RobotAnalysis.cs
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using HHECS.RobotTool.Common.Communications;
using HHECS.RobotTool.Common.Enums;
using HHECS.RobotTool.Common.Utils;
using HHECS.RobotTool.DataAccess;
using HHECS.RobotTool.Dto;
using HHECS.RobotTool.Model;
using Microsoft.EntityFrameworkCore;
namespace HHECS.RobotTool.Services.Analysis
{
public class RobotAnalysis : IAnalysis
{
private readonly IDbContextFactory<DataContext> _dbContextFactory;
private readonly GrooveService _grooveService;
private readonly SystemLog log = SystemLog.Instance;
public RobotAnalysis(IDbContextFactory<DataContext> dbContextFactory, GrooveService grooveService)
{
_dbContextFactory = dbContextFactory;
_grooveService = grooveService;
}
/// <summary>
/// 处理方法
/// </summary>
/// <param name="communication"></param>
/// <param name="equipments"></param>
/// <remarks>Fanuc机器人不支持float类型，所有读取到的int16类型数据除以100才是最终的float数值</remarks>
public void Execute(ICommunication communication, IEnumerable<Equipment> equipments)
{
try
{
foreach (var item in equipments)
{
var codes = Enum.GetNames<RobotProp2>();
if (!item.EquipmentProperties.All(x => codes.Contains(x.Code)))
{
//属性数据不全，则跳过
continue;
}
//请求状态
_ = bool.TryParse(item[RobotProp2.Date_Send.ToString()].Value, out var requestStatus);
//回复状态
_ = bool.TryParse(item[RobotProp2.Ack_Send.ToString()].Value, out var ackStatus);
//机器人请求，软件未回复
if (requestStatus && !ackStatus)
{
_ = int.TryParse(item[RobotProp2.GrooveWidth.ToString()].Value, out var grooveWidth);
_ = int.TryParse(item[RobotProp2.GrooveDepth.ToString()].Value, out var grooveDepth);
var inputParament = new InputParameter
{
GrooveWidth = grooveWidth / 100d,
GrooveDepth = grooveDepth / 100d,
WeldingWire = 1.2,
ReservedGapForGroove = 0,
SizeOfTheBluntEdgeOfTheGroove = 2,
WeldLength = 1000,
AdditionalWidthRequiredOnOneSideAfterCovering = 1.5,
WeldReinforcementRequiredAfterCovering = 2,
};
var (output, technologys) = _grooveService.GetExcelData(inputParament);
var propCodes = new List<RobotProp2>
{
RobotProp2.Weld_Num,
RobotProp2.Speed_1,
RobotProp2.Freq_1,
RobotProp2.Swing_1,
RobotProp2.Stay_1,
RobotProp2.Speed_2,
RobotProp2.Freq_2,
RobotProp2.Swing_2,
RobotProp2.Stay_2,
RobotProp2.Speed_3,
RobotProp2.Freq_3,
RobotProp2.Swing_3,
RobotProp2.Stay_3,
RobotProp2.Speed_4,
RobotProp2.Freq_4,
RobotProp2.Swing_4,
RobotProp2.Stay_4,
RobotProp2.Speed_5,
RobotProp2.Freq_5,
RobotProp2.Swing_5,
RobotProp2.Stay_5,
RobotProp2.Speed_6,
RobotProp2.Freq_6,
RobotProp2.Swing_6,
RobotProp2.Stay_6,
RobotProp2.Ack_Send,
};
//写入模板
var temps = propCodes.Select(x => item[$"{x}"]).ToList();
//赋值
var props = temps.Select(x => new EquipmentProperty
{
Id = x.Id,
Code = x.Code,
Name = x.Name,
EquipmentId = x.EquipmentId,
DataAddress = x.DataAddress,
DataType = x.DataType,
Value = SetAckValue(x.Code, output, technologys),
CreateTime = x.CreateTime,
});
communication.Write(props);
}
//机器人请求，软件已回复
else if (requestStatus && ackStatus)
{
log.LogWarning($"已处理设备[{communication.IpAddress}]请求，待设备清除请求信号！");
}
//机器人无请求，ack为True，则清除回复状态
else if (!requestStatus && ackStatus)
{
var ackProp = item[RobotProp2.Ack_Send.ToString()];
var prop = new EquipmentProperty
{
Id = ackProp.Id,
DataAddress = ackProp.DataAddress,
DataType = ackProp.DataType,
Value = bool.FalseString
};
communication.Write(prop);
}
}
}
catch (Exception ex)
{
log.LogError($"{nameof(RobotAnalysis)}线程出现异常.{ex.Message}");
}
}
private static string SetAckValue(string code, OutputParameter output, List<Technology> technologys)
{
_ = Enum.TryParse<RobotProp2>(code, out var codeType);
var result = codeType switch
{
//RobotProp2.Date_Send => throw new NotImplementedException(),
//RobotProp2.GrooveWidth => throw new NotImplementedException(),
//RobotProp2.GrooveDepth => throw new NotImplementedException(),
RobotProp2.Weld_Num => Convert.ToInt16(output.Weld_Num).ToString(),
RobotProp2.Speed_1 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 1)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_1 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 1)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_1 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 1)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_1 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 1)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Speed_2 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 2)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_2 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 2)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_2 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 2)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_2 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 2)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Speed_3 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 3)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_3 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 3)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_3 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 3)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_3 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 3)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Speed_4 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 4)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_4 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 4)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_4 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 4)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_4 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 4)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Speed_5 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 5)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_5 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 5)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_5 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 5)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_5 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 5)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Speed_6 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 6)?.WeldingSpeed ?? 0) * 100)}",
RobotProp2.Freq_6 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 6)?.SwingFrequency ?? 0) * 100)}",
RobotProp2.Swing_6 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 6)?.Amplitude ?? 0) * 100)}",
RobotProp2.Stay_6 => $"{Convert.ToInt16((technologys.FirstOrDefault(x => x.Layer == 6)?.LeftAndRightDwellTime ?? 0) * 100)}",
RobotProp2.Ack_Send => bool.TrueString,
_ => string.Empty,
};
return $"{result}";
}
}
}