViewWaiting.Rows[index].Cells[7].Value = item.Power;
// this.dataGridViewWaiting.Rows[index].Cells[8].Value = item.Speed;
// this.dataGridViewWaiting.Rows[index].Cells[9].Value = item.AgvState;
// this.dataGridViewWaiting.Rows[index].Cells[10].Value = item.Error;
//}
//进行中任务
//已完成任务
#endregion
Thread.Sleep(TaskData.Parameter.taskFuncTime);
}
//}));
}
