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Commit 07b72b9c 由 几米阳光
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机器人调试修改

1 个父辈 55b8cbcc
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内嵌 并排
正在显示 8 个修改的文件 包含 67 行增加 和 84 行删除
Common/Common.csproj
...@@ -95,7 +95,6 @@ ...@@ -95,7 +95,6 @@
<Compile Include="util\AcSerialBean.cs" /> <Compile Include="util\AcSerialBean.cs" />
<Compile Include="util\SerialBean.cs" /> <Compile Include="util\SerialBean.cs" />
<Compile Include="util\StringUtil.cs" /> <Compile Include="util\StringUtil.cs" />
<Compile Include="util\URTcpClient.cs" />
<Compile Include="util\TcpClient.cs" /> <Compile Include="util\TcpClient.cs" />
<Compile Include="util\TcpServer.cs" /> <Compile Include="util\TcpServer.cs" />
<Compile Include="util\WaitUtil.cs" /> <Compile Include="util\WaitUtil.cs" />
......
Common/logs/LogUtil.cs
...@@ -188,7 +188,10 @@ namespace URSoldering.Common ...@@ -188,7 +188,10 @@ namespace URSoldering.Common
{ {
urListenLog.Error(msg); urListenLog.Error(msg);
} }
public static void URLDebug(string msg)
{
urListenLog.Debug(msg);
}
/// <summary> /// <summary>
......
Common/util/TcpClient.cs
...@@ -15,14 +15,12 @@ namespace URSoldering.Common ...@@ -15,14 +15,12 @@ namespace URSoldering.Common
{ {
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public delegate void HandleMessage(string message); public delegate void HandleMessage(string message);
public delegate void ByteHandleMessage(byte[] data); public int DefaultDataLength = 1024;
public int DefaultDataLength = 1024; public int ReviceSleepMS = 100;
public int ReviceSleepMS = 100; private Socket m_clientSocket = null;
private Socket m_clientSocket=null;
private byte[] m_receiveBuffer = new byte[1024]; private byte[] m_receiveBuffer = new byte[1024];
private string LogName = "";
private HandleMessage onReceived; private HandleMessage onReceived;
private ByteHandleMessage byteOnReceived;
public int TimeOutTime = 0; public int TimeOutTime = 0;
/// <summary> /// <summary>
...@@ -91,20 +89,14 @@ namespace URSoldering.Common ...@@ -91,20 +89,14 @@ namespace URSoldering.Common
return false; return false;
} }
} }
public bool connect(string serverIP, int serverPort, ByteHandleMessage byteHandle)
{
return connect(serverIP, serverPort, null, byteHandle);
}
/// <summary>
/// 连接服务器
/// </summary>
public bool connect(string serverIP, int serverPort, HandleMessage HandleMessage) public bool connect(string serverIP, int serverPort, HandleMessage HandleMessage)
{ {
return connect(serverIP, serverPort, HandleMessage, null); LogName = "【" + serverIP + " ，" + serverPort + "】";
}
/// <summary>
/// 连接服务器
/// </summary>
private bool connect(string serverIP, int serverPort, HandleMessage HandleMessage,ByteHandleMessage byteHandle)
{
m_receiveBuffer = new byte[DefaultDataLength]; m_receiveBuffer = new byte[DefaultDataLength];
m_clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); m_clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
if (TimeOutTime <= 0) if (TimeOutTime <= 0)
...@@ -124,21 +116,18 @@ namespace URSoldering.Common ...@@ -124,21 +116,18 @@ namespace URSoldering.Common
{ {
onReceived = HandleMessage; onReceived = HandleMessage;
} }
if (byteHandle != null)
{ LogUtil.info(LOGGER, LogName+ "Connect to " + serverIP + ":" + serverPort + " success!");
byteOnReceived = byteHandle;
}
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
return true; return true;
} }
else else
{ {
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!"); LogUtil.info(LOGGER, LogName + "Connect to " + serverIP + ":" + serverPort + " fail!");
} }
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!" + ex.ToString(), 3); LogUtil.error(LOGGER, LogName + "Connect to " + serverIP + ":" + serverPort + " fail!" + ex.ToString(), 3);
//m_clientSocket = null; //m_clientSocket = null;
} }
} }
...@@ -150,26 +139,23 @@ namespace URSoldering.Common ...@@ -150,26 +139,23 @@ namespace URSoldering.Common
connResult.AsyncWaitHandle.WaitOne(this.TimeOutTime, true); //等待2秒 connResult.AsyncWaitHandle.WaitOne(this.TimeOutTime, true); //等待2秒
if (!connResult.IsCompleted||(!m_clientSocket.Connected)) if (!connResult.IsCompleted || (!m_clientSocket.Connected))
{ {
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!"); LogUtil.info(LOGGER, LogName + "Connect to " + serverIP + ":" + serverPort + " fail!");
m_clientSocket.Close(); m_clientSocket.Close();
//处理连接不成功的动作 //处理连接不成功的动作
return false; return false;
} }
else else
{ {
//处理连接成功的动作 //处理连接成功的动作
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null); m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
if (HandleMessage != null) if (HandleMessage != null)
{ {
onReceived = HandleMessage; onReceived = HandleMessage;
} }
if (byteHandle != null)
{ LogUtil.info(LOGGER, LogName + "Connect to " + serverIP + ":" + serverPort + " success!");
byteOnReceived = byteHandle;
}
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
return true; return true;
} }
} }
...@@ -183,20 +169,21 @@ namespace URSoldering.Common ...@@ -183,20 +169,21 @@ namespace URSoldering.Common
{ {
try try
{ {
if (m_clientSocket != null&&m_clientSocket.Connected) if (m_clientSocket != null && m_clientSocket.Connected)
{ {
m_clientSocket.Shutdown(SocketShutdown.Both); m_clientSocket.Shutdown(SocketShutdown.Both);
m_clientSocket.Close(); m_clientSocket.Close();
LogUtil.info(LOGGER, "Socket closed!"); LogUtil.info(LOGGER, LogName + "Socket closed!");
} }
else else
{ {
LogUtil.error(LOGGER, "No socket is running!"); LogUtil.error(LOGGER, LogName + "No socket is running!");
} }
m_clientSocket = null;
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(LOGGER, "close error :" + ex.ToString()); LogUtil.error(LOGGER, LogName + "close error :" + ex.ToString());
} }
} }
...@@ -211,7 +198,7 @@ namespace URSoldering.Common ...@@ -211,7 +198,7 @@ namespace URSoldering.Common
if (m_clientSocket != null && m_clientSocket.Connected) if (m_clientSocket != null && m_clientSocket.Connected)
{ {
m_clientSocket.Send(sendBuffer); m_clientSocket.Send(sendBuffer);
LogUtil.debug(LOGGER, "Send >> " + strSendData); LogUtil.debug(LOGGER, LogName + "Send >> " + strSendData);
} }
} }
/// <summary> /// <summary>
...@@ -219,27 +206,20 @@ namespace URSoldering.Common ...@@ -219,27 +206,20 @@ namespace URSoldering.Common
/// </summary> /// </summary>
public void sendLine(string strSendData) public void sendLine(string strSendData)
{ {
if (strSendData.StartsWith("save"))
{
LogUtil.debug(LOGGER, "发送数据：" + strSendData);
}
else
{
LogUtil.debug(LOGGER, "发送数据：" + strSendData);
}
strSendData = strSendData + "\r\n"; strSendData = strSendData + "\r\n";
byte[] sendBuffer = new byte[DefaultDataLength]; byte[] sendBuffer = new byte[DefaultDataLength];
sendBuffer = Encoding.UTF8.GetBytes(strSendData); sendBuffer = Encoding.UTF8.GetBytes(strSendData);
if (m_clientSocket != null && m_clientSocket.Connected) if (m_clientSocket != null && m_clientSocket.Connected)
{ {
m_clientSocket.Send(sendBuffer); m_clientSocket.Send(sendBuffer);
LogUtil.debug(LOGGER, "Send >> " + strSendData); LogUtil.debug(LOGGER, LogName + "Send >> " + strSendData);
} }
} }
private void ReceiveCallBack(IAsyncResult ar) private void ReceiveCallBack(IAsyncResult ar)
{ {
try try
...@@ -247,17 +227,18 @@ namespace URSoldering.Common ...@@ -247,17 +227,18 @@ namespace URSoldering.Common
if (m_clientSocket != null && m_clientSocket.Connected) if (m_clientSocket != null && m_clientSocket.Connected)
{ {
int REnd = m_clientSocket.EndReceive(ar); int REnd = m_clientSocket.EndReceive(ar);
byteOnReceived?.Invoke(m_receiveBuffer);
string strReceiveData = Encoding.Default.GetString(m_receiveBuffer, 0, REnd); string strReceiveData = Encoding.Default.GetString(m_receiveBuffer, 0, REnd);
onReceived?.Invoke(strReceiveData); onReceived?.Invoke(strReceiveData);
Thread.Sleep(ReviceSleepMS); Thread.Sleep(ReviceSleepMS);
//LOGGER.Debug("m_clientSocket:" + m_clientSocket + "\n m_receiveBuffer" + m_receiveBuffer); if (m_clientSocket != null && m_clientSocket.Connected)
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null); {
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
}
} }
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(LOGGER, "socket received error:" + ex.ToString(), 4); LogUtil.error(LOGGER, LogName + "socket received error:" + ex.ToString(), 4);
} }
} }
} }
......
Common/util/URTcpClient.cs
...@@ -107,7 +107,7 @@ namespace URSoldering.Common ...@@ -107,7 +107,7 @@ namespace URSoldering.Common
{ {
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null); m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
byteOnReceived = byteHandle; byteOnReceived = byteHandle;
LogUtil.URLInfo("Connect to " + LogName + " success"); LogUtil.URLDebug("Connect to " + LogName + " success");
return true; return true;
} }
else else
...@@ -161,7 +161,7 @@ namespace URSoldering.Common ...@@ -161,7 +161,7 @@ namespace URSoldering.Common
{ {
m_clientSocket.Shutdown(SocketShutdown.Both); m_clientSocket.Shutdown(SocketShutdown.Both);
m_clientSocket.Close(); m_clientSocket.Close();
LogUtil.URLInfo(LogName + "Socket closed!"); LogUtil.URLDebug(LogName + "Socket closed!");
} }
else else
{ {
...@@ -309,11 +309,11 @@ namespace URSoldering.Common ...@@ -309,11 +309,11 @@ namespace URSoldering.Common
{ {
byteOnReceived(m_receiveBuffer); byteOnReceived(m_receiveBuffer);
}); });
Thread.Sleep(ReviceSleepMS); // Thread.Sleep(ReviceSleepMS);
//LOGGER.Debug("m_clientSocket:" + m_clientSocket + "\n m_receiveBuffer" + m_receiveBuffer); //LOGGER.Debug("m_clientSocket:" + m_clientSocket + "\n m_receiveBuffer" + m_receiveBuffer);
//Task.Factory.StartNew(delegate () //Task.Factory.StartNew(delegate ()
//{ //{
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null); //m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
//}); //});
} }
} }
......
DeviceLibrary/DeviceLibrary.csproj
...@@ -98,6 +98,7 @@ ...@@ -98,6 +98,7 @@
<Compile Include="deviceLibrary\kangnaide\MasterTcpClient.cs" /> <Compile Include="deviceLibrary\kangnaide\MasterTcpClient.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotControl.cs" /> <Compile Include="deviceLibrary\urRobot\URRobotControl.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotClient.cs" /> <Compile Include="deviceLibrary\urRobot\URRobotClient.cs" />
<Compile Include="deviceLibrary\urRobot\URTcpClient.cs" />
<Compile Include="Robot\MoveType.cs" /> <Compile Include="Robot\MoveType.cs" />
<Compile Include="Robot\soldering\AlarmType.cs" /> <Compile Include="Robot\soldering\AlarmType.cs" />
<Compile Include="bean\BoardManager.cs" /> <Compile Include="bean\BoardManager.cs" />
......
DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs
...@@ -70,20 +70,17 @@ namespace URSoldering.DeviceLibrary ...@@ -70,20 +70,17 @@ namespace URSoldering.DeviceLibrary
if (LastMoveCMD.Equals("").Equals(false)) if (LastMoveCMD.Equals("").Equals(false))
{ {
listenClient.sendLine(LastMoveCMD); listenClient.sendLine(LastMoveCMD);
LastMoveCMD = ""; LastMoveCMD = "";
//Thread.Sleep(50);
} }
StopListen(); StopListen();
try try
{ {
//string reviceMsg = ByteToStr(reviceData);
//LogUtil.info("Read data：【" + reviceMsg + "】 ");
byte[] msgSizeArray = reviceData.Skip(0).Take(4).ToArray(); byte[] msgSizeArray = reviceData.Skip(0).Take(4).ToArray();
byte[] timeArray = reviceData.Skip(4).Take(8).ToArray(); //byte[] timeArray = reviceData.Skip(4).Take(8).ToArray();
byte[] qTargetArray = reviceData.Skip(12).Take(48).ToArray(); //byte[] qTargetArray = reviceData.Skip(12).Take(48).ToArray();
byte[] qdTargetArray = reviceData.Skip(60).Take(48).ToArray(); //byte[] qdTargetArray = reviceData.Skip(60).Take(48).ToArray();
byte[] qddArray = reviceData.Skip(108).Take(48).ToArray(); //byte[] qddArray = reviceData.Skip(108).Take(48).ToArray();
byte[] iTargetArray = reviceData.Skip(156).Take(48).ToArray(); //byte[] iTargetArray = reviceData.Skip(156).Take(48).ToArray();
int messageSize = BitToInt(reviceData.Skip(0).Take(4).ToArray().Reverse<byte>().ToArray()); int messageSize = BitToInt(reviceData.Skip(0).Take(4).ToArray().Reverse<byte>().ToArray());
int maxdouble = (messageSize - 4) / 8; int maxdouble = (messageSize - 4) / 8;
...@@ -113,8 +110,7 @@ namespace URSoldering.DeviceLibrary ...@@ -113,8 +110,7 @@ namespace URSoldering.DeviceLibrary
} }
} }
if (doubleList.Count > 61) if (doubleList.Count > 61)
{ {
string spilt = "，";
double x = doubleList[56] * 1000; double x = doubleList[56] * 1000;
double y = doubleList[57] * 1000; double y = doubleList[57] * 1000;
double z = doubleList[58] * 1000; double z = doubleList[58] * 1000;
...@@ -122,16 +118,18 @@ namespace URSoldering.DeviceLibrary ...@@ -122,16 +118,18 @@ namespace URSoldering.DeviceLibrary
double ry = doubleList[60] * 1; double ry = doubleList[60] * 1;
double rz = doubleList[61] * 1; double rz = doubleList[61] * 1;
URPointValue newp = new URPointValue(x, y, z, rx, ry, rz); URPointValue newp = new URPointValue(x, y, z, rx, ry, rz);
//string reviceMsg = ByteToStr(reviceData);
if (!URRobotControl.IsSamePoint(newp, URRobotControl.LastPoint))
{
LogUtil.URLInfo(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]坐标" + newp.ToShowStr());
}
URRobotControl.LastPoint = newp; URRobotControl.LastPoint = newp;
string reviceMsg = ByteToStr(reviceData);
//LogUtil.info("Read data：【" + reviceMsg + "】 ");
LogUtil.URLInfo( LogName+"length[" + messageSize + "]，data长[" + reviceData.Length + "]坐标"+newp.ToShowStr());
} }
} }
else else
{ {
string reviceMsg = ByteToStr(reviceData); string reviceMsg = ByteToStr(reviceData);
//LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】 ");
LogUtil.URLError(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]无法获取坐标，数据长度不正确"); LogUtil.URLError(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]无法获取坐标，数据长度不正确");
} }
} }
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
...@@ -124,7 +124,7 @@ namespace URSoldering.DeviceLibrary ...@@ -124,7 +124,7 @@ namespace URSoldering.DeviceLibrary
{ {
reconnectTimer = new System.Timers.Timer(); reconnectTimer = new System.Timers.Timer();
reconnectTimer.AutoReset = true; reconnectTimer.AutoReset = true;
reconnectTimer.Interval = 1000; reconnectTimer.Interval = 400;
reconnectTimer.Elapsed += reconnectTimer_Elapsed; reconnectTimer.Elapsed += reconnectTimer_Elapsed;
reconnectTimer.Enabled = false; reconnectTimer.Enabled = false;
} }
...@@ -199,7 +199,7 @@ namespace URSoldering.DeviceLibrary ...@@ -199,7 +199,7 @@ namespace URSoldering.DeviceLibrary
if (IsRun&& IsStartConnect) if (IsRun&& IsStartConnect)
{ {
TimeSpan span = DateTime.Now - preCheckTime; TimeSpan span = DateTime.Now - preCheckTime;
if (span.TotalSeconds > 30) if (span.TotalSeconds > 2)
{ {
preCheckTime = DateTime.Now; preCheckTime = DateTime.Now;
//判断500在连接上，则获取急停状态 //判断500在连接上，则获取急停状态
...@@ -415,7 +415,7 @@ namespace URSoldering.DeviceLibrary ...@@ -415,7 +415,7 @@ namespace URSoldering.DeviceLibrary
{ {
IsRun = false; IsRun = false;
startCount--; startCount--;
controlTcp.sendLine(CMD_powerOff); //controlTcp.sendLine(CMD_powerOff);
controlTcp.close(); controlTcp.close();
} }
catch (Exception ex) catch (Exception ex)
...@@ -429,9 +429,10 @@ namespace URSoldering.DeviceLibrary ...@@ -429,9 +429,10 @@ namespace URSoldering.DeviceLibrary
public static void StopRobot() public static void StopRobot()
{ {
try try
{ {
IsStartConnect = false; IsStartConnect = false;
reconnectTimer.Enabled = false; reconnectTimer.Enabled = false;
URRobotClient.StopListen();
stopTcp(); stopTcp();
} }
catch (Exception ex) catch (Exception ex)
...@@ -507,7 +508,7 @@ namespace URSoldering.DeviceLibrary ...@@ -507,7 +508,7 @@ namespace URSoldering.DeviceLibrary
} }
}return false; }return false;
} }
private static bool IsSamePoint(URPointValue p1,URPointValue p2) public static bool IsSamePoint(URPointValue p1,URPointValue p2)
{ {
if (p1 == null && p2 == null) if (p1 == null && p2 == null)
{ {
...@@ -519,7 +520,7 @@ namespace URSoldering.DeviceLibrary ...@@ -519,7 +520,7 @@ namespace URSoldering.DeviceLibrary
double rxCha = Math.Abs(p1.RX - p2.RX); double rxCha = Math.Abs(p1.RX - p2.RX);
double ryCha = Math.Abs(p1.RY - p2.RY); double ryCha = Math.Abs(p1.RY - p2.RY);
double rzCha = Math.Abs(p1.RZ - p2.RZ); double rzCha = Math.Abs(p1.RZ - p2.RZ);
if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.01 && ryCha < 0.01 && rzCha < 0.01) if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.02 && ryCha < 0.02 && rzCha < 0.02)
{ {
return true; return true;
} }
......
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