SystemBackgroundService.cs
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using HHECS.RobotTool.Common.Communications;
using HHECS.RobotTool.Common.Utils;
using HHECS.RobotTool.DataAccess;
using HHECS.RobotTool.Dto;
using HHECS.RobotTool.Model;
using HHECS.RobotTool.Services.Analysis;
using HslCommunication.Profinet.Siemens;
using Microsoft.EntityFrameworkCore;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Xml.Serialization;
namespace HHECS.RobotTool.Services
{
public class SystemBackgroundService : BackgroundService
{
private readonly SystemLog _logger = SystemLog.Instance;
private readonly GrooveService _grooveService;
private readonly IDbContextFactory<DataContext> _dbContextFactory;
private readonly DataCacheService _dataCacheService;
private readonly IAnalysis _analyse;
private readonly TcpListener _tcpServer;
private List<ICommunication> _communications = new List<ICommunication>();
public SystemBackgroundService(GrooveService grooveService, IDbContextFactory<DataContext> dbContextFactory, DataCacheService dataCacheService, IAnalysis analyse)
{
_tcpServer = new TcpListener(IPAddress.Any, 59152);
_tcpServer.Start();
_grooveService = grooveService;
_dbContextFactory = dbContextFactory;
_dataCacheService = dataCacheService;
_analyse = analyse;
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
_tcpServer.BeginAcceptTcpClient(DoAcceptTcpClient, _tcpServer);
using var context = _dbContextFactory.CreateDbContext();
var configs = context.CommunicationConfigs.Where(x => x.Enable).ToList();
_communications = InitialCommunications(configs);
foreach (var item in _communications)
{
_ = Task.Run(async () =>
{
while (!stoppingToken.IsCancellationRequested)
{
var cacheData = _dataCacheService.Equipments.Where(x => x.CommunicationId.Equals(item.CommunicationId)).SelectMany(x => x.EquipmentProperties).ToList();
item.Read(cacheData);
await Task.Delay(1000);
}
}, stoppingToken);
}
while (!stoppingToken.IsCancellationRequested)
{
foreach (var communication in _communications)
{
var equipments = _dataCacheService.Equipments.Where(x => x.CommunicationId.Equals(communication.CommunicationId)).ToList();
_analyse.Execute(communication, equipments);
}
await Task.Delay(1000, stoppingToken);
}
}
private List<ICommunication> InitialCommunications(IEnumerable<CommunicationConfig> communicationConfigs)
{
var result = new List<ICommunication>();
try
{
foreach (var item in communicationConfigs)
{
ICommunication communication;
switch (item.CommunicationType)
{
case CommunicationTypeConst.None:
break;
//case CommunicationTypeConst.KukaVarProxy:
// communication = new KukaAvarProxyCommunication(item.Id, item.IpAddress, item.Port);
// result.Add(communication);
// break;
case CommunicationTypeConst.Siemens_S1200:
communication = new SiemensS7Communication(item.Id, SiemensPLCS.S1200, item.IpAddress);
result.Add(communication);
break;
case CommunicationTypeConst.Siemens_S1500:
communication = new SiemensS7Communication(item.Id, SiemensPLCS.S1500, item.IpAddress);
result.Add(communication);
break;
case CommunicationTypeConst.TcpClient:
break;
default:
break;
}
}
}
catch (Exception ex)
{
_logger.LogError($"设备通讯初始化异常：{ex.Message}");
}
return result;
}
private void DoAcceptTcpClient(IAsyncResult result)
{
var server = (TcpListener)result.AsyncState!;
var tcpClient = server.EndAcceptTcpClient(result);
_logger.LogInfo($"[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($"接收到客户端[{remoteEndPoint}]报文：{bufferString}");
const string kukaAckFlag1 = "<Robot>";
const string kukaAckFlag2 = "</Robot>";
if (bufferString.StartsWith(kukaAckFlag1, StringComparison.OrdinalIgnoreCase) && bufferString.EndsWith(kukaAckFlag2))
{
KukaTcpHandle(bufferString, stream, remoteEndPoint);
}
}
catch (Exception ex)
{
_logger.LogError($"客户端[{remoteEndPoint}]：{ex.InnerException?.Message ?? ex.Message}");
}
}
});
}
/// <summary>
/// Kuka Tcp交互处理
/// </summary>
/// <param name="bufferString"></param>
/// <param name="stream"></param>
/// <param name="remoteEndPoint"></param>
private void KukaTcpHandle(string bufferString, NetworkStream stream, EndPoint? remoteEndPoint)
{
//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
{
Weld_Num = outputParameter.Weld_Num,
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}");
}
}
}
}