增加位置验证

ABBRobotTest/ABBRobotManager.cs

@@ -14,10 +14,11 @@ namespace ABBRobotTest
     internal class ABBRobotManager
     {
 
-        internal static string DI_Start = "di_start";
-        internal static string DI_Stop = "di_stop";
-        internal static string DO_ES = "do_ES";
-        internal static string DO_IsRun= "do_IsRun";
+        internal static string DI_Start = "di_start";//启动程序
+        internal static string DI_Stop = "di_stop";//停止程序
+        internal static string DO_ES = "do_ES";//急停状态
+        internal static string DO_IsRun= "do_IsRun";//机器人程序运行状态
+        internal static string Do_AutoOn = "do_AutoOn";//是否自动状态
 
         private static NetworkScanner scanner = null;
         // private Controller controller = null;

ABBRobotTest/ABBRobotServer.cs

@@ -22,6 +22,7 @@ namespace ABBRobotTest
         internal static string Cmd_movep = "movep";
         internal static string Cmd_moveget = "moveget";
         internal static string Cmd_moveput = "moveput";
+        internal static string Cmd_validateP = "validateP";
 
         public static Dictionary<string, Client> ClientMap = new Dictionary<string, Client>();
         
@@ -29,7 +30,7 @@ namespace ABBRobotTest
         public static string LastSendPoint = "";
 
         public delegate void OpEnd(string result);
-        private static event OpEnd OnMoveEnd;
+        private static event OpEnd OnCmdEnd;
          
         private static object LockObj = new object();
 
@@ -125,43 +126,50 @@ namespace ABBRobotTest
             }
             else if(msg.Contains(Cmd_movep)&& msg.Contains("OK"))
             {
-                OnMoveEnd?.Invoke(msg);
+                OnCmdEnd?.Invoke(msg);
             }
             else if (msg.Contains(Cmd_moveput) && msg.Contains("OK"))
             { 
-                OnMoveEnd?.Invoke(msg);
+                OnCmdEnd?.Invoke(msg);
             } else if (msg.Contains(Cmd_moveget) && msg.Contains("ok"))
             {
-                OnMoveEnd?.Invoke(msg);
+                OnCmdEnd?.Invoke(msg);
             }
             return false;
         }
 
-        public static void MoveToP(string robotIp, string PointName,   string moveType="L"  , double targetSpeed = 100, OpEnd AfterMove = null)
+        public static void MoveToP(string robotIp, string PointName,   string moveType="L"  , double targetSpeed = 100, OpEnd AfterCmd = null)
         { 
-            ABBRobotServer.OnMoveEnd = AfterMove;
+            ABBRobotServer.OnCmdEnd = AfterCmd;
             SendMovePoint(robotIp, Cmd_movep, PointName,moveType,targetSpeed.ToString());
         }
       
-        public static void MoveToPut(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
+        public static void MoveToPut(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
         { 
-            ABBRobotServer.OnMoveEnd = AfterMove;
+            ABBRobotServer.OnCmdEnd = AfterCmd;
             SendMovePoint(robotIp, Cmd_moveput, PointName, moveType, targetSpeed.ToString());
         }
-        public static void MoveToGet(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
+        public static void MoveToGet(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
         {
-            ABBRobotServer.OnMoveEnd = AfterMove;
+            ABBRobotServer.OnCmdEnd = AfterCmd;
             SendMovePoint(robotIp, Cmd_moveget, PointName, moveType, targetSpeed.ToString());
         }
-        public static void Move(string robotIp, string moveCmd,string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
+        public static void SendCmd(string robotIp, string moveCmd,string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
         {
-            ABBRobotServer.OnMoveEnd = AfterMove;
-            if (moveCmd.Equals(Cmd_moveget) || moveCmd.Equals(Cmd_movep) || moveCmd.Equals(Cmd_moveput))
+            ABBRobotServer.OnCmdEnd = AfterCmd;
+            if (moveCmd.Equals(Cmd_moveget) || moveCmd.Equals(Cmd_movep) || moveCmd.Equals(Cmd_moveput)||moveCmd.Equals(Cmd_validateP))
             {
                 SendMovePoint(robotIp, moveCmd, PointName, moveType, targetSpeed.ToString());
             }
         }
-        private static void SendMovePoint(string robotIp, string param1,string param2,string param3,string param4)
+        public static void ValidateP(string robotIp, string pointName, OpEnd AfterCmd = null)
+        {
+            ABBRobotServer.OnCmdEnd = AfterCmd;
+
+            SendMovePoint(robotIp, Cmd_validateP, pointName);
+
+        }
+        private static void SendMovePoint(string robotIp, string param1,string param2,string param3="L",string param4="10")
         {
             lock (LockObj)
             {

ABBRobotTest/FrmRobotMain.Designer.cs

@@ -209,6 +209,7 @@
             // 
             // comMoveP
             // 
+            this.comMoveP.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.comMoveP.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.comMoveP.FormattingEnabled = true;
             this.comMoveP.Location = new System.Drawing.Point(136, 130);
@@ -227,6 +228,7 @@
             // 
             // comMoveCmd
             // 
+            this.comMoveCmd.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.comMoveCmd.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.comMoveCmd.FormattingEnabled = true;
             this.comMoveCmd.Location = new System.Drawing.Point(136, 75);

ABBRobotTest/FrmRobotMain.cs

@@ -36,14 +36,15 @@ namespace ABBRobotTest
             comMoveCmd.Items.Add(ABBRobotServer.Cmd_movep);
             comMoveCmd.Items.Add(ABBRobotServer.Cmd_moveget);
             comMoveCmd.Items.Add(ABBRobotServer.Cmd_moveput);
+            comMoveCmd.Items.Add(ABBRobotServer.Cmd_validateP);
 
             comMoveP.Items.Clear();
-            for(int i = 0; i < 30; i++)
+            for(int i = 1; i <= 30; i++)
             {
                 comMoveP.Items.Add("p" + i);
             }
             comMoveP.SelectedIndex = 0;
-            comMoveCmd.SelectedIndex = 1;
+            comMoveCmd.SelectedIndex = 0;
 
             radioButton1.Checked = true;
 
@@ -76,13 +77,13 @@ namespace ABBRobotTest
         private void LoadListView()
         {
             this.listView1.Columns.Clear();
-            AddHealder("IPAddress", 100);
-            AddHealder("ID", 80);
+            AddHealder("IPAddress", 150);
+            AddHealder("ID", 180);
             //   AddHealder("设备状态", 100);
-            AddHealder("Availability", 100);
-            AddHealder("IsVirtual", 100);
-            AddHealder("SystemName", 100);
-            AddHealder("Version", 100);
+            AddHealder("Availability", 150);
+            AddHealder("IsVirtual", 150);
+            AddHealder("SystemName", 150);
+            AddHealder("Version", 150);
             AddHealder("ControllerName", 180);
             AddHealder("Statue", 180);
         }
@@ -118,8 +119,7 @@ namespace ABBRobotTest
             int esValue = ABBRobotManager.GetSingalState(SelConIp);
             if (esValue.Equals(1))
             {
-                lblState.Text = "机器人["+SelConIp+"]急停中";
-                lblState.ForeColor = Color.Red;
+                SetMsg("机器人[" + SelConIp + "]急停中", Color.Red); 
             }
             else
             {
@@ -128,11 +128,19 @@ namespace ABBRobotTest
                 int isRun = ABBRobotManager.GetSingalState(SelConIp, ABBRobotManager.DO_IsRun);
                 if (isRun.Equals(1))
                 {
-                    lblState.Text = "机器人程序正常运行中";
-                    lblState.ForeColor = Color.Green;
+                    SetMsg("机器人程序正常运行中", Color.Green); 
+                }
+                else
+                {
+                    SetMsg("机器人[" + SelConIp + "]程序未运行", Color.Red); 
                 }
             }
         }
+        private void SetMsg(string msg,Color foreColor)
+        {
+            lblState.Text = msg;
+            lblState.ForeColor = foreColor;
+        }
 
         private void btnStart_Click(object sender, EventArgs e)
         {
@@ -199,7 +207,7 @@ namespace ABBRobotTest
             {
                 speed = 100;
             }
-            ABBRobotServer.Move(SelConIp, moveCmd, PPoint, MType, speed, MoveEnd);
+            ABBRobotServer.SendCmd(SelConIp, moveCmd, PPoint, MType, speed, MoveEnd);
         }
         private void MoveEnd(string msg)
         {

source/Common/util/TcpServer.cs

@@ -121,7 +121,7 @@ namespace OnlineStore.Common
         }
         private StringBuilder sb = new StringBuilder();             //这个是用来保存：接收到了的，但是还没有结束的消息
         private int receiveBufferSize = 1024;
-        private string terminateString = "\r";
+        private string terminateString = ";";
         public void ReceiveMessages(Client client)            //这个函数会被以线程方式运行
         {
             try