RobotBackgroundService.cs
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using AutomaticGrooveCalculationTool.Common.Utils;
using AutomaticGrooveCalculationTool.Model;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Xml.Serialization;
namespace AutomaticGrooveCalculationTool.Services
{
public class RobotBackgroundService : BackgroundService
{
private readonly SystemLog _logger = SystemLog.Instance;
private readonly SiemensPLCService _siemensPLC;
private readonly GrooveService _grooveService;
private readonly TcpListener _tcpServer;
public RobotBackgroundService(SiemensPLCService siemensPLC, GrooveService grooveService)
{
_tcpServer = new TcpListener(IPAddress.Any, 59152);
_tcpServer.Start();
_siemensPLC = siemensPLC;
_grooveService = grooveService;
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
_tcpServer.BeginAcceptTcpClient(DoAcceptTcpClient, _tcpServer);
while (!stoppingToken.IsCancellationRequested)
{
foreach (var item in _siemensPLC.Equipments.GroupBy(x => x.IP))
{
var plcIP = item.Key;
try
{
var plc = _siemensPLC.Plcs.First(x => x.IP == plcIP);
if (!plc.IsConnected)
{
await plc.OpenAsync(stoppingToken);
}
if (!plc.IsConnected)
{
_logger.LogWarning($"PLC[{plcIP}]连接失败");
continue;
}
_siemensPLC.Read(item.SelectMany(x => x.EquipmentProps));
}
catch (Exception ex)
{
_logger.LogError($"设备{item.Key}执行线程出现异常，{ex.Message}");
}
}
await Task.Delay(500, stoppingToken);
}
}
private void DoAcceptTcpClient(IAsyncResult result)
{
var server = (TcpListener)result.AsyncState!;
var tcpClient = server.EndAcceptTcpClient(result);
_logger.LogInfo($"[客户端[{tcpClient.Client.RemoteEndPoint}]已成功建立连接");
Receive(tcpClient);
server.BeginAcceptTcpClient(DoAcceptTcpClient, server);
}
private void Receive(TcpClient tcpClient)
{
Task.Run(() =>
{
var remoteEndPoint = tcpClient.Client.RemoteEndPoint;
while (tcpClient.Connected)
{
try
{
var buffer = new byte[8192];
var stream = tcpClient.GetStream();
//接收客户端数据
stream.Read(buffer, 0, buffer.Length);
var bufferString = Encoding.Default.GetString(buffer).TrimEnd('\0');
if (string.IsNullOrWhiteSpace(bufferString)) continue;
_logger.LogInfo($"接收到客户端[{remoteEndPoint}]报文：{bufferString}");
const string kukaAckFlag1 = "<Robot>";
const string kukaAckFlag2 = "</Robot>";
if (bufferString.StartsWith(kukaAckFlag1, StringComparison.OrdinalIgnoreCase) && bufferString.EndsWith(kukaAckFlag2))
{
//var str = $"<Ext><Msg>{Random.Shared.Next(100000, 999999)}</Msg></Ext>";
//stream.Write(Encoding.Default.GetBytes(str));
//_logger.LogSuccess($"响应[{remoteEndPoint}]报文：{str}");
//continue;
var inputXmlSerializer = new XmlSerializer(typeof(KukaRequestDto));
var outputXmlSerializer = new XmlSerializer(typeof(KukaResponseDto));
using var ms = new MemoryStream();
var writer = new StreamWriter(ms);
writer.Write(bufferString.Trim());
writer.Flush();
ms.Position = 0;
var reader = new StreamReader(ms);
try
{
var request = (KukaRequestDto)inputXmlSerializer.Deserialize(reader)!;
//默认值
var inputParameter = new InputParameter
{
WeldingWire = 1.2,
ReservedGapForGroove = 0,
SizeOfTheBluntEdgeOfTheGroove = 2,
WeldLength = 1000,
AdditionalWidthRequiredOnOneSideAfterCovering = 1.5,
WeldReinforcementRequiredAfterCovering = 2
};
inputParameter.GrooveWidth = request.GrooveWidth;
inputParameter.GrooveDepth = request.GrooveDepth;
var (outputParameter, _) = _grooveService.GetExcelData(inputParameter);
var resultData = new KukaResponseDto
{
TheNumberOfWeldingPasses = outputParameter.TheNumberOfWeldingPasses,
WeldHeightAfterWelding = outputParameter.WeldHeightAfterWelding,
WeldWidthAfterWelding = outputParameter.WeldWidthAfterWelding,
GrooveCrossSectionalArea = outputParameter.GrooveCrossSectionalArea,
OneLayerWireFeedingSpeed = outputParameter.OneLayerWireFeedingSpeed,
OneLayerCurrent = outputParameter.OneLayerCurrent,
CoverWireFeedingSpeed = outputParameter.CoverWireFeedingSpeed,
CoverWireFeedingCurrent = outputParameter.CoverWireFeedingCurrent,
WeldingWireCrossSectionalArea = outputParameter.WeldingWireCrossSectionalArea,
Layers = outputParameter.Layers,
TotalDepositionAmount = outputParameter.TotalDepositionAmount,
WeldingWireLengthAndUsage = outputParameter.WeldingWireLengthAndUsage,
TotalDepositionTime = outputParameter.TotalDepositionTime,
WeldingWire = inputParameter.WeldingWire,
ReservedGapForGroove = inputParameter.ReservedGapForGroove,
SizeOfTheBluntEdgeOfTheGroove = inputParameter.SizeOfTheBluntEdgeOfTheGroove,
WeldLength = inputParameter.WeldLength,
AdditionalWidthRequiredOnOneSideAfterCovering = inputParameter.AdditionalWidthRequiredOnOneSideAfterCovering,
WeldReinforcementRequiredAfterCovering = inputParameter.WeldReinforcementRequiredAfterCovering
};
using var sw = new StringWriter();
outputXmlSerializer.Serialize(sw, resultData);
var response = sw.ToString();
stream.Write(Encoding.Default.GetBytes(response));
_logger.LogSuccess($"响应客户端[{remoteEndPoint}]请求成功，报文：{response}");
}
catch (Exception ex)
{
_logger.LogError($"响应客户端[{remoteEndPoint}]请求失败：{ex.Message}");
}
}
}
catch (Exception ex)
{
_logger.LogError($"客户端[{remoteEndPoint}]：{ex.InnerException?.Message ?? ex.Message}");
}
}
});
}
}
}