979 lines
31 KiB
C#
979 lines
31 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Linq;
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using System.Net.NetworkInformation;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading.Tasks;
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using System.Xml.Linq;
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using DH.Commons.Base;
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using DH.Commons.Enums;
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using DH.Commons.Models;
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using HslCommunication;
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using HslCommunication.Enthernet;
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using HslCommunication.Profinet.XINJE;
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using OpenCvSharp;
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namespace DH.Devices.PLC
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{
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public class XinJEPLCTcpNet : PLCBase
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{
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private static XinJEPLCTcpNet _instance;
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public static XinJEPLCTcpNet Instance
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{
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get
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{
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if (_instance == null)
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_instance = new XinJEPLCTcpNet();
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return _instance;
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}
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}
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private XinJETcpNet TcpNet = new XinJETcpNet();
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public override bool PLCConnect()
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{
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try
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{
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TcpNet.IpAddress = IP;
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TcpNet.Port = Port;
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TcpNet.ConnectTimeOut = 5000;
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TcpNet.ReceiveTimeOut = 10000;
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TcpNet.SleepTime = 0;
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TcpNet.AddressStartWithZero = true;
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TcpNet.IsStringReverse = false;
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TcpNet.Station = 1;
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switch (PLCType)
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{
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case EnumPLCType.信捷XD网口:
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TcpNet.Series = XinJESeries.XD;
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TcpNet.DataFormat = HslCommunication.Core.DataFormat.CDAB;
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break;
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case EnumPLCType.信捷XC网口:
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TcpNet.Series = XinJESeries.XC;
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TcpNet.DataFormat = HslCommunication.Core.DataFormat.CDAB;
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break;
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}
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OperateResult ret = TcpNet.ConnectServer();
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if (ret.IsSuccess)
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{
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Connected = true;
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//初始化流程
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InitProcess();
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return true;
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}
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else
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{
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Connected = false;
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throw new Exception($"{IP}:{Port}PLC连接失败!");
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}
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}
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catch(Exception ex)
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{
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Connected = false;
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throw new Exception($"{IP}:{Port}PLC连接失败!失败原因:{ex.ToString()}");
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}
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}
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public override Int16 ReadInt16(string address)
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{
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try
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{
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if (Connected)
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{
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// 读取Int变量
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var result = TcpNet.ReadInt16(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作读取int16失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取int16失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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public override Int32 ReadInt32(string address)
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{
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try
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{
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if (Connected)
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{
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// 读取Int变量
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var result = TcpNet.ReadInt32(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作读取int32失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取int32失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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public override UInt16 ReadUInt16(string address)
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{
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try
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{
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if (Connected)
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{
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// 读取Int变量
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var result = TcpNet.ReadUInt16(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作读取uint16失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取uint16失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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public override UInt32 ReadUInt32(string address)
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{
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try
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{
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if (Connected)
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{
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// 读取Int变量
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var result = TcpNet.ReadUInt32(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作uint32失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取uint32失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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public override float ReadFloat(string address)
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{
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try
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{
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if (Connected)
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{
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// 读取Float变量
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var result = TcpNet.ReadFloat(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作读取float失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取float失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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public override bool ReadBool(string address)
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{
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try
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{ if (Connected)
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{
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// 读取Bool变量
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var result = TcpNet.ReadBool(address);
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if (result.IsSuccess)
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{
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return result.Content;
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}
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else
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{
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throw new Exception($"PLC操作读取bool失败,地址{address}");
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}
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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}
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catch (Exception ex)
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{
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throw new Exception($"PLC操作读取bool失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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/// <summary>
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/// 写单独地址 uint32 值
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/// </summary>
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/// <param name="address">地址</param>
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/// <param name="writeValue">要写入的 int 值</param>
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/// <param name="waitForReply">是否等待回复</param>
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public override bool WriteUInt32(string address, UInt32 writeValue, bool waitForReply = true)
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{
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if (Connected)
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{
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if (string.IsNullOrEmpty(address))
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{
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return false;
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}
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int repeatTime = 3;
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do
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{
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try
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{
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var result = TcpNet.Write(address, writeValue);
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if (result.IsSuccess)
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{
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return true;
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}
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}
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catch (Exception ex)
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{
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repeatTime--;
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if (repeatTime <= 0)
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{
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throw new Exception($"PLC操作写入uint32失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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} while (repeatTime > 0);
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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return false;
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}
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/// <summary>
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/// 写单独地址 uint16 值
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/// </summary>
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/// <param name="address">地址</param>
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/// <param name="writeValue">要写入的 int 值</param>
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/// <param name="waitForReply">是否等待回复</param>
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public override bool WriteUInt16(string address, UInt16 writeValue, bool waitForReply = true)
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{
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if (Connected)
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{
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if (string.IsNullOrEmpty(address))
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{
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return false;
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}
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int repeatTime = 3;
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do
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{
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try
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{
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var result = TcpNet.Write(address, writeValue);
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if (result.IsSuccess)
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{
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return true;
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}
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}
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catch (Exception ex)
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{
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repeatTime--;
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if (repeatTime <= 0)
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{
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throw new Exception($"PLC操作写入uint16失败,地址{address},失败原因:{ex.ToString()}");
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}
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}
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} while (repeatTime > 0);
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}
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else
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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return false;
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}
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/// <summary>
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/// 写单独地址 int32 值
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/// </summary>
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/// <param name="address">地址</param>
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/// <param name="writeValue">要写入的 int 值</param>
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/// <param name="waitForReply">是否等待回复</param>
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public override bool WriteInt32(string address, Int32 writeValue, bool waitForReply = true)
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{
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if (Connected)
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{
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if (string.IsNullOrEmpty(address))
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{
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return false;
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}
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int repeatTime = 3;
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do
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{
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try
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{
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var result = TcpNet.Write(address, writeValue);
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if (result.IsSuccess)
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{
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return true;
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}
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}
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catch (Exception ex)
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{
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repeatTime--;
|
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if (repeatTime <= 0)
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{
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throw new Exception($"PLC操作写入int32失败,地址{address},失败原因:{ex.ToString()}");
|
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}
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}
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} while (repeatTime > 0);
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}
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else
|
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{
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throw new Exception($"PLC未连接,地址{address}");
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}
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return false;
|
||
}
|
||
|
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/// <summary>
|
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/// 写单独地址 int16 值
|
||
/// </summary>
|
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/// <param name="address">地址</param>
|
||
/// <param name="writeValue">要写入的 int 值</param>
|
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/// <param name="waitForReply">是否等待回复</param>
|
||
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public override bool WriteInt16(string address, Int16 writeValue, bool waitForReply = true)
|
||
{
|
||
if (Connected)
|
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{
|
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if (string.IsNullOrEmpty(address))
|
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{
|
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return false;
|
||
}
|
||
|
||
int repeatTime = 3;
|
||
|
||
do
|
||
{
|
||
try
|
||
{
|
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var result = TcpNet.Write(address, writeValue);
|
||
if (result.IsSuccess)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
repeatTime--;
|
||
if (repeatTime <= 0)
|
||
{
|
||
throw new Exception($"PLC操作写入int16失败,地址{address},失败原因:{ex.ToString()}");
|
||
}
|
||
}
|
||
} while (repeatTime > 0);
|
||
}
|
||
else
|
||
{
|
||
throw new Exception($"PLC未连接,地址{address}");
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 写单独地址 float 值
|
||
/// </summary>
|
||
/// <param name="address">地址</param>
|
||
/// <param name="writeValue">要写入的 float 值</param>
|
||
/// <param name="waitForReply">是否等待回复</param>
|
||
public override bool WriteFloat(string address, float writeValue, bool waitForReply = true)
|
||
{
|
||
if (Connected)
|
||
{
|
||
if (string.IsNullOrEmpty(address))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
int repeatTime = 3;
|
||
|
||
do
|
||
{
|
||
try
|
||
{
|
||
var result = TcpNet.Write(address, writeValue);
|
||
if (result.IsSuccess)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
repeatTime--;
|
||
if (repeatTime <= 0)
|
||
{
|
||
throw new Exception($"PLC操作写入float失败,地址{address},失败原因:{ex.ToString()}");
|
||
}
|
||
}
|
||
} while (repeatTime > 0);
|
||
}
|
||
else
|
||
{
|
||
throw new Exception($"PLC未连接,地址{address}");
|
||
}
|
||
return false;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 写单独地址 bool 值
|
||
/// </summary>
|
||
/// <param name="address">地址</param>
|
||
/// <param name="writeValue">要写入的 bool 值</param>
|
||
/// <param name="waitForReply">是否等待回复</param>
|
||
public override bool WriteBool(string address, bool writeValue, bool waitForReply = true)
|
||
{
|
||
if(Connected)
|
||
{
|
||
if (string.IsNullOrEmpty(address))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
int repeatTime = 3;
|
||
do
|
||
{
|
||
try
|
||
{
|
||
var result = TcpNet.Write(address, writeValue);
|
||
if (result.IsSuccess)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
repeatTime--;
|
||
if (repeatTime <= 0)
|
||
{
|
||
throw new Exception($"PLC操作写入bool失败,地址{address},失败原因:{ex.ToString()}");
|
||
}
|
||
}
|
||
} while (repeatTime > 0);
|
||
|
||
Thread.Sleep(30);
|
||
}
|
||
else
|
||
{
|
||
throw new Exception($"PLC未连接,地址{address}");
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
|
||
public override bool PLCDisConnect()
|
||
{
|
||
if (Connected)
|
||
{
|
||
|
||
var res = TcpNet.ConnectClose();
|
||
if (res.IsSuccess)
|
||
{
|
||
Connected = false;
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
|
||
|
||
|
||
private void MonitorPieces()
|
||
{
|
||
|
||
ThreadStart ts = new ThreadStart(MonitorPiecesImpl);
|
||
Thread th = new Thread(ts);
|
||
th.Priority = ThreadPriority.AboveNormal;
|
||
th.IsBackground = false;
|
||
th.Start();
|
||
|
||
}
|
||
|
||
|
||
public TaskFactory _taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
|
||
|
||
private Dictionary<ushort, uint> piecesCountDic = new Dictionary<ushort, uint>();
|
||
private uint piecesCount = 0;
|
||
|
||
/// <summary>
|
||
/// int,int 轴号 捕获位置
|
||
/// </summary>
|
||
public event Action<int, uint> OnNewPieces;
|
||
|
||
public void NewPieces(int axisIndex, uint pieceNumber)
|
||
{
|
||
_taskFactory.StartNew(() =>
|
||
{
|
||
Thread.CurrentThread.Priority = ThreadPriority.Highest;
|
||
|
||
OnNewPieces?.Invoke(axisIndex, pieceNumber);
|
||
});
|
||
}
|
||
public async Task HeartbeatAsync1()
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "心跳地址");
|
||
while (Connected)
|
||
{
|
||
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, true);
|
||
await Task.Delay(900); // 非阻塞，等待1秒
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 入料监听
|
||
/// </summary>
|
||
/// <param name="axisIndex"></param>
|
||
private void MonitorPiecesImpl()
|
||
{
|
||
|
||
PLCItem pLCItem= PLCItemList.FirstOrDefault(u => u.Name == "产品计数");
|
||
if (pLCItem == null)
|
||
return;
|
||
string Count = pLCItem.Address;
|
||
DateTime startTime = DateTime.Now;
|
||
DateTime endTime = startTime;
|
||
TimeSpan timeSpan = endTime - startTime;
|
||
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
|
||
//while (CurrentState != DeviceState.DSClose && CurrentState != DeviceState.DSExcept && CurrentState != DeviceState.DSUninit)
|
||
while (Connected)
|
||
{
|
||
Stopwatch sw = new Stopwatch();
|
||
uint tmpPieceNumber = 0;
|
||
sw.Start();
|
||
|
||
// var ret = TcpNet.ReadUInt16("D1016");
|
||
var ret = TcpNet.ReadUInt32(Count);
|
||
|
||
sw.Stop();
|
||
if (ret.IsSuccess)
|
||
{
|
||
tmpPieceNumber = ret.Content;
|
||
}
|
||
|
||
if (ret.IsSuccess && ret.Content > piecesCount)
|
||
{
|
||
sw.Start();
|
||
// Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")} 板卡{station}产品入列触发{tmpPieceNumber}");
|
||
//LogAsync(DateTime.Now, LogLevel.Information, $"转盘{0}产品入列 {piecesCountDic[0]} size:{sum}");
|
||
if (tmpPieceNumber != piecesCount + 1)
|
||
{
|
||
//LogAsync(DateTime.Now, LogLevel.Information, $"入列触发丢失\t{tmpPieceNumber}");
|
||
// Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")}\t板卡{station}产品入列触发丢失，{piecesCountDic[station]}\t{tmpPieceNumber}");
|
||
|
||
}
|
||
piecesCount = tmpPieceNumber;
|
||
//NewPieces(ai, piecesCountDic[station]);
|
||
NewPieces(1, piecesCount);
|
||
sw.Stop();
|
||
startTime = DateTime.Now;
|
||
//if (idalarm)
|
||
//{
|
||
// idalarm = false;
|
||
// AlarmVibration(false);
|
||
//}
|
||
|
||
}
|
||
|
||
Thread.Sleep(1);
|
||
}
|
||
}
|
||
|
||
public void InitProcess()
|
||
{
|
||
//启用心跳
|
||
OpenHeartbeat(true);
|
||
//状态复位
|
||
StatusReset();
|
||
//关闭定位
|
||
VisionPos(false);
|
||
|
||
//写入流程加载点位配置
|
||
InitProcessAction();
|
||
|
||
//计数清零
|
||
CountToZero();
|
||
//停止转盘
|
||
TurnStart(false);
|
||
//转盘使能
|
||
TurnEnable(true);
|
||
//开启入料监听
|
||
MonitorPieces();
|
||
|
||
}
|
||
|
||
public void StartProcess()
|
||
{
|
||
//状态复位
|
||
StatusReset();
|
||
//关闭定位
|
||
VisionPos(false);
|
||
//写入流程启动点位配置
|
||
StartProcessAction();
|
||
//计数清零
|
||
CountToZero();
|
||
//转盘启动
|
||
TurnStart(true);
|
||
}
|
||
|
||
public void CloseProcess()
|
||
{
|
||
StatusReset();
|
||
VisionPos(false);
|
||
CountToZero();
|
||
TurnStart(false);
|
||
TurnEnable(false);
|
||
OpenHeartbeat(false);
|
||
PLCDisConnect();
|
||
}
|
||
public void InitProcessAction() =>
|
||
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.InitProcessList?.ToList() ?? new List<PLCItem>());
|
||
|
||
public void StartProcessAction() =>
|
||
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.StartProcessList?.ToList() ?? new List<PLCItem>());
|
||
|
||
public void StopProcessAction() =>
|
||
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.StopProcessList?.ToList() ?? new List<PLCItem>());
|
||
|
||
public void StartResetAction() =>
|
||
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.StartResetList?.ToList() ?? new List<PLCItem>());
|
||
|
||
public void StopResetAction() =>
|
||
ProcessAction(ConfigModel.GlobalList?.FirstOrDefault()?.StopResetList?.ToList() ?? new List<PLCItem>());
|
||
|
||
// 处理方法：无需再检查 null
|
||
private void ProcessAction(List<PLCItem> items)
|
||
{
|
||
if (items.Count == 0) return;
|
||
|
||
foreach (var item in items.OrderBy(x => x.StartIndex))
|
||
{
|
||
switch (item.Type)
|
||
{
|
||
case EnumPLCDataType.单字整型:
|
||
WriteUInt16(item.Address, ushort.Parse(item.Value));
|
||
break;
|
||
case EnumPLCDataType.双字整型:
|
||
WriteUInt32(item.Address, uint.Parse(item.Value));
|
||
break;
|
||
case EnumPLCDataType.浮点型:
|
||
WriteFloat(item.Address, float.Parse(item.Value));
|
||
break;
|
||
case EnumPLCDataType.布尔型:
|
||
WriteBool(item.Address, item.Value.Equals("true", StringComparison.OrdinalIgnoreCase));
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 状态复位
|
||
/// </summary>
|
||
public void StatusReset()
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "状态复位");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, false);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开启关闭视觉定位
|
||
/// </summary>
|
||
public void VisionPos(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "启用定位");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 转盘启停
|
||
/// </summary>
|
||
public void TurnStart(bool b)
|
||
{
|
||
PLCItem? DiskRunItem = PLCItemList.FirstOrDefault(u => u.Name == "转盘启动");
|
||
if (DiskRunItem == null)
|
||
return;
|
||
WriteBool(DiskRunItem.Address, b);
|
||
Thread.Sleep(30);
|
||
piecesCount = 0;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 转盘使能
|
||
/// </summary>
|
||
/// <param name="b"></param>
|
||
public void TurnEnable(bool b)
|
||
{
|
||
PLCItem? DiskOpenItem = PLCItemList.FirstOrDefault(u => u.Name == "转盘使能");
|
||
if (DiskOpenItem == null)
|
||
return;
|
||
WriteBool(DiskOpenItem.Address, b);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 计数清零
|
||
/// </summary>
|
||
public void CountToZero()
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "计数清零");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, true);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
public void RedLight(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "指示灯红");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
public void GreenLight(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "指示灯绿");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
|
||
}
|
||
|
||
public void YellowLight(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "指示灯黄");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
public void Buzzer(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "蜂鸣器");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 挡料电机操作
|
||
/// true: 顺时针
|
||
/// False: 逆时针
|
||
/// </summary>
|
||
/// <param name="u"></param>
|
||
public void FeedingMotor( bool direction)
|
||
{
|
||
|
||
|
||
// 设置最大等待时间，假设为 3 秒
|
||
int timeout = 3000;
|
||
int elapsedTime = 0;
|
||
int checkInterval = 100; // 每次检查等待 100ms
|
||
|
||
PLCItem pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机回原点");
|
||
if (pLCItem == null)
|
||
return;
|
||
PLCItem zerospeeditem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机回原点速度");
|
||
if (zerospeeditem == null)
|
||
return;
|
||
|
||
PLCItem CunSpeed = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机速度");
|
||
if (CunSpeed == null)
|
||
return;
|
||
|
||
PLCItem CunClockwiseItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机顺时针");
|
||
if (CunClockwiseItem == null)
|
||
return;
|
||
|
||
PLCItem CunCounterclockwiseItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机逆时针");
|
||
if (CunCounterclockwiseItem == null)
|
||
return;
|
||
|
||
PLCItem CunPosItem = PLCItemList.FirstOrDefault(u => u.Name == "挡料电机位置");
|
||
if (CunPosItem == null)
|
||
return;
|
||
|
||
string CunToZero = pLCItem.Type + pLCItem.Address;
|
||
string CunToZeroSpeed = zerospeeditem.Type + zerospeeditem.Address;
|
||
string CunSpeedadress = CunSpeed.Type + CunSpeed.Address;
|
||
string CunClockwise = CunClockwiseItem.Type + CunClockwiseItem.Address;
|
||
string CunCounterclockwise = CunCounterclockwiseItem.Type + CunCounterclockwiseItem.Address;
|
||
string CunPos = CunPosItem.Type + CunPosItem.Address;
|
||
UInt16 zerospeed = UInt16.Parse(zerospeeditem.Value);
|
||
UInt16 cunSpeed = UInt16.Parse(CunSpeed.Value);
|
||
UInt16 u = UInt16.Parse(CunPosItem.Value);
|
||
// WriteBool(CountToZero, true);
|
||
|
||
// 检查是否不在原点，如果不在，则回原点
|
||
if (!ReadBool(CunToZero))
|
||
{
|
||
WriteUInt16(CunToZeroSpeed, zerospeed); // 速度
|
||
Thread.Sleep(30);
|
||
// 发送回原点指令
|
||
WriteBool(CunToZero, true);
|
||
Thread.Sleep(1000); // 给设备一些时间响应
|
||
|
||
// 等待回到原点
|
||
while (!ReadBool(CunToZero))
|
||
{
|
||
if (elapsedTime >= timeout)
|
||
{
|
||
break;
|
||
}
|
||
|
||
Thread.Sleep(checkInterval);
|
||
elapsedTime += checkInterval;
|
||
}
|
||
}
|
||
|
||
// 无论是刚回到原点还是已经在原点，执行目标位置、速度和方向设置
|
||
|
||
|
||
|
||
WriteUInt16(CunSpeedadress,cunSpeed);
|
||
Thread.Sleep(2000);
|
||
string dir = string.Empty;
|
||
if (direction)
|
||
{
|
||
WriteBool(CunClockwise, true); // 顺时针转动
|
||
dir = "顺时针";
|
||
}
|
||
else
|
||
{
|
||
WriteBool(CunCounterclockwise, true); // 逆时针转动
|
||
dir = "逆时针";
|
||
}
|
||
Thread.Sleep(30);
|
||
WriteUInt16(CunPos, u); // 目标位置
|
||
Thread.Sleep(2000);
|
||
|
||
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 转盘清料
|
||
/// </summary>
|
||
/// <param name="b"></param>
|
||
public void TurnClear(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "转盘清料");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开启心跳
|
||
/// </summary>
|
||
/// <param name="v"></param>
|
||
public void OpenHeartbeat(bool b)
|
||
{
|
||
PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "启用心跳");
|
||
if (pLCItem == null)
|
||
return;
|
||
WriteBool(pLCItem.Address, b);
|
||
Thread.Sleep(30);
|
||
if (b)
|
||
{
|
||
//开启心跳
|
||
Task.Run(async () => await HeartbeatAsync1());
|
||
}
|
||
}
|
||
|
||
int currentRegister = 0;
|
||
public void Blowing(uint productNumber, UInt16 value)
|
||
{
|
||
int Register = (int)((productNumber - 1) % 30);
|
||
currentRegister = 411 + Register;
|
||
WriteUInt16($"D{currentRegister}", value);
|
||
|
||
}
|
||
}
|
||
}
|