public static void ProcessTcpServerMessage()
{
if (m_MyTcpServer != null)
{
while (m_MyTcpServer.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = m_MyTcpServer.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_PLC) // 处理和PLC之间的消息
{
if (TempMeas.MeasCode == (byte)Message.MessageCodePLC.GetCurStationState)
{
NetworkStream stream = TempMeas.Client.GetStream();
TempMeas.Param[7] = GetStationCurState(); //工作站运行状态
TempMeas.Param[8] = GetStationSalverState(); //物料盘的状态
TempMeas.Param[TempMeas.Param.Length - 2] = MyMath.CalculateSum(TempMeas.Param, TempMeas.Param.Length); //校验和
stream.Write(TempMeas.Param, 0, TempMeas.Param.Length);
}
}
else if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_MIS) //处理和MIS之间的消息
{
}
}
}
}
}
public static void ProcessArmControlerMessage(Board board, TcpMeas meassage)
{
if (meassage != null)
{
ArmCommandCode Code = (ArmCommandCode)meassage.MeasCode;
switch (Code)
{
case ArmCommandCode.GetOutput: //读取输出口缓冲区数据
{
} break;
case ArmCommandCode.GetInput: //读取输入口的IO
{
int DataIndex = Message.MessageCommandIndex + 1;
uint dataInput = (uint)meassage.Param[DataIndex + 3] * 0x1000000
+ (uint)meassage.Param[DataIndex + 2] * 0x10000
+ (uint)meassage.Param[DataIndex + 1] * 0x100
+ (uint)meassage.Param[DataIndex + 0];
m_ArmControler.SetInputPoint(board, dataInput);
ProcessArmControlerInputPoint(board);
} break;
case ArmCommandCode.GetAxisStepsAbs:
{
int DataIndex = Message.MessageCommandIndex + 2;
uint steps = (uint)meassage.Param[DataIndex + 3] * 0x1000000
+ (uint)meassage.Param[DataIndex + 2] * 0x10000
+ (uint)meassage.Param[DataIndex + 1] * 0x100
+ (uint)meassage.Param[DataIndex + 0];
Axis axis = (Axis)meassage.Param[Message.MessageCommandIndex + 1];
m_ArmControler.SetAxisPostion(axis, steps);
ProcessArmControlerAxisPosition(board);
}
break;
case ArmCommandCode.GetAxisState:
{
Axis AxisNum = (Axis)meassage.Param[Message.MessageCommandIndex + 1];
byte State = meassage.Param[Message.MessageCommandIndex + 2];
m_ArmControler.SetAxisState(AxisNum, State);
}
break;
default:
break;
}
}
}
public static void ProcessCameraMessage(TcpMeas meassage)
{
if (meassage != null)
{
Message.MessageCodeCamera Code = (Message.MessageCodeCamera)meassage.MeasCode;
switch (Code)
{
case Message.MessageCodeCamera.GetCameraCoords:
break;
default:
break;
}
}
}
public static void ProcessTcpClientMessage()
{
//作为客户端处理所有Arm控制板的消息
for (int i = 0; i < m_ArmControler.m_MyTcpClientArm.Length; i++)
{
MyTcpClient Client = m_ArmControler.m_MyTcpClientArm[i];
if (Client != null && Client.IsConnected)
{
while (Client.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = Client.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_ARM) // 处理和ARM之间的消息
{
ProcessArmControlerMessage((Board)i, TempMeas);
}
}
#if DebugTest
Debug.WriteLine(BitConverter.ToString(TempMeas.Param));
#endif
}
}
}
//作为客户端处理相机的消息
if (m_MyTcpClientVisual != null && m_MyTcpClientVisual.IsConnected)
{
while (m_MyTcpClientVisual.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = m_MyTcpClientVisual.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_CAMERA) // 处理和相机之间的消息
{
ProcessCameraMessage(TempMeas);
}
}
}
}
}
/// <summary>
/// 解析数据,收到一包有效数据后,添加到消息队列
/// </summary>
/// <param name="recvBytes">接收到的数据</param>
/// <param name="recvCount">接收到的数据长度</param>
/// <param name="client">客户端</param>
/// <param name="parseCount">解析计数器</param>
/// <param name="arrayParse">解析缓冲区</param>
public void ParseAndAddMessageToQueue(byte[] RecvBytes, int RecvCount, TcpClient Client, ref int parseCount, byte[] arrayParse)
{
//匹配比较数组, -1表示不需要比较,忽略
int[] arrayCompare = new int[Message.MessageLength]
{
Message.MessStartCode, Message.MessVID1, Message.MessVID2, -1, Message.MessRightState, -1, Message.MessStationCode, -1,
-1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, Message.MessEndCode,
};
for (int i = 0; i < RecvCount; i++)
{
if (arrayCompare[parseCount] != -1) //需要匹配
{
if (RecvBytes[i] == arrayCompare[parseCount]) //相等
{
arrayParse[parseCount++] = RecvBytes[i];
}
else //不相等,复位计数器
{
parseCount = 0;
}
}
else //不需要比较,直接赋值,并更新计数器
{
arrayParse[parseCount++] = RecvBytes[i];
}
if (parseCount >= Message.MessageLength)
{
parseCount = 0; //和校验
if (MyMath.CheckSum(arrayParse, Message.MessageLength)) //分析数据，把数据添加到队列m_TcpMeas
{
TcpMeasType MeasType = TcpMeasType.MEAS_TYPE_NONE;
byte MeasCode = 0;
if (arrayParse[Message.MessageCommandIndex] == (byte)Message.MessageCodePLC.GetCurStationState) //根据命令码区分消息类型
{
MeasType = TcpMeasType.MEAS_TYPE_PLC;
MeasCode = arrayParse[Message.MessageCommandIndex];
}
TcpMeas TempMeas = new TcpMeas();
if (TempMeas != null)
{
TempMeas.Client = Client;
TempMeas.MeasType = MeasType;
TempMeas.MeasCode = MeasCode;
Array.Copy(RecvBytes, TempMeas.Param, TempMeas.Param.Length);
m_RecvMeasQueue.Enqueue(TempMeas);
}
}
else //校验和错误,则更新错误码后发回
{
arrayParse[Message.MessageStateIndex] = Message.MessErrorState;
using (NetworkStream stream = Client.GetStream())
{
stream.Write(arrayParse, 0, arrayParse.Length);
}
}
}
}
}