ABBRobotServer.cs
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using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace ABBRobotTest
{
public class ABBRobotServer
{
private static TcpServer tcpserver = null;
public static bool IsStart = false;
private static int ABBServerPort = ConfigAppSettings.GetIntValue(Setting_Init.ABBServerPort );
public static string ErrorInfo = "";
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>();
//最后一次软件控制移动到的位置
public static string LastSendPoint = "";
public delegate void OpEnd(string result);
private static event OpEnd OnCmdEnd;
private static object LockObj = new object();
public static void StartServer( )
{
try
{
if (ABBServerPort <= 0)
{
ABBServerPort = 21;
}
if (!IsStart)
{
ClientMap = new Dictionary<string, Client>();
if (tcpserver == null)
{
tcpserver = new TcpServer();
}
IsStart = true;
tcpserver.Start(ABBServerPort);
tcpserver.AcceptClientEvent += Tcpserver_AcceptClientEvent;
LogUtil.info("ABBRobotServer在端口[" + ABBServerPort + "]监听！");
tcpserver.ReviceMsgEvent += tcp_ReviceMsgEvent;
}
}catch(Exception ex)
{
LogUtil.error("ABBRobotServer启动[" + ABBServerPort + "]监听错误：" + ex.ToString());
}
}
private static void Tcpserver_AcceptClientEvent(Client client)
{
SaveRobotClient(client);
}
private static object MapLock = "";
private static void SaveRobotClient( Client client)
{
lock (MapLock)
{
IPEndPoint clientipe = (IPEndPoint)client.ClientSocket.RemoteEndPoint;
string ip = clientipe.Address.ToString();
if (ClientMap.ContainsKey(ip))
{
ClientMap.Remove(ip);
}
ClientMap.Add(ip, client);
}
}
public static void StopServer()
{
try
{
if (IsStart)
{
IsStart = false;
tcpserver.Stop();
}
}
catch (Exception ex)
{
LogUtil.error("关闭 监听出错：" + ex.ToString());
}
}
private static void tcp_ReviceMsgEvent(Client client, string msg)
{
try
{
if (String.IsNullOrEmpty(msg))
{
return;
}
ProcessMsg(client, msg);
}
catch (Exception ex)
{
LogUtil.error("处理ABB消息【" + msg + "】出错：" + ex.ToString());
}
}
private static bool ProcessMsg(Client client, string msg)
{
IPEndPoint clientipe = (IPEndPoint)client.ClientSocket.RemoteEndPoint;
string add = clientipe.Address.ToString();
// string[] msgArray = msg.Split(cmd_spilt);
msg = msg.Replace("\r", "") ;
LogUtil.info("Revice[" + add + "]:[" + msg + "]");
msg = msg.Replace(";", "");
string OkStr = "OK";
if (msg.Contains("ERROR"))
{
ErrorInfo = msg;
}
else if(msg.Contains(Cmd_movep)&& msg.Contains(OkStr))
{
OnCmdEnd?.Invoke(msg);
}
else if (msg.Contains(Cmd_moveput) && msg.Contains(OkStr))
{
OnCmdEnd?.Invoke(msg);
} else if (msg.Contains(Cmd_moveget) && msg.Contains(OkStr))
{
OnCmdEnd?.Invoke(msg);
}else if (msg.Contains(OkStr))
{
OnCmdEnd?.Invoke(msg);
}
return false;
}
public static bool MoveToP(string robotIp, string PointName, string moveType="L" , double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
return SendMovePoint(robotIp, Cmd_movep, PointName,moveType,targetSpeed.ToString());
}
public static bool MoveToPut(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
return SendMovePoint(robotIp, Cmd_moveput, PointName, moveType, targetSpeed.ToString());
}
public static bool MoveToGet(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
return SendMovePoint(robotIp, Cmd_moveget, PointName, moveType, targetSpeed.ToString());
}
public static bool SendCmd(string robotIp, string moveCmd,string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
if (moveCmd.Equals(Cmd_moveget) || moveCmd.Equals(Cmd_movep) || moveCmd.Equals(Cmd_moveput)||moveCmd.Equals(Cmd_validateP))
{
return SendMovePoint(robotIp, moveCmd, PointName, moveType, targetSpeed.ToString());
}
return false;
}
public static bool ValidateP(string robotIp, string pointName, OpEnd AfterCmd = null)
{
ABBRobotServer.OnCmdEnd = AfterCmd;
return SendMovePoint(robotIp, Cmd_validateP, pointName);
}
private static bool SendMovePoint(string robotIp, string param1, string param2, string param3 = "L", string param4 = "10")
{
Client client = null;
lock (LockObj)
{
if (ClientMap.ContainsKey(robotIp))
{
client = ClientMap[robotIp];
}
}
if (client != null)
{
string str = param1 + "," + param2 + "," + param3 + "," + param4 + "";
LastSendPoint = param2;
LogUtil.info("Send [" + robotIp + "] : [" + str + "]");
SendStrToClient(client, str);
return true;
}
return false;
}
private static bool SendStrToClient(Client client, string sendMsg)
{
if (client != null && client.ClientSocket.Connected)
{
byte[] sendBuffer = new byte[1024];
sendBuffer = Encoding.UTF8.GetBytes(sendMsg);
client.ClientSocket.Send(sendBuffer);
return true;
}
return false;
}
internal static bool RobotIsConnect(string ip)
{
if (ClientMap.ContainsKey(ip))
{
return true;
}
return false;
}
}
}