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init: CATL电池线SCADA首次入库

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XingCheng3
2026-06-08 17:12:01 +08:00
commit fe8a3187f5
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119
DT_SCADA/Core/B_AGV.cs Normal file
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using DatabaseClient;
using Opc.Ua;
using OpcBasic;
using Robot.Common;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data;
using System.Threading;
namespace MesWork
{
/// <summary>
///
/// </summary>
public class AgvRead
{
/// <summary>
///
/// </summary>
public string from_to_loc = "";
/// <summary>
///
/// </summary>
string from_to_loc_old = "";
/// <summary>
///
/// </summary>
public string tagID = "";
/// <summary>
///
/// </summary>
string opName = "";
/// <summary>
///
/// </summary>
public string connectStr = "";
/// <summary>
///
/// </summary>
public bool onLine = false;
/// <summary>
///
/// </summary>
public string update_time = "";
/// <summary>
///
/// </summary>
public string from_loc = "";
/// <summary>
///
/// </summary>
public string to_loc = "";
/// <summary>
///
/// </summary>
public void Start(string connectStr,int interval, int intervalUpdate ,string tagID,string opName)
{
this.connectStr = connectStr;
this.tagID = tagID;
this.opName = opName;
new Thread(new ThreadStart(delegate () {
while (true)
{
try
{
from_to_loc = ReadAgv();
if (from_to_loc_old != from_to_loc)
{
from_to_loc_old = from_to_loc;
MesWorkForm.S_C_B_TagIDTrigger(opName,this.tagID, from_to_loc);
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
})).Start();
}
public string ReadAgv()
{
var value = "";
try
{
var sql =
$" SELECT aid,from_loc,to_loc,start_run,update_time FROM agv_from_to" +
$" ORDER BY aid LIMIT 1";
MysqlClient.ExecQueryDataTable(sql, this.connectStr, out DataTable dt, out string err);
onLine = err.Length < 1;
if (onLine == false)
{
return value;
}
if (dt.Rows.Count > 0)
{
var aid = dt.Rows[0]["aid"].ToString();
var from_loc = dt.Rows[0]["from_loc"].ToString();
var to_loc = dt.Rows[0]["to_loc"].ToString();
var start_run = dt.Rows[0]["start_run"].ToString();
update_time = dt.Rows[0]["update_time"].ToString();
this.from_loc = from_loc;
this.to_loc = to_loc;
value = $"{from_loc}__{to_loc}";
}
}
catch (Exception err)
{
}
return value;
}
}
}

613
DT_SCADA/Core/B_Cnc_Edm.cs Normal file
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using BsRmlib.EDM;
using Newtonsoft.Json;
using NPOI.SS.UserModel;
using NPOI.XSSF.Model;
using System;
using System.Collections.Generic;
using System.Data.SqlClient;
using System.Drawing;
using System.Security.Claims;
using System.Threading;
namespace MesWork
{
public class B_Cnc_Edm
{
/// <summary>
///
/// </summary>
private CClient edm = null;
/// <summary>
///
/// </summary>
public bool OnLine = false;
/// <summary>
///
/// </summary>
public string ip = "-1";
/// <summary>
///
/// </summary>
public int port = -1;
/// <summary>
///
/// </summary>
public int interval = -1;
/// <summary>
///
/// </summary>
public bool isRun = true;
/// <summary>
///
/// </summary>
public string Id = "-1";
/// <summary>
///
/// </summary>
public string Name = "";
/// <summary>
/// 机床状态
/// -1-离线，0-待机，1-运行，2-报警
/// </summary>
public int edmCtrlStatus = 0;
/// <summary>
/// 机床报警号及信息
/// </summary>
public ushort edmGetError = 0;
public ushort edmGetError_Old = 0;
public string edmGetErrMsg = "";
/// <summary>
/// 机床提示号及信息
/// </summary>
public ushort edmGetComment = 0;
public ushort edmGetComment_Old = 0;
public string edmGetComMsg = "";
/// <summary>
/// 机床电流电压
/// </summary>
public int edmGetCurrent = 0;
public int edmGetVoltage = 0;
public string programName = "";
public string edmGetRunTime = "";
public string progContent = "";
public uint toolNum_Set = 0;
public ushort doorAtStatus = 3;
public ushort doorAtStatus_Old = 3;
public DateTime start = DateTime.Now;
public ushort workbench_HasPart = 0;
public ushort workbench_HasPart_Old = 0;
public ushort spindleClamp_HasPart = 0;
public ushort spindleClamp_HasPart_Old = 0;
public ushort toolLib_HasPart = 0;
public ushort toolLib_HasPart_Old = 0;
public int IsSpark = 0;
public int IsSpark_Old = 0;
public double[] absolute_j = new double[12];
public double[] relative_j = new double[12];
/// <summary>
///
/// </summary>
public double[] machine_j = new double[12];
/// <summary>
///
/// </summary>
public double[] jDemo = new double[12];
/// <summary>
///
/// </summary>
public List<JointConfig> Joints = null;
/// <summary>
///
/// </summary>
public string sendStr_Old = "";
/// <summary>
///
/// </summary>
public string payloadInfoStr_Old = "";
/// <summary>
///
/// </summary>
public B_Cnc_Edm()
{
}
/// <summary>
///
/// </summary>
/// <param name="ipPort"></param>
/// <param name="interval"></param>
/// <param name="j1_6"></param>
/// <param name="modelManagement"></param>
/// <param name="modelCode"></param>
public void Start(string ip, int port,int interval, int intervalUpdate, string DeviceCode, string OpName, List<JointConfig> Joints
,string tagID_DoorOpen = "", string tagID_DoorClose = ""
, string tagID_Workbench = "", string tagID_SpindleClamp = "", string tagID_ToolLib = "", string modelCode_Spark = "")
{
this.ip = ip;
this.port = port;
this.interval = interval;
this.Id = DeviceCode;
this.Name = OpName;
this.Joints = Joints;
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
if (edm == null)
{
edmCtrlStatus = -1;
ReConnRobot();
}
if (OnLine = edm.IsConnected())
{
machine_j = ReadResult_To_Array();
//到位状态：O:打开或关闭过程中,1:打开到位,2:关闭到位
doorAtStatus = edm.EdmStatFrontDoor();
if (doorAtStatus_Old != doorAtStatus)
{
switch (doorAtStatus_Old)
{
case 0://0->其他：不处理
break;
case 1://1->0：关闭
MesWorkForm.S_C_B_TagIDTrigger(Name, tagID_DoorClose, "1");
break;
case 2://2->0：打开
MesWorkForm.S_C_B_TagIDTrigger(Name, tagID_DoorOpen, "1");
break;
}
}
doorAtStatus_Old = doorAtStatus;
//机床状态;0-停止，1-运行，2-报警，3-暂停
var edmCtrlStatus_NC = edm.EdmCtrlStatus();
switch (edmCtrlStatus_NC)
{
case EnumEdmStatus.Stop:
edmCtrlStatus = 0;
break;
case EnumEdmStatus.Run:
edmCtrlStatus = 1;
break;
case EnumEdmStatus.Halt:
edmCtrlStatus = 3;
break;
}
//机床报警号及信息
edmGetError = edm.EdmGetError();
edmGetErrMsg = edm.EdmGetErrMsg(edmGetError);
if (edmGetError_Old != edmGetError)
{
// B_DB_Opera.Event_AlarmAndTip_Start(Name, edmGetError, edmGetErrMsg, edmGetError.ToString(),1);
}
edmGetError_Old = edmGetError;
//机床提示号及信息
edmGetComment = edm.EdmGetComment();
edmGetComMsg = edm.EdmGetComMsg(edmGetComment);
if (edmGetComment_Old != edmGetComment)
{
// B_DB_Opera.Event_AlarmAndTip_Start(Name, edmGetComment, edmGetComMsg, edmGetComment.ToString(),2);
}
edmGetComment_Old = edmGetComment;
//机床电流电压
edmGetCurrent = edm.EdmGetCurrent();
edmGetVoltage = edm.EdmGetVoltage();
if (edmGetCurrent > 5)
{
IsSpark = 1;
}
else
{
IsSpark = 0;
}
if (IsSpark_Old != IsSpark)
{
// MesWorkForm.S_C_B_SparkTrigger(Name, modelCode_Spark, IsSpark.ToString());
}
IsSpark_Old = IsSpark;
//获取当前机床主程序
programName = edm.PrgGetSelMain();
//运行时间
edmGetRunTime = edm.EdmGetRunTime().ToString();
//程序内容
progContent = edm.EdmGetDispNc().nc;
//刀具号
toolNum_Set = edm.EdmGetToolNo();
workbench_HasPart = edm.EdmStatWorkbenExistPiece();
if (workbench_HasPart_Old != workbench_HasPart)
{
MesWorkForm.S_C_B_TagIDTrigger(Name, tagID_Workbench, workbench_HasPart.ToString());
}
workbench_HasPart_Old = workbench_HasPart;
spindleClamp_HasPart = edm.EdmStatSpindleExistTool();
if (spindleClamp_HasPart_Old != spindleClamp_HasPart)
{
MesWorkForm.S_C_B_TagIDTrigger(Name, tagID_SpindleClamp, spindleClamp_HasPart.ToString());
}
spindleClamp_HasPart_Old = spindleClamp_HasPart;
toolLib_HasPart = edm.EdmStatMagaginExistTool();
if (toolLib_HasPart_Old != toolLib_HasPart)
{
MesWorkForm.S_C_B_TagIDTrigger(Name, tagID_ToolLib, toolLib_HasPart.ToString());
}
toolLib_HasPart_Old = toolLib_HasPart;
}
else
{
edmCtrlStatus = -1;
Thread.Sleep(10_000);
ReConnRobot();
continue;
}
for (int i = 0; i < Joints.Count ; i++)
{
Joints[i].DeviceCode = DeviceCode;
Joints[i].Value = machine_j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
if (sendStr_Old != sendStr)
{
sendStr_Old = sendStr;
MesWorkForm.SendMsg(sendStr);
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate () {
while (isRun)
{
try
{
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = DeviceCode;
Joints[i].Value = machine_j[i].ToString();
}
var payload = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(payload);
}
catch (Exception err)
{ }
Thread.Sleep(intervalUpdate);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
UpdateDataToSql();
UpdateStationStatusToSql();
var deviceInfo = new DeviceInfo();
deviceInfo.order = "";
deviceInfo.Name = Name;
deviceInfo.Id = Id;
deviceInfo.Status = edmCtrlStatus.ToString();
deviceInfo.Program = programName;
deviceInfo.ProgramStatus = "";
deviceInfo.Feed = "";
deviceInfo.Speed = "";
deviceInfo.Rapid = "";
deviceInfo.Current = edmGetCurrent.ToString();
deviceInfo.Voltage = edmGetVoltage.ToString();
deviceInfo.Axis = new List<AxisInfo>();
deviceInfo.Tool = null;
deviceInfo.OtherParameter = new List<ParameterInfo>();
deviceInfo.Alarm = new List<AlarmInfo>();
if (edmGetErrMsg.Length > 0)
{
deviceInfo.Alarm.Add(new AlarmInfo()
{
AlarmCode = edmGetError.ToString(),
Alarm = edmGetErrMsg,
AlarmTime = DateTime.Now.ToString("G")
});
}
deviceInfo.Tip = new List<TipInfo>();
if (edmGetComMsg.Length > 0)
{
deviceInfo.Tip.Add(new TipInfo()
{
TipCode = edmGetComment.ToString(),
Tip = edmGetComMsg,
TipTime = DateTime.Now.ToString("G")
});
}
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "X", AxisValue = machine_j[0].ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "Y", AxisValue = machine_j[1].ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "Z", AxisValue = machine_j[2].ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "U", AxisValue = machine_j[3].ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "V", AxisValue = machine_j[4].ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "W", AxisValue = machine_j[5].ToString() });
var payloadInfoStr = MesWorkForm.Make_DeviceInfo(new List<DeviceInfo>() { deviceInfo });
DateTime current = DateTime.Now;
if ((current - start).TotalMilliseconds > 1000)
{
// if (payloadInfoStr_Old != payloadInfoStr)
{
payloadInfoStr_Old = payloadInfoStr;
MesWorkForm.SendMsg(payloadInfoStr);
}
start = current;
}
Thread.Sleep(1000);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
InsertStationStatusToSql();
Thread.Sleep(60 * 1000);
}
}))
{ IsBackground = true }.Start();
}
/// <summary>
///
/// </summary>
public void TimelyUpdate()
{
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
}
/// <summary>
///
/// </summary>
~B_Cnc_Edm()
{
DisConn();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
public void DisConn()
{
isRun = false;
Thread.Sleep(199);
edm?.Disconnect();
}
/// <summary>
///
/// </summary>
private void ReConnRobot()
{
if (edm != null)
{
edm?.Disconnect();
}
edm = new CClient();
var success = edm.Connect(ip, (uint)port);
if (success)
{
}
}
/// <summary>
///
/// </summary>
/// <param name="j1_6"></param>
/// <returns></returns>
private double[] ReadResult_To_Array()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
return jDemo;
}
double[] joint = new double[12];
var X = edm.EdmGetMachine(EnumAxisNo.X) / GetAxisDec(EnumAxisNo.X);
var Y = edm.EdmGetMachine(EnumAxisNo.Y) / GetAxisDec(EnumAxisNo.Y);
var Z = edm.EdmGetMachine(EnumAxisNo.Z) / GetAxisDec(EnumAxisNo.Z);
var U = edm.EdmGetMachine(EnumAxisNo.U) / GetAxisDec(EnumAxisNo.U);
var V = 0;
var W = 0;
joint[0] = X;
joint[1] = Y;
joint[2] = Z;
joint[3] = U;
joint[4] = V;
joint[5] = W;
return joint;
}
private double GetAxisDec(EnumAxisNo axis)
{
CPosInfo info = edm.EdmGetPosInfo(axis);
if (info.dec == 3)
return 1000.0;
else if (info.dec == 4)
return 10000.0;
return 1000.0;
}
/// <summary>
/// 手动测试读取
/// </summary>
/// <param name="j1_6"></param>
/// <param name="j7"></param>
/// <returns></returns>
public string ReadTest(string robotName)
{
return "【" + robotName + "】" + MesWorkForm.Move_Joint(Joints);
}
public void UpdateDataToSql()
{
//StoredProcedure("Event_CNC_Update");
}
//private void StoredProcedure(string pName)
//{
// var sqlParameter = new SqlParameter[] {
// new SqlParameter("@DeviceCode", Id),
// new SqlParameter("@Online", OnLine.ToString()),
// new SqlParameter("@StationName", Name),
// new SqlParameter("@SlaveAddr", $"{ip}:{port}"),
// new SqlParameter("@Path", 1),
// new SqlParameter("@程序号",0 ),
// new SqlParameter("@程序名称", programName),
// new SqlParameter("@主轴转速组", JsonConvert.SerializeObject(new double[6])),
// new SqlParameter("@坐标_绝对组", JsonConvert.SerializeObject(new double[6])),
// new SqlParameter("@坐标_相对组", JsonConvert.SerializeObject(new double[6])),
// new SqlParameter("@坐标_机械组", JsonConvert.SerializeObject(machine_j)),
// new SqlParameter("@伺服负载组", JsonConvert.SerializeObject(new double[6])),
// new SqlParameter("@进给速度",0 ),
// new SqlParameter("@进给倍率",0),
// new SqlParameter("@主轴倍率", 0),
// new SqlParameter("@已加工数量",0 ),
// new SqlParameter("@总加工数量", 0),
// new SqlParameter("@工作模式",JsonConvert.SerializeObject(new double[6] )),
// new SqlParameter("@TM模式", 0),
// new SqlParameter("@自动模式", 0),
// new SqlParameter("@运行状态",0),
// new SqlParameter("@轴_停留状态",0),
// new SqlParameter("@matb", 0),
// new SqlParameter("@急停", 0),
// new SqlParameter("@报警",0 ),
// new SqlParameter("@编辑状态", 0),
// new SqlParameter("@开机时间", 0),
// new SqlParameter("@运行时间", edmGetRunTime),
// new SqlParameter("@切削时间",0 ),
// new SqlParameter("@循环时间", 0),
// new SqlParameter("@机床时间", 0),
// new SqlParameter("@加工次数", 0),
// new SqlParameter("@额定次数", 0),
// new SqlParameter("@程序内容", progContent),
// new SqlParameter("@刀具号", (int)toolNum_Set),
// //北京电火花项目
// new SqlParameter("@机床状态",(int)edmCtrlStatus),
// new SqlParameter("@报警代码",(int)edmGetError),
// new SqlParameter("@报警内容",edmGetErrMsg),
// new SqlParameter("@提示代码",(int)edmGetError),
// new SqlParameter("@提示内容",edmGetErrMsg),
// new SqlParameter("@电流",(int)edmGetCurrent),
// new SqlParameter("@电压",(int)edmGetVoltage),
// };
// MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
// {
// procedureName = pName,
// sqlParameter = sqlParameter
// });
//}
private void UpdateStationStatusToSql()
{
//Event_StationStatus("Event_StationStatus_Update");
}
private void InsertStationStatusToSql()
{
//Event_StationStatus("Event_StationStatus_Insert");
}
//public void Event_StationStatus(string pName)
//{
// try
// {
// var ChangeTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");
// MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
// {
// procedureName = pName,
// sqlParameter = new SqlParameter[] {
// new SqlParameter("@OpName", Name),
// new SqlParameter("@Status", (int)edmCtrlStatus),
// new SqlParameter("@ChangeTime",ChangeTime)
// }
// });
// }
// catch (Exception err)
// {
// }
//}
}
}

148
DT_SCADA/Core/B_DeviceState.cs Normal file
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using Opc.Ua;
using OpcBasic;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data;
using System.Data.SqlClient;
using System.Threading;
/// <summary>
///
/// </summary>
namespace MesWork
{
/// <summary>
///
/// </summary>
public class B_DeviceState
{
/// <summary>
///
/// </summary>
public int interval = 0;
/// <summary>
///
/// </summary>
public int intervalUpdate = 0;
/// <summary>
///
/// </summary>
public int intervalInsert = 0;
/// <summary>
///
/// </summary>
public string opName = "";
/// <summary>
///
/// </summary>
public ConcurrentDictionary<string, object> cd_OpNameGroupData = new ConcurrentDictionary<string, object>();
/// <summary>
///
/// </summary>
/// <param name="interval"></param>
/// <param name="intervalUpdate"></param>
/// <param name="modelCode"></param>
/// <param name="opName"></param>
public B_DeviceState(int interval, int intervalUpdate, int intervalInsert, string opName)
{
this.interval = interval;
this.intervalUpdate = intervalUpdate;
this.intervalInsert = intervalInsert;
this.opName = opName;
}
public void Start()
{
new Thread(new ThreadStart(delegate ()
{
while (true)
{
try
{
cd_OpNameGroupData = MesWorkForm.ReadPLC_GroupData(opName);
}
catch (Exception err) { }
Thread.Sleep(interval);
}
})) { IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (true)
{
UpdateDataToSql();
Thread.Sleep(intervalUpdate);
}
})){ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (true)
{
InsertDataToSql();
Thread.Sleep(intervalInsert);
}
})){ IsBackground = true }.Start();
}
public void UpdateDataToSql()
{
StoredProcedure("Event_Device_Update_CurrInfo");
}
private void InsertDataToSql()
{
StoredProcedure("Event_Device_Insert_CurrInfo");
}
public void StoredProcedure(string pName)
{
try
{
var ChangeTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");
foreach (KeyValuePair<string, object> item in cd_OpNameGroupData)
{
var TF = (TagFormat)item.Value;
var TagTypeCodeID = TF.TagTypeCodeID;
var TagOrderBy = TF.TagOrderBy;
var ItemName = TF.ItemName;
var TagValue = TF.TagValue.ToString();
var TagID = TF.TagID;
if (TagTypeCodeID < 1000 | TagTypeCodeID >= 40000)
{
//MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
//{
// procedureName = pName,
// sqlParameter = new SqlParameter[] {
// new SqlParameter("@OpName", opName),
// new SqlParameter("@TagTypeCodeID", TagTypeCodeID),
// new SqlParameter("@TagOrderBy", TagOrderBy),
// new SqlParameter("@ItemName", ItemName),
// new SqlParameter("@TagValue", TagValue),
// new SqlParameter("@ChangeTime",ChangeTime),
// new SqlParameter("@TagID", TagID)
// }
//});
//var sendStr2 = MesWorkForm.MachineQtyDataInfo("C_B_QtyInfo", opName, TagID, TagValue);
//MesWorkForm.SendMsg(sendStr2);
}
}
}
catch (Exception err)
{
}
}
}
}

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DT_SCADA/Core/B_Read_N_Axis.cs Normal file
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using Opc.Ua;
using OpcBasic;
using Robot.Common;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
namespace MesWork
{
public partial class Temp { }
public partial class B_Read_N_Axis
{
/// <summary>
///
/// </summary>
string sendStr_Temp = "-1";
/// <summary>
///
/// </summary>
string opName = "";
/// <summary>
///
/// </summary>
int axisNum = 1;
/// <summary>
///
/// </summary>
int interval = 100;
/// <summary>
///
/// </summary>
int intervalUpdate = 10000;
/// <summary>
///
/// </summary>
string Id = "";
/// <summary>
///
/// </summary>
string Name = "";
/// <summary>
///
/// </summary>
public void Start(int interval, int intervalUpdate ,string opName, List<JointConfig> Joints, string Id, string Name)
{
this.axisNum = Joints.Count;
this.interval = interval;
this.intervalUpdate = intervalUpdate;
this.opName = opName;
new Thread(new ThreadStart(delegate () { while (true) { try {
var j = Read_N_Axis(out bool success);
if (success == false)
{
continue;
}
//if (j.Select(it => it == 0).Count() == j.Length)
//{
// continue;
//}
for (int i = 0; i < j.Length; i++)
{
Joints[i].DeviceCode = opName;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
if (sendStr_Temp != sendStr)
{
MesWorkForm.SendMsg(sendStr);
MesWorkForm.S_C_B_Info_Fast(Joints);
MesWorkForm.WriteLog(sendStr);
}
sendStr_Temp = sendStr;
} catch (Exception err) { } Thread.Sleep(interval);
} })).Start();
new Thread(new ThreadStart(delegate () { while (true) { try {
var j = Read_N_Axis(out bool success);
if (success == false)
{
continue;
}
//if (j.Select(it => it == 0).Count() == j.Length)
//{
// continue;
//}
for (int i = 0; i < j.Length; i++)
{
Joints[i].DeviceCode = opName;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
MesWorkForm.S_C_B_Info_Fast(Joints);
MesWorkForm.WriteLog(sendStr);
} catch (Exception err) { } Thread.Sleep(intervalUpdate);
}})).Start();
new Thread(new ThreadStart(delegate ()
{
while (true)
{
var deviceInfo = new DeviceInfo();
deviceInfo.order = "";
deviceInfo.Name = Name;
deviceInfo.Id = Id;
deviceInfo.Axis = new List<AxisInfo>();
deviceInfo.OtherParameter = new List<ParameterInfo>();
var j = Read_N_Axis(out bool success);
if (success == false)
{
continue;
}
//if (j.Select(it => it == 0).Count() == j.Length)
//{
// continue;
//}
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J1", AxisValue = Math.Round(j[0], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J2", AxisValue = Math.Round(j[1], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J3", AxisValue = Math.Round(j[2], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J4", AxisValue = Math.Round(j[3], 2).ToString() });
var payloadInfoStr = MesWorkForm.Make_DeviceInfo(new List<DeviceInfo>() { deviceInfo });
MesWorkForm.SendMsg(payloadInfoStr);
Thread.Sleep(300);
}
}))
{ IsBackground = true }.Start();
}
public double[] Read_N_Axis(out bool success)
{
success = true;
double[] p = new double[this.axisNum];
var jointArray = MesWorkForm.ReadPLC_GroupData(this.opName);
if (axisNum != jointArray.Count)
{
return p;
}
var listFalse = new List<bool>();
foreach (KeyValuePair<string, object> item in jointArray)
{
var TF = (TagFormat)item.Value;
var index = Convert.ToInt32(TF.ShaftID);
var value = Convert.ToDouble(TF.TagValue);
switch (value)
{
case -1:
case -2:
case -5:
case 100:
listFalse.Add(false);
break;
default:
break;
}
p[index] = value;
}
if (listFalse.Count() > 0)
{
success = false;
return p;
}
return p;
}
}
}

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DT_SCADA/Core/B_Read_N_AxisCard.cs Normal file
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using NPOI.SS.Formula.Functions;
using NPOI.XSSF.Streaming.Values;
using Opc.Ua;
using OpcBasic;
using Robot.Common;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Threading;
namespace MesWork
{
public class B_Read_N_AxisCard
{
/// <summary>
///
/// </summary>
string sendStr_Temp = "-1";
/// <summary>
///
/// </summary>
string opName = "";
/// <summary>
///
/// </summary>
int axisNum = 1;
/// <summary>
///
/// </summary>
int interval = 100;
/// <summary>
///
/// </summary>
int intervalUpdate = 10000;
/// <summary>
///
/// </summary>
public void Start(int interval, int intervalUpdate ,string opName, List<JointConfig> Joints)
{
this.axisNum = Joints.Count;
this.interval = interval;
this.intervalUpdate = intervalUpdate;
this.opName = opName;
new Thread(new ThreadStart(delegate () { while (true) { try {
var j = Read_N_Axis();
for (int i = 0; i < j.Length; i++)
{
Joints[i].DeviceCode = opName;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
if (sendStr_Temp != sendStr)
{
MesWorkForm.SendMsg(sendStr);
MesWorkForm.S_C_B_Info_Fast(Joints);
}
sendStr_Temp = sendStr;
} catch (Exception err) { } Thread.Sleep(interval);
} })).Start();
new Thread(new ThreadStart(delegate () { while (true) { try {
var j = Read_N_Axis();
for (int i = 0; i < j.Length; i++)
{
Joints[i].DeviceCode = opName;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
MesWorkForm.S_C_B_Info_Fast(Joints);
} catch (Exception err) { } Thread.Sleep(intervalUpdate);
}})).Start();
}
//public double[] Read_N_Axis()
//{
// double[] p = new double[this.axisNum];
// var x1 = Convert.ToDouble(MesWorkForm.ReadPLC(101, this.opName).ToString());
// var x2 = Convert.ToDouble(MesWorkForm.ReadPLC(102, this.opName).ToString());
// var y1 = Convert.ToDouble(MesWorkForm.ReadPLC(201, this.opName).ToString());
// var y2 = Convert.ToDouble(MesWorkForm.ReadPLC(202, this.opName).ToString());
// var z1 = Convert.ToDouble(MesWorkForm.ReadPLC(301, this.opName).ToString());
// var z2 = Convert.ToDouble(MesWorkForm.ReadPLC(302, this.opName).ToString());
// p[0] = x1 + x2 * 0.001;
// p[1] = y1 + y2 * 0.001;
// p[2] = z1 + z2 * 0.001;
// return p;
//}
public double[] Read_N_Axis()
{
double[] p = new double[this.axisNum];
//var x1 = Convert.ToDouble(MesWorkForm.ReadPLC(101, this.opName).ToString());
//var x2 = Convert.ToDouble(MesWorkForm.ReadPLC(102, this.opName).ToString());
//var y1 = Convert.ToDouble(MesWorkForm.ReadPLC(201, this.opName).ToString());
//var y2 = Convert.ToDouble(MesWorkForm.ReadPLC(202, this.opName).ToString());
//var z1 = Convert.ToDouble(MesWorkForm.ReadPLC(301, this.opName).ToString());
//var z2 = Convert.ToDouble(MesWorkForm.ReadPLC(302, this.opName).ToString());
double x1 = 0;
double x2 = 0;
double y1 = 0;
double y2 = 0;
double z1 = 0;
double z2 = 0;
var jointArray = MesWorkForm.ReadPLC_GroupData(this.opName);
foreach (KeyValuePair<string, object> item in jointArray)
{
var TF = (TagFormat)item.Value;
var tagTypeCodeID = Convert.ToInt32(TF.TagTypeCodeID);
var value = Convert.ToDouble(TF.TagValue);
switch (tagTypeCodeID)
{
case 101:
x1 = value;
break;
case 102:
x2 = value;
break;
case 201:
y1 = value;
break;
case 202:
y2 = value;
break;
case 301:
z1 = value;
break;
case 302:
z2 = value;
break;
default:
break;
}
}
p[0] = x1 + x2 * 0.001;
p[1] = y1 + y2 * 0.001;
p[2] = z1 + z2 * 0.001;
return p;
}
}
}

305
DT_SCADA/Core/B_Robot_Abb.cs Normal file
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using System;
using System.Threading;
using System.Collections.Generic;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.IOSystemDomain;
using Robot.Common;
namespace MesWork
{
public class B_Robot_Abb
{
/// <summary>
///
/// </summary>
private Controller abb = null;
/// <summary>
///
/// </summary>
public bool OnLine = false;
/// <summary>
///
/// </summary>
public string ip = "-1";
/// <summary>
///
/// </summary>
public string cname = "";
/// <summary>
///
/// </summary>
public int interval = -1;
/// <summary>
///
/// </summary>
public bool isRun = true;
/// <summary>
///
/// </summary>
public string Id = "-1";
/// <summary>
///
/// </summary>
public string Name = "";
public string robotWorkbench_1 = "";
public string robotWorkbench_Old_1 = "";
public string robotWorkbench_2 = "";
public string robotWorkbench_Old_2 = "";
public string TagID_Axis_7 = "";
/// <summary>
///
/// </summary>
public double[] j = new double[12];
/// <summary>
///
/// </summary>
public double[] jDemo = new double[12];
/// <summary>
///
/// </summary>
public List<JointConfig> Joints = null;
/// <summary>
///
/// </summary>
public string sendStr_Old = "";
/// <summary>
///
/// </summary>
public B_Robot_Abb()
{
}
/// <summary>
///
/// </summary>
/// <param name="ipPort"></param>
/// <param name="interval"></param>
/// <param name="j1_6"></param>
/// <param name="modelManagement"></param>
/// <param name="modelCode"></param>
public void Start(string ip, string cname,int interval, int intervalUpdate, string DeviceCode, string OpName, List<JointConfig> Joints
, string TagID_DoorOpen = "", string TagID_DoorClose = "", string TagID_Axis_7 = "")
{
this.ip = ip;
this.cname = cname;
this.interval = interval;
this.Id = DeviceCode;
this.Name = OpName;
this.Joints = Joints;
this.TagID_Axis_7 = TagID_Axis_7;
var robotWorkbench_1_Addr = TagID_DoorOpen.Split(',')[0];
var robotWorkbench_1_TagID = TagID_DoorOpen.Split(',')[1];
var robotWorkbench_2_Addr = TagID_DoorClose.Split(',')[0];
var robotWorkbench_2_TagID = TagID_DoorClose.Split(',')[1];
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
if (abb == null)
{
ReConnRobot();
}
OnLine = abb.Connected;
if (OnLine)
{
j = ReadResult_To_Array();
robotWorkbench_1 = ReadIO(robotWorkbench_1_Addr);
if (robotWorkbench_Old_1 != robotWorkbench_1)
{
MesWorkForm.S_C_B_TagIDTrigger(Name, robotWorkbench_1_TagID, robotWorkbench_1);
}
robotWorkbench_Old_1 = robotWorkbench_1;
robotWorkbench_2 = ReadIO(robotWorkbench_2_Addr);
if (robotWorkbench_Old_2 != robotWorkbench_2)
{
MesWorkForm.S_C_B_TagIDTrigger(Name, robotWorkbench_2_TagID, robotWorkbench_2);
}
robotWorkbench_Old_2 = robotWorkbench_2;
}
else
{
Thread.Sleep(10 * 1000);
ReConnRobot();
continue;
}
for (int i = 0; i < Joints.Count ; i++)
{
Joints[i].DeviceCode = DeviceCode;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
if (sendStr_Old != sendStr)
{
sendStr_Old = sendStr;
MesWorkForm.SendMsg(sendStr);
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate () {
while (isRun)
{
try
{
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = DeviceCode;
Joints[i].Value = j[i].ToString();
}
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
}
catch (Exception err)
{ }
Thread.Sleep(intervalUpdate);
}
}))
{ IsBackground = true }.Start();
}
private string ReadIO(string addr)
{
var valueStr = "";
// using (var m = Mastership.Request(abb.Rapid))
{
var _d = (DigitalSignal)abb.IOSystem.GetSignal(addr);
if (_d != null)
{
valueStr = _d.Value.ToString();
}
}
switch (valueStr.ToLower())
{
case "0":
case "false":
valueStr = "0";
break;
case "1":
case "true":
valueStr = "1";
break;
default:
break;
}
return valueStr;
}
~B_Robot_Abb()
{
DisConn();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
public void DisConn()
{
isRun = false;
Thread.Sleep(199);
abb?.Logoff();
}
/// <summary>
///
/// </summary>
private void ReConnRobot()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
//abb = ControllerFactory.CreateFrom();
//abb.Logon(UserInfo.DefaultUser);
abb = new Controller();
return;
}
if (abb != null)
{
abb?.Logoff();
abb = null;
}
var scanner = new NetworkScanner();
var controllers = scanner.GetControllers();
foreach (var controllerInfo in controllers)
{
if (controllerInfo.IPAddress.ToString() == ip & controllerInfo.SystemName == cname)
{
abb = ControllerFactory.CreateFrom(controllerInfo);
abb.Logon(UserInfo.DefaultUser);
}
}
}
/// <summary>
///
/// </summary>
/// <param name="j1_6"></param>
/// <returns></returns>
private double[] ReadResult_To_Array()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
return jDemo;
}
float j7 = 0f;
try
{
j7 = Convert.ToSingle(MesWorkForm.ReadPLC(TagID_Axis_7).ToString());
}
catch (Exception err )
{
}
var joint = new double[12];
var currJoint = abb.MotionSystem.ActiveMechanicalUnit.GetPosition();
joint[0] = currJoint.RobAx.Rax_1;
joint[1] = currJoint.RobAx.Rax_2;
joint[2] = currJoint.RobAx.Rax_3;
joint[3] = currJoint.RobAx.Rax_4;
joint[4] = currJoint.RobAx.Rax_5;
joint[5] = currJoint.RobAx.Rax_6;
joint[6] = j7;
return joint;
}
}
}

418
DT_SCADA/Core/B_Robot_Espon.cs Normal file
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using System;
using System.Data;
using System.Data.SqlClient;
using System.Text.RegularExpressions;
using System.Threading;
using System.Windows.Forms;
using System.Collections.Generic;
using Newtonsoft.Json;
using HslCommunication.Robot.FANUC;
using HslCommunication.Robot.KUKA;
using System.Net.Sockets;
using Org.BouncyCastle.Bcpg;
using System.Text;
using Adapters;
using static Focas1;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
namespace MesWork
{
public class B_Robot_Espon
{
/// <summary>
///
/// </summary>
private Socket espon = null;
/// <summary>
///
/// </summary>
public bool OnLine = false;
/// <summary>
///
/// </summary>
public string ip = "-1";
/// <summary>
///
/// </summary>
public int port = -1;
/// <summary>
///
/// </summary>
public int interval = -1;
/// <summary>
///
/// </summary>
public bool isRun = true;
/// <summary>
///
/// </summary>
public string sendV_Temp = "-1";
/// <summary>
///
/// </summary>
public double[] j = new double[12];
/// <summary>
///
/// </summary>
public double[] jDemo = new double[12];
/// <summary>
/// 记录老值
/// </summary>
string axis_act_Old = "-1";
/// <summary>
/// 焊接中
/// </summary>
public string clamp_Old = "";
/// <summary>
///
/// </summary>
public string clamp = "";
/// <summary>
///
/// </summary>
public string Id = "-1";
/// <summary>
///
/// </summary>
public string Name = "";
/// <summary>
///
/// </summary>
public List<JointConfig> Joints = null;
/// <summary>
///
/// </summary>
public string md5Pos = "";
/// <summary>
///
/// </summary>
public B_Robot_Espon()
{
}
/// <summary>
///
/// </summary>
/// <param name="ipPort"></param>
/// <param name="interval"></param>
/// <param name="j1_6"></param>
/// <param name="modelManagement"></param>
/// <param name="modelCode"></param>
public void Start(string ip, int port,int interval, int intervalUpdate, string DeviceCode, string OpName, List<JointConfig> Joints,string TagID_Clamp)
{
this.ip = ip;
this.port = port;
this.interval = interval;
this.Id = DeviceCode;
this.Name = OpName;
this.Joints = Joints;
var dataRec = new byte[1024 * 1024];
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
int readlen = 0;
if (espon == null)
{
continue;
}
try
{
espon.ReceiveTimeout = 5000;
readlen = espon.Receive(dataRec, 0, dataRec.Length, SocketFlags.None);
}
catch (Exception err)
{
continue;
}
if (readlen <= 0)
{
continue;
}
var str = Encoding.Default.GetString(dataRec, 0, readlen);
j = ReadResult_To_Array(str, out string clamp);
if (clamp_Old != clamp)
{
MesWorkForm.S_C_B_TagIDTrigger(OpName, TagID_Clamp, clamp);
}
clamp_Old = clamp;
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = $"ROBOT_ESPON_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
var payload = MesWorkForm.Move_Joint(Joints);
var md5Str = JsonConvert.SerializeObject(payload);
if (md5Pos != md5Str)
{
md5Pos = md5Str;
MesWorkForm.SendMsg(payload);
}
}
catch (Exception err) { }
Thread.Sleep(15);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
try
{
if (MesWorkForm.IsDemoMesServer == 1)
{
j = jDemo;
OnLine = true;
continue;
}
if (espon == null)
{
ReConnRobot();
}
var data = Encoding.Default.GetBytes("1");
espon.Send(data, 0, data.Length, SocketFlags.None);
OnLine = true;
}
catch (Exception err)
{
OnLine = false;
Thread.Sleep(2000);
ReConnRobot();
continue;
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate () {
while (isRun)
{
try
{
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = $"ROBOT_ESPON_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
var payload = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(payload);//FANUC机床的轴位置
UpdateDataToSql();
}
catch (Exception err)
{ }
Thread.Sleep(intervalUpdate);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
var deviceInfo = new DeviceInfo();
deviceInfo.order = "";
deviceInfo.Name = Name;
deviceInfo.Id = Id;
deviceInfo.Axis = new List<AxisInfo>();
deviceInfo.OtherParameter = new List<ParameterInfo>();
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J1", AxisValue = Math.Round(j[0], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J2", AxisValue = Math.Round(j[1], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J3", AxisValue = Math.Round(j[2], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J4", AxisValue = Math.Round(j[3], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J5", AxisValue = Math.Round(j[4], 2).ToString() });
deviceInfo.Axis.Add(new AxisInfo() { AxisName = "J6", AxisValue = Math.Round(j[5], 2).ToString() });
var payloadInfoStr = MesWorkForm.Make_DeviceInfo(new List<DeviceInfo>() { deviceInfo });
MesWorkForm.SendMsg(payloadInfoStr);
Thread.Sleep(300);
}
}))
{ IsBackground = true }.Start();
}
public void TimelyUpdate()
{
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
}
~B_Robot_Espon()
{
DisConn();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
public void DisConn()
{
isRun = false;
Thread.Sleep(199);
espon?.Close();
espon = null;
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <returns></returns>
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <returns></returns>
private void ReConnRobot()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
espon = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
return;
}
if (espon != null)
{
espon?.Close();
espon = null;
}
espon = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
espon.Connect(ip, port);
}
/// <summary>
///
/// </summary>
/// <param name="j1_6"></param>
/// <returns></returns>
private double[] ReadResult_To_Array(string readResult,out string clamp)
{
clamp = "-1";
var joint = new double[12];
var jStr = readResult.Split(',');
joint[0] = Math.Round(Convert.ToDouble(jStr[0]), 2);
joint[1] = Math.Round(Convert.ToDouble(jStr[1]), 2);
joint[2] = Math.Round(Convert.ToDouble(jStr[2]), 2);
joint[3] = Math.Round(Convert.ToDouble(jStr[3]), 2);
joint[4] = Math.Round(Convert.ToDouble(jStr[4]), 2);
joint[5] = Math.Round(Convert.ToDouble(jStr[5]), 2);
clamp = jStr[6];
return joint;
}
/// <summary>
/// 读取数据
/// </summary>
/// <param name="addr"></param>
/// <returns></returns>
public string Read_Welding(string addr)
{
string str = "-1";
//if (kuka != null)
//{
// var r = kuka.ReadString(addr);
// if (r.IsSuccess)
// {
// str = r.Content;
// }
//}
return str;
}
/// <summary>
/// 手动测试读取
/// </summary>
/// <param name="j1_6"></param>
/// <param name="j7"></param>
/// <returns></returns>
public string ReadTest(string robotName)
{
return "【" + robotName + "】" + MesWorkForm.Move_Joint(Joints);
}
public void UpdateDataToSql()
{
StoredProcedure("Event_Robot_Update");
}
private void StoredProcedure(string pName)
{
//var sqlParameter = new SqlParameter[] {
// new SqlParameter("@DeviceCode", DeviceCode),
// new SqlParameter("@Online", OnLine),
// new SqlParameter("@StationName", OpName),
// new SqlParameter("@SlaveAddr", $"{ip}:{port}"),
// new SqlParameter("@Joint1", j[0]),
// new SqlParameter("@Joint2", j[1]),
// new SqlParameter("@Joint3", j[2]),
// new SqlParameter("@Joint4", j[3]),
// new SqlParameter("@Joint5", j[4]),
// new SqlParameter("@Joint6", j[5]),
// new SqlParameter("@Joint7", j[6]),
// new SqlParameter("@Joint8", j[7]),
// new SqlParameter("@Joint9", j[8]),
// new SqlParameter("@Joint10",j[9]),
// new SqlParameter("@Joint11",j[10]),
// new SqlParameter("@Joint12",j[11]),
// new SqlParameter("@Clamp", welding)
// };
//MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
//{
// procedureName = pName,
// sqlParameter = sqlParameter
//});
}
}
}

409
DT_SCADA/Core/B_Robot_Fanuc.cs Normal file
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using HslCommunication.Robot.FANUC;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using NPOI.SS.Formula.Functions;
using System;
using System.Collections.Generic;
using System.Data.SqlClient;
using System.Threading;
using static Focas1;
namespace MesWork
{
public partial class Temp { }
public partial class B_Robot_Fanuc
{
/// <summary>
///
/// </summary>
private FanucInterfaceNet fanuc = null;
/// <summary>
///
/// </summary>
public bool OnLine = false;
/// <summary>
///
/// </summary>
private string ip = "-1";
/// <summary>
///
/// </summary>
private int port = -1;
/// <summary>
///
/// </summary>
private int interval = -1;
/// <summary>
///
/// </summary>
private bool isRun = true;
/// <summary>
///
/// </summary>
private string cmd = "";
/// <summary>
///
/// </summary>
private string cmd_Welding = "";
/// <summary>
///
/// </summary>
string sendV_Temp = "-1";
/// <summary>
///
/// </summary>
public double[] j = new double[12];
/// <summary>
///
/// </summary>
public double[] jDemo = new double[12];
/// <summary>
///
/// </summary>
string DeviceCode = "";
/// <summary>
///
/// </summary>
string OpName = "";
/// <summary>
/// 焊接中
/// </summary>
int welding = 0;
/// <summary>
///
/// </summary>
public string Id = "-1";
/// <summary>
///
/// </summary>
string Name = "";
/// <summary>
///
/// </summary>
List<JointConfig> Joints = null;
/// <summary>
///
/// </summary>
public string md5Pos = "";
/// <summary>
///
/// </summary>
public B_Robot_Fanuc()
{
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <param name="interval"></param>
/// <param name="intervalUpdate"></param>
/// <param name="cmd"></param>
/// <param name="cmd_Welding"></param>
/// <param name="Id"></param>
/// <param name="Name"></param>
/// <param name="Joints"></param>
public void Start(string ip, int port, int interval, int intervalUpdate, string cmd, string cmd_Welding, string Id, string Name, List<JointConfig> Joints)
{
this.ip = ip;
this.port = port;
this.interval = interval;
this.cmd = cmd;
this.cmd_Welding = cmd_Welding;
this.Id = Id;
this.Name = Name;
this.Joints = Joints;
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
//var weldingStr = Read_Welding(cmd_Welding);
//switch (weldingStr.ToLower())
//{
// case "1":
// case "true":
// welding = 1;
// break;
// default:
// welding = 0;
// break;
//}
if (fanuc == null)
{
ReConnRobot();
}
var r = fanuc.ReadString(cmd);
OnLine = r.IsSuccess;
if (OnLine)
{
j = ReadResult_To_Array(r.Content);
}
else
{
Thread.Sleep(10 * 1000);
ReConnRobot();
continue;
}
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = $"ROBOT_FANUC_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
//Joints[0].Value = j[0].ToString();
//Joints[1].Value = j[1].ToString();
//Joints[2].Value = j[2].ToString();
//Joints[3].Value = j[3].ToString();
//Joints[4].Value = j[4].ToString();
//Joints[5].Value = j[5].ToString();
//Joints[6].Value = j[6].ToString();
var payload = MesWorkForm.Move_Joint(Joints);
var md5Str = JsonConvert.SerializeObject(payload);
if (md5Pos != md5Str)
{
md5Pos = md5Str;
MesWorkForm.SendMsg(payload);//FANUC机床的轴位置
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate () {
while (isRun)
{
try
{
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = $"ROBOT_FANUC_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
//Joints[0].Value = j[0].ToString();
//Joints[1].Value = j[1].ToString();
//Joints[2].Value = j[2].ToString();
//Joints[3].Value = j[3].ToString();
//Joints[4].Value = j[4].ToString();
//Joints[5].Value = j[5].ToString();
//Joints[6].Value = j[6].ToString();
var payload = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(payload);//FANUC机床的轴位置
UpdateDataToSql();
}
catch (Exception err) { }
Thread.Sleep(intervalUpdate);
}
}))
{ IsBackground = true }.Start();
}
public void TimelyUpdate()
{
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
}
~B_Robot_Fanuc()
{
FanucClose();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
public void FanucClose()
{
isRun = false;
Thread.Sleep(199);
fanuc?.ConnectClose();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <returns></returns>
private void ReConnRobot()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
fanuc = new FanucInterfaceNet();
return;
}
if (fanuc != null)
{
fanuc?.ConnectClose();
}
fanuc = new FanucInterfaceNet();
fanuc.IpAddress = ip;
fanuc.Port = port;
var connect = fanuc.ConnectServer();
if (connect.IsSuccess)
{
}
}
public void DisConn()
{
if (fanuc != null)
{
fanuc?.ConnectClose();
}
}
/// <summary>
///
/// </summary>
/// <param name="j1_6"></param>
/// <returns></returns>
private double[] ReadResult_To_Array(string readResult)
{
if (MesWorkForm.IsDemoMesServer == 1)
{
return jDemo;
}
double[] joint = new double[12];
var recdata = readResult;
var jsc = ((JObject)JsonConvert.DeserializeObject(recdata))["Joint"];
joint[0] = Convert.ToDouble(jsc[0]);
joint[1] = Convert.ToDouble(jsc[1]);
joint[2] = Convert.ToDouble(jsc[2]);
joint[3] = Convert.ToDouble(jsc[3]);
joint[4] = Convert.ToDouble(jsc[4]);
joint[5] = Convert.ToDouble(jsc[5]);
joint[6] = Convert.ToDouble(jsc[6]);
joint[7] = Convert.ToDouble(jsc[7]);
joint[8] = Convert.ToDouble(jsc[8]);
joint[9] = Convert.ToDouble(0);
joint[10] = Convert.ToDouble(0);
joint[11] = Convert.ToDouble(0);
joint = new double[]
{
//Math.Round(Convert.ToDouble(joint[0])*Math.PI/180,4),
//Math.Round(Convert.ToDouble(joint[1])*Math.PI/180,4),
//Math.Round(( Convert.ToDouble(joint[2])+ Convert.ToDouble(joint[1]))*Math.PI/180 ,4),
//Math.Round(Convert.ToDouble(joint[3])*Math.PI/180,4),
//Math.Round(Convert.ToDouble(joint[4])*Math.PI/180,4),
//Math.Round(Convert.ToDouble(joint[5])*Math.PI/180,4),
//Convert.ToDouble(joint[6])/1000,
//Convert.ToDouble(joint[7])/1000,
//Convert.ToDouble(joint[8])/1000
Math.Round(Convert.ToDouble(joint[0]),2),
Math.Round(Convert.ToDouble(joint[1]),2),
Math.Round((Convert.ToDouble(joint[2])+ Convert.ToDouble(joint[1])) ,2),
Math.Round(Convert.ToDouble(joint[3]),2),
Math.Round(Convert.ToDouble(joint[4]),2),
Math.Round(Convert.ToDouble(joint[5]),2),
Convert.ToDouble(joint[6])/1000,
Convert.ToDouble(joint[7])/1000,
Convert.ToDouble(joint[8])/1000,
Convert.ToDouble(joint[9]),
Convert.ToDouble(joint[10]),
Convert.ToDouble(joint[11])
};
return joint;
}
/// <summary>
/// 读取数据
/// </summary>
/// <param name="addr"></param>
/// <returns></returns>
public string Read_Welding(string addr)
{
string str = "-1";
//if (kuka != null)
//{
// var r = kuka.ReadString(addr);
// if (r.IsSuccess)
// {
// str = r.Content;
// }
//}
return str;
}
/// <summary>
/// 手动测试读取
/// </summary>
/// <param name="j1_6"></param>
/// <param name="j7"></param>
/// <returns></returns>
public string ReadTest(string robotName)
{
return "【" + robotName + "】" + MesWorkForm.Move_Joint(Joints);
}
public void UpdateDataToSql()
{
StoredProcedure("Event_Robot_Update");
}
private void StoredProcedure(string pName)
{
//var sqlParameter = new SqlParameter[] {
// new SqlParameter("@DeviceCode", DeviceCode),
// new SqlParameter("@Online", OnLine),
// new SqlParameter("@StationName", OpName),
// new SqlParameter("@SlaveAddr", $"{ip}:{port}"),
// new SqlParameter("@Joint1", j[0]),
// new SqlParameter("@Joint2", j[1]),
// new SqlParameter("@Joint3", j[2]),
// new SqlParameter("@Joint4", j[3]),
// new SqlParameter("@Joint5", j[4]),
// new SqlParameter("@Joint6", j[5]),
// new SqlParameter("@Joint7", j[6]),
// new SqlParameter("@Joint8", j[7]),
// new SqlParameter("@Joint9", j[8]),
// new SqlParameter("@Joint10",j[9]),
// new SqlParameter("@Joint11",j[10]),
// new SqlParameter("@Joint12",j[11]),
// new SqlParameter("@Clamp", welding)
// };
//MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
//{
// procedureName = pName,
// sqlParameter = sqlParameter
//});
}
}
}

386
DT_SCADA/Core/B_Robot_Kuka.cs Normal file
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using System;
using System.Data;
using System.Data.SqlClient;
using System.Text.RegularExpressions;
using System.Threading;
using System.Windows.Forms;
using System.Collections.Generic;
using Newtonsoft.Json;
using HslCommunication.Robot.FANUC;
using HslCommunication.Robot.KUKA;
namespace MesWork
{
public partial class Temp { }
public partial class B_Robot_Kuka
{
/// <summary>
///
/// </summary>
private KukaAvarProxyNet kuka = null;
/// <summary>
///
/// </summary>
public bool OnLine = false;
/// <summary>
///
/// </summary>
private string ip = "-1";
/// <summary>
///
/// </summary>
private int port = -1;
/// <summary>
///
/// </summary>
private int interval = -1;
/// <summary>
///
/// </summary>
private bool isRun = true;
/// <summary>
///
/// </summary>
private string cmd = "";
/// <summary>
///
/// </summary>
private string cmd_Welding = "";
/// <summary>
///
/// </summary>
string sendV_Temp = "-1";
/// <summary>
///
/// </summary>
public double[] j = new double[12];
/// <summary>
///
/// </summary>
public double[] jDemo = new double[12];
/// <summary>
/// 记录老值
/// </summary>
string axis_act_Old = "-1";
/// <summary>
/// 焊接中
/// </summary>
int welding = 0;
/// <summary>
///
/// </summary>
public string Id = "-1";
/// <summary>
///
/// </summary>
string Name = "";
/// <summary>
///
/// </summary>
public List<JointConfig> Joints = null;
/// <summary>
///
/// </summary>
public string md5Pos = "";
/// <summary>
///
/// </summary>
public B_Robot_Kuka()
{
}
/// <summary>
///
/// </summary>
/// <param name="ipPort"></param>
/// <param name="interval"></param>
/// <param name="j1_6"></param>
/// <param name="modelManagement"></param>
/// <param name="modelCode"></param>
public void Start(string ip, int port,int interval, int intervalUpdate, string cmd, string cmd_Welding, string DeviceCode, string OpName, List<JointConfig> Joints)
{
this.ip = ip;
this.port = port;
this.interval = interval;
this.cmd = cmd;
this.cmd_Welding = cmd_Welding;
this.Id = DeviceCode;
this.Name = OpName;
this.Joints = Joints;
new Thread(new ThreadStart(delegate ()
{
while (isRun)
{
try
{
//var weldingStr = Read_Welding(cmd_Welding);
//switch (weldingStr.ToLower())
//{
// case "1":
// case "true":
// welding = 1;
// break;
// default:
// welding = 0;
// break;
//}
if (kuka == null)
{
ReConnRobot();
}
var r = kuka.ReadString(cmd);
OnLine = r.IsSuccess;
if (OnLine)
{
j = ReadResult_To_Array(r.Content);
}
else
{
Thread.Sleep(10 * 1000);
ReConnRobot();
continue;
}
for (int i = 0; i < Joints.Count ; i++)
{
Joints[i].DeviceCode = $"ROBOT_KUKA_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
//Joints[0].Value = j[0].ToString();
//Joints[1].Value = j[1].ToString();
//Joints[2].Value = j[2].ToString();
//Joints[3].Value = j[3].ToString();
//Joints[4].Value = j[4].ToString();
//Joints[5].Value = j[5].ToString();
//Joints[6].Value = j[6].ToString();
var payload = MesWorkForm.Move_Joint(Joints);
var md5Str = JsonConvert.SerializeObject(payload);
if (md5Pos != md5Str)
{
md5Pos = md5Str;
MesWorkForm.SendMsg(payload);
}
}
catch (Exception err) { }
Thread.Sleep(interval);
}
}))
{ IsBackground = true }.Start();
new Thread(new ThreadStart(delegate () {
while (isRun)
{
try
{
for (int i = 0; i < Joints.Count; i++)
{
Joints[i].DeviceCode = $"ROBOT_KUKA_{ip.Split('.')[3]}";
Joints[i].Value = j[i].ToString();
}
//Joints[0].Value = j[0].ToString();
//Joints[1].Value = j[1].ToString();
//Joints[2].Value = j[2].ToString();
//Joints[3].Value = j[3].ToString();
//Joints[4].Value = j[4].ToString();
//Joints[5].Value = j[5].ToString();
//Joints[6].Value = j[6].ToString();
var payload = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(payload);//FANUC机床的轴位置
UpdateDataToSql();
}
catch (Exception err)
{ }
Thread.Sleep(intervalUpdate);
}
}))
{ IsBackground = true }.Start();
}
public void TimelyUpdate()
{
var sendStr = MesWorkForm.Move_Joint(Joints);
MesWorkForm.SendMsg(sendStr);
}
~B_Robot_Kuka()
{
DisConn();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
public void DisConn()
{
isRun = false;
Thread.Sleep(199);
kuka?.ConnectClose();
}
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <returns></returns>
/// <summary>
///
/// </summary>
/// <param name="ip"></param>
/// <param name="port"></param>
/// <returns></returns>
private void ReConnRobot()
{
if (MesWorkForm.IsDemoMesServer == 1)
{
kuka = new KukaAvarProxyNet();
return;
}
if (kuka != null)
{
kuka?.ConnectClose();
}
kuka = new KukaAvarProxyNet();
kuka.IpAddress = ip;
kuka.Port = port;
var connect = kuka.ConnectServer();
if (connect.IsSuccess)
{
}
}
/// <summary>
///
/// </summary>
/// <param name="j1_6"></param>
/// <returns></returns>
private double[] ReadResult_To_Array(string readResult)
{
//string readResult = "{E6AXIS: A1 -12.03, A2 -97.15, A3 116.47, A4 -30.16, A5 -23.85, A6 27.48, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}";
if (MesWorkForm.IsDemoMesServer == 1)
{
return jDemo;
}
var axis_act = readResult;
double[] joint = new double[12];
if (axis_act == "-1")
{
axis_act = axis_act_Old;
}
else
{
//axis_act = Regex.Split(axis_act, ", E4", RegexOptions.IgnoreCase)[0];
axis_act = Regex.Split(axis_act, "}", RegexOptions.IgnoreCase)[0];
axis_act = axis_act.Replace("{E6AXIS: A1 ", "").Replace(", A2 ", "&").Replace(", A3 ", "&").Replace(", A4 ", "&").Replace(", A5 ", "&").Replace(", A6 ", "&")
.Replace(", E1 ", "&").Replace(", E2 ", "&").Replace(", E3 ", "&").Replace(", E4 ", "&").Replace(", E5 ", "&").Replace(", E6 ", "&");
axis_act_Old = axis_act;
}
string[] jStr = axis_act.Split('&');
for (int i = 0; i < jStr.Length; i++)
{
joint[i] = Math.Round(Convert.ToDouble(jStr[i]), 2);
//joint[i] = Convert.ToDouble(jStr[i]);
//if (i == 6 | i == 7 | i == 8 | i == 9 | i == 10 | i == 11)
// joint[i] = Math.Round(joint[i] / 1000.0, 2);
//else
// joint[i] = Math.Round(joint[i] * Math.PI / 180, 2);
}
return joint;
}
/// <summary>
/// 读取数据
/// </summary>
/// <param name="addr"></param>
/// <returns></returns>
public string Read_Welding(string addr)
{
string str = "-1";
//if (kuka != null)
//{
// var r = kuka.ReadString(addr);
// if (r.IsSuccess)
// {
// str = r.Content;
// }
//}
return str;
}
/// <summary>
/// 手动测试读取
/// </summary>
/// <param name="j1_6"></param>
/// <param name="j7"></param>
/// <returns></returns>
public string ReadTest(string robotName)
{
return "【" + robotName + "】" + MesWorkForm.Move_Joint(Joints);
}
public void UpdateDataToSql()
{
StoredProcedure("Event_Robot_Update");
}
private void StoredProcedure(string pName)
{
//var sqlParameter = new SqlParameter[] {
// new SqlParameter("@DeviceCode", DeviceCode),
// new SqlParameter("@Online", OnLine),
// new SqlParameter("@StationName", OpName),
// new SqlParameter("@SlaveAddr", $"{ip}:{port}"),
// new SqlParameter("@Joint1", j[0]),
// new SqlParameter("@Joint2", j[1]),
// new SqlParameter("@Joint3", j[2]),
// new SqlParameter("@Joint4", j[3]),
// new SqlParameter("@Joint5", j[4]),
// new SqlParameter("@Joint6", j[5]),
// new SqlParameter("@Joint7", j[6]),
// new SqlParameter("@Joint8", j[7]),
// new SqlParameter("@Joint9", j[8]),
// new SqlParameter("@Joint10",j[9]),
// new SqlParameter("@Joint11",j[10]),
// new SqlParameter("@Joint12",j[11]),
// new SqlParameter("@Clamp", welding)
// };
//MesWorkForm.taskSql.Enqueue(new NJ_ZC.ParamT
//{
// procedureName = pName,
// sqlParameter = sqlParameter
//});
}
}
}

780
DT_SCADA/Core/ElectricEnergyMeter.cs Normal file
View File

@@ -0,0 +1,780 @@
//using ConLink.ModBus;
//using System;
//using System.Collections.Generic;
//using System.Linq;
//using System.Text;
//using static ConLink.BasicFramework.SoftBasic;
//using System.Threading;
//using System.Threading.Tasks;
//using System.Data.SqlClient;
///// <summary>
/////
///// </summary>
//namespace MesWork
///*
// public float Ua = 0f;
// public float Ub = 0f;
// public float Uc = 0f;
// public float Uab = 0f;
// public float Ubc = 0f;
// public float Uca = 0f;
// public float Ia = 0f;
// public float Ib = 0f;
// public float Ic = 0f;
// public float Pa = 0f;
// public float Pb = 0f;
// public float Pc = 0f;
// public float P = 0f;
// public float Qa = 0f;
// public float Qb = 0f;
// public float Qc = 0f;
// public float Q = 0f;
// public float Sa = 0f;
// public float Sb = 0f;
// public float Sc = 0f;
// public float S = 0f;
// public float PFa = 0f;
// public float PFb = 0f;
// public float PFc = 0f;
// public float PF = 0f;
// public float FR = 0f;
// public float Ep1 = 0f;
// public float Ep2 = 0f;
// public float Eq1 = 0f;
// public float Eq2 = 0f;
// */
///*
// @Ua REAL = 0,
// @Ub REAL = 0,
// @Uc REAL = 0,
// @Uab REAL = 0,
// @Ubc REAL = 0,
// @Uca REAL = 0,
// @Ia REAL = 0,
// @Ib REAL = 0,
// @Ic REAL = 0,
// @Pa REAL = 0,
// @Pb REAL = 0,
// @Pc REAL = 0,
// @P REAL = 0,
// @Qa REAL = 0,
// @Qb REAL = 0,
// @Qc REAL = 0,
// @Q REAL = 0,
// @Sa REAL = 0,
// @Sb REAL = 0,
// @Sc REAL = 0,
// @S REAL = 0,
// @PFa REAL = 0,
// @PFb REAL = 0,
// @PFc REAL = 0,
// @PF REAL = 0,
// @FR REAL = 0,
// @Ep1 REAL = 0,
// @Ep2 REAL = 0,
// @Eq1 REAL = 0,
// @Eq2 REAL = 0
// */
//{
// /// <summary>
// ///
// /// </summary>
// public class ElectricEnergyMeter
// {
// /// <summary>
// ///
// /// </summary>
// private string ip = "";
// /// <summary>
// ///
// /// </summary>
// private int port = 0;
// /// <summary>
// /// /
// /// </summary>
// private byte station = 0;
// /// <summary>
// ///
// /// </summary>
// private string opName = "";
// /// <summary>
// ///
// /// </summary>
// private int intervalRead = 1 * 1000;
// /// <summary>
// ///
// /// </summary>
// private int intervalUpdate = 5 * 1000;
// /// <summary>
// ///
// /// </summary>
// private int intervalInsert = 10 * 1000;
// /// <summary>
// ///
// /// </summary>
// private ModbusTcpNet mbt = null;
// /// <summary>
// ///
// /// </summary>
// private Thread tt = null;
// /// <summary>
// ///
// /// </summary>
// private Thread ttt = null;
// /// <summary>
// ///
// /// </summary>
// private Thread tttt = null;
// /// <summary>
// ///
// /// </summary>
// private string message = "00 00 00 00 00 06 01 03 00 00 00 3C";
// /// <summary>
// ///
// /// </summary>
// private int offset = 18;
// /// <summary>
// ///
// /// </summary>
// private int index = 0;
// /// <summary>
// ///
// /// </summary>
// public float Ua = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ub = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Uc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Uab = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ubc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Uca = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ia = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ib = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ic = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Pa = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Pb = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Pc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float P = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Qa = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Qb = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Qc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Q = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Sa = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Sb = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Sc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float S = 0f;
// /// <summary>
// ///
// /// </summary>
// public float PFa = 0f;
// /// <summary>
// ///
// /// </summary>
// public float PFb = 0f;
// /// <summary>
// ///
// /// </summary>
// public float PFc = 0f;
// /// <summary>
// ///
// /// </summary>
// public float PF = 0f;
// /// <summary>
// ///
// /// </summary>
// public float FR = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ep1 = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Ep2 = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Eq1 = 0f;
// /// <summary>
// ///
// /// </summary>
// public float Eq2 = 0f;
// /// <summary>
// ///
// /// </summary>
// public void Start(string ip,int port,byte station,string opName,int intervalRead
// , int intervalUpdate ,int intervalInsert)
// {
// this.ip = ip;
// this.port = port;
// this.station = station;
// this.opName = opName;
// this.intervalRead = intervalRead;
// this.intervalUpdate = intervalUpdate;
// this.intervalInsert = intervalInsert;
// mbt = new ModbusTcpNet(ip, port, station);
// mbt.AddressStartWithZero = true ;
// mbt.SetLoginAccount("","");
// mbt.DataFormat = ConLink.Core.DataFormat.ABCD;
// mbt.IsStringReverse = false;
// var s = mbt.ConnectServer();
// var dfg = s.IsSuccess;
// tt = new Thread(new ThreadStart(Read));
// tt.IsBackground = true;
// tt.Start();
// ttt = new Thread(new ThreadStart(Update));
// ttt.IsBackground = true;
// ttt.Start();
// tttt = new Thread(new ThreadStart(Insert));
// tttt.IsBackground = true;
// tttt.Start();
// }
// /// <summary>
// ///
// /// </summary>
// private void Read()
// {
// while (true)
// {
// try
// {
// var read = mbt.ReadFromCoreServer(HexStringToBytes(this.message));
// if (read.IsSuccess)
// {
// var rc = read.Content;
// var str = ByteToHexString(rc);
// //str = "00000000001B010318199A435C199A435C199A435C199A435C199A435C199A435C";
// index = 0;
// Ua = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4,4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 1;
// Ub = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 2;
// Uc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 3;
// Uab = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 4;
// Ubc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 5;
// Uca = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 6;
// Ia = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 7;
// Ib = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 8;
// Ic = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 9;
// Pa = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 10;
// Pb = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 11;
// Pc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 12;
// P = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 13;
// Qa = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 14;
// Qb = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 15;
// Qc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 16;
// Q = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 17;
// Sa = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 18;
// Sb = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 19;
// Sc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 20;
// S = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 21;
// PFa = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 22;
// PFb = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 23;
// PFc = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 24;
// PF = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 25;
// FR = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 26;
// Ep1 = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 27;
// Ep2 = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 28;
// Eq1 = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// index = 29;
// Eq2 = BitConverter.ToSingle(BitConverter.GetBytes(Convert.ToUInt32(
// str.Substring(offset + index * 8 + 4, 4) + str.Substring(offset + index * 8 + 0, 4)
// , 16)), 0);
// }
// else
// {
// Thread.Sleep(this.intervalRead * 3);
// }
// }
// catch (Exception err)
// {
// }
// Thread.Sleep(this.intervalRead);
// }
// }
// /// <summary>
// ///
// /// </summary>
// private void Update()
// {
// while (true)
// {
// try
// {
// ExecUpdate();
// }
// catch (Exception err)
// {
// }
// Thread.Sleep(this.intervalUpdate);
// }
// }
// /// <summary>
// ///
// /// </summary>
// private void Insert()
// {
// while (true)
// {
// try
// {
// ExecInsert();
// }
// catch (Exception err)
// {
// }
// Thread.Sleep(this.intervalInsert);
// }
// }
// /// <summary>
// ///
// /// </summary>
// private void ExecUpdate()
// {
// /*
// public float Ua = 0f;
// public float Ub = 0f;
// public float Uc = 0f;
// public float Uab = 0f;
// public float Ubc = 0f;
// public float Uca = 0f;
// public float Ia = 0f;
// public float Ib = 0f;
// public float Ic = 0f;
// public float Pa = 0f;
// public float Pb = 0f;
// public float Pc = 0f;
// public float P = 0f;
// public float Qa = 0f;
// public float Qb = 0f;
// public float Qc = 0f;
// public float Q = 0f;
// public float Sa = 0f;
// public float Sb = 0f;
// public float Sc = 0f;
// public float S = 0f;
// public float PFa = 0f;
// public float PFb = 0f;
// public float PFc = 0f;
// public float PF = 0f;
// public float FR = 0f;
// public float Ep1 = 0f;
// public float Ep2 = 0f;
// public float Eq1 = 0f;
// public float Eq2 = 0f;
// */
// UpdateCurr();
// }
// /// <summary>
// ///
// /// </summary>
// private void ExecInsert()
// {
// /*
// public float Ua = 0f;
// public float Ub = 0f;
// public float Uc = 0f;
// public float Uab = 0f;
// public float Ubc = 0f;
// public float Uca = 0f;
// public float Ia = 0f;
// public float Ib = 0f;
// public float Ic = 0f;
// public float Pa = 0f;
// public float Pb = 0f;
// public float Pc = 0f;
// public float P = 0f;
// public float Qa = 0f;
// public float Qb = 0f;
// public float Qc = 0f;
// public float Q = 0f;
// public float Sa = 0f;
// public float Sb = 0f;
// public float Sc = 0f;
// public float S = 0f;
// public float PFa = 0f;
// public float PFb = 0f;
// public float PFc = 0f;
// public float PF = 0f;
// public float FR = 0f;
// public float Ep1 = 0f;
// public float Ep2 = 0f;
// public float Eq1 = 0f;
// public float Eq2 = 0f;
// */
// InsertHis();
// }
// private bool UpdateCurr()
// {
// /*
// public float Ua = 0f;
// public float Ub = 0f;
// public float Uc = 0f;
// public float Uab = 0f;
// public float Ubc = 0f;
// public float Uca = 0f;
// public float Ia = 0f;
// public float Ib = 0f;
// public float Ic = 0f;
// public float Pa = 0f;
// public float Pb = 0f;
// public float Pc = 0f;
// public float P = 0f;
// public float Qa = 0f;
// public float Qb = 0f;
// public float Qc = 0f;
// public float Q = 0f;
// public float Sa = 0f;
// public float Sb = 0f;
// public float Sc = 0f;
// public float S = 0f;
// public float PFa = 0f;
// public float PFb = 0f;
// public float PFc = 0f;
// public float PF = 0f;
// public float FR = 0f;
// public float Ep1 = 0f;
// public float Ep2 = 0f;
// public float Eq1 = 0f;
// public float Eq2 = 0f;
// */
// var sqlParameter = new SqlParameter[] {
// new SqlParameter("@StationName", opName),
// new SqlParameter("@SlaveAddr", ip),
// new SqlParameter("@Ua", Ua),
// new SqlParameter("@Ub", Ub),
// new SqlParameter("@Uc", Uc),
// new SqlParameter("@Uab", Ua),
// new SqlParameter("@Ubc", Ub),
// new SqlParameter("@Uca", Uc),
// new SqlParameter("@Ia", Ia),
// new SqlParameter("@Ib", Ib),
// new SqlParameter("@Ic", Ic),
// new SqlParameter("@Pa", Pa),
// new SqlParameter("@Pb", Pb),
// new SqlParameter("@Pc", Pc),
// new SqlParameter("@P", Pa),
// new SqlParameter("@Qa", Qa),
// new SqlParameter("@Qb", Qb),
// new SqlParameter("@Qc", Qc),
// new SqlParameter("@Q", Q),
// new SqlParameter("@Sa", Sa),
// new SqlParameter("@Sb", Sb),
// new SqlParameter("@Sc", Sc),
// new SqlParameter("@S", S),
// new SqlParameter("@PFa", PFa),
// new SqlParameter("@PFb", PFb),
// new SqlParameter("@PFc", PFc),
// new SqlParameter("@PF", PF),
// new SqlParameter("@FR", FR),
// new SqlParameter("@Ep1", Ep1),
// new SqlParameter("@Ep2", Ep2),
// new SqlParameter("@Eq1", Eq1),
// new SqlParameter("@Eq2", Eq2)
// };
// return DataLinkMesWork.SQLCommon.ExecuteStoredProcedure("Event_Meter_Update",MesWorkForm.ConnectionString, ref sqlParameter, out string errorMessage);
// }
// private bool InsertHis()
// {
// /*
// public float Ua = 0f;
// public float Ub = 0f;
// public float Uc = 0f;
// public float Uab = 0f;
// public float Ubc = 0f;
// public float Uca = 0f;
// public float Ia = 0f;
// public float Ib = 0f;
// public float Ic = 0f;
// public float Pa = 0f;
// public float Pb = 0f;
// public float Pc = 0f;
// public float P = 0f;
// public float Qa = 0f;
// public float Qb = 0f;
// public float Qc = 0f;
// public float Q = 0f;
// public float Sa = 0f;
// public float Sb = 0f;
// public float Sc = 0f;
// public float S = 0f;
// public float PFa = 0f;
// public float PFb = 0f;
// public float PFc = 0f;
// public float PF = 0f;
// public float FR = 0f;
// public float Ep1 = 0f;
// public float Ep2 = 0f;
// public float Eq1 = 0f;
// public float Eq2 = 0f;
// */
// var sqlParameter = new SqlParameter[] {
// new SqlParameter("@StationName", opName),
// new SqlParameter("@SlaveAddr", ip),
// new SqlParameter("@Ua", Ua),
// new SqlParameter("@Ub", Ub),
// new SqlParameter("@Uc", Uc),
// new SqlParameter("@Uab", Ua),
// new SqlParameter("@Ubc", Ub),
// new SqlParameter("@Uca", Uc),
// new SqlParameter("@Ia", Ia),
// new SqlParameter("@Ib", Ib),
// new SqlParameter("@Ic", Ic),
// new SqlParameter("@Pa", Pa),
// new SqlParameter("@Pb", Pb),
// new SqlParameter("@Pc", Pc),
// new SqlParameter("@P", Pa),
// new SqlParameter("@Qa", Qa),
// new SqlParameter("@Qb", Qb),
// new SqlParameter("@Qc", Qc),
// new SqlParameter("@Q", Q),
// new SqlParameter("@Sa", Sa),
// new SqlParameter("@Sb", Sb),
// new SqlParameter("@Sc", Sc),
// new SqlParameter("@S", S),
// new SqlParameter("@PFa", PFa),
// new SqlParameter("@PFb", PFb),
// new SqlParameter("@PFc", PFc),
// new SqlParameter("@PF", PF),
// new SqlParameter("@FR", FR),
// new SqlParameter("@Ep1", Ep1),
// new SqlParameter("@Ep2", Ep2),
// new SqlParameter("@Eq1", Eq1),
// new SqlParameter("@Eq2", Eq2)
// };
// return DataLinkMesWork.SQLCommon.ExecuteStoredProcedure("Event_Meter_Insert", MesWorkForm.ConnectionString, ref sqlParameter, out string errorMessage);
// }
// }
//}

28
DT_SCADA/Core/ExecSqlServer.cs Normal file
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using MesWork;
using System;
using System.Collections.Generic;
using System.Data.SqlClient;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace NJ_ZC
{
public class ParamT
{
public string procedureName
{
get;
set;
} = "";
public SqlParameter[] sqlParameter
{
get;
set;
}
}
}

154
DT_SCADA/Core/Load.cs Normal file
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using NJ_ZC;
using NPOI.SS.Formula.Functions;
using OpcBasic;
using System;
using System.Collections;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data;
using System.Diagnostics;
using System.IO;
using System.Threading;
using System.Windows.Forms;
using SystemFramework;
namespace MesWork
{
public partial class Temp { }
/// <summary>
///
/// </summary>
public partial class MesWorkForm
{
/// <summary>
///
/// </summary>
/// <param name="dt_Robot"></param>
private void LoadDevice(ScadaConfig appConfig)
{
foreach (var mu in appConfig.MachineTool)
{
var Enable = mu.Enable;
var Type = mu.Type;
var ConnectStr = mu.ConnectStr;
var Id = mu.Id;
var Name = mu.Name;
var DataTimeInterval = Convert.ToInt32(mu.DataTimeInterval);
var AxesTimeInterval = Convert.ToInt32(mu.AxesTimeInterval);
var Joints = mu.Joints;
var TagID_Clamp = mu.TagID_Clamp;
var IP = "";
var Port = 0;
if (Enable == "1")
{
switch (Type.ToUpper())
{
case "ROBOTFANUC":
{
if (!ConnectStr.Contains(":"))
{
MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
Process.GetCurrentProcess().Kill();
}
IP = ConnectStr.Split(':')[0];
Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
var fanuc = new B_Robot_Fanuc();
fanuc.Start(IP, Port, AxesTimeInterval, DataTimeInterval, "CurrentPose", "", Id, Name, Joints);
dc_Robot.Add($"{Type}|{Id}", fanuc);
}
break;
case "ROBOTKUKA":
{
if (!ConnectStr.Contains(":"))
{
MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
Process.GetCurrentProcess().Kill();
}
IP = ConnectStr.Split(':')[0];
Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
var kuka = new B_Robot_Kuka();
kuka.Start(IP, Port, AxesTimeInterval, DataTimeInterval, "$axis_act", "$OUT[8]", Id, Name, Joints);
dc_Robot.Add($"{Type}|{Id}", kuka);
}
break;
case "ROBOTABB":
{
if (!ConnectStr.Contains(":"))
{
MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
Process.GetCurrentProcess().Kill();
}
IP = ConnectStr.Split(':')[0];
var cname = ConnectStr.Split(':')[1];
var abb = new B_Robot_Abb();
abb.Start(IP, cname, AxesTimeInterval, DataTimeInterval, Id, Name, Joints);
dc_Robot.Add($"{Type}|{Id}", abb);
}
break;
case "ROBOTEPSON":
{
if (!ConnectStr.Contains(":"))
{
MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
Process.GetCurrentProcess().Kill();
}
IP = ConnectStr.Split(':')[0];
Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
var espon = new B_Robot_Espon();
espon.Start(IP, Port, AxesTimeInterval, DataTimeInterval, Id, Name, Joints, TagID_Clamp);
dc_Robot.Add($"{Type}|{Id}", espon);
}
break;
case "AXIS":
{
var b_Read_N_Axis = new B_Read_N_Axis();
b_Read_N_Axis.Start(AxesTimeInterval, DataTimeInterval, ConnectStr, Joints, Id, Name);
dc_Name_Axis.Add($"{Type}|{Id}|{ConnectStr}", b_Read_N_Axis);
}
break;
case "AXIS_CARD":
{
var b_Read_N_AxisCard = new B_Read_N_AxisCard();
b_Read_N_AxisCard.Start(AxesTimeInterval, DataTimeInterval, ConnectStr, Joints);
dc_Name_Axis_Card.Add($"{Type}|{Id}|{ConnectStr}", b_Read_N_AxisCard);
}
break;
case "AGV":
{
agvRead = new AgvRead();
agvRead.Start(ConnectStr,AxesTimeInterval, DataTimeInterval, Id, Name);
}
break;
case "CNCEDM":
{
IP = ConnectStr.Split(':')[0];
Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
var edm = new B_Cnc_Edm();
edm.Start(IP, Port, AxesTimeInterval, DataTimeInterval, Id, Name, Joints);
dc_Robot.Add($"{Type}|{Id}", edm);
}
break;
default:
break;
}
}
}
}
}
}

53
DT_SCADA/Core/MW.DisConn.cs Normal file
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using NJ_ZC;
using OpcBasic;
using System;
using System.Collections;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data;
using System.Diagnostics;
using System.IO;
using System.Threading;
using System.Windows.Forms;
using SystemFramework;
using static System.Configuration.ConfigurationManager;
namespace MesWork
{
public partial class Temp { }
/// <summary>
///
/// </summary>
public partial class MesWorkForm
{
public void DisConnect()
{
try
{
foreach (var robot in new Dictionary<string,object>(dc_Robot))
{
var key = robot.Key;
var robotObj = robot.Value;
var type = key.Split('|')[0];
var robotCode = key.Split('|')[1];
switch (type)
{
case "FANUC":
((B_Robot_Fanuc)robotObj).DisConn();
break;
case "KUKA":
((B_Robot_Kuka)robotObj).DisConn();
break;
default:
break;
}
}
}
catch (Exception err){}
}
}
}

95
DT_SCADA/Core/MysqlClient.cs Normal file
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using MySql.Data.MySqlClient;
using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DatabaseClient
{
public class MysqlClient
{
public static bool ExecQuerySQL(string sql, string ConnectStr, out string err)
{
// lock (losk1) {
bool success = false;
err = "";
using (MySqlConnection conn = new MySqlConnection(ConnectStr))
{
try
{
conn.Open();
MySqlCommand command = new MySqlCommand(sql, conn);
command.ExecuteNonQuery();
success = true;
}
catch (Exception er)
{
err = er.Message;
}
finally
{
if (conn != null)
{
conn.Close();
}
}
}
return success;
// }
}
public static bool ExecQueryDataTable(string sql, string ConnectStr,out DataTable dt, out string err)
{
bool success = false;
err = "";
dt = null;
using (MySqlConnection conn = new MySqlConnection(ConnectStr))
{
try
{
conn.Open();
MySqlCommand command = new MySqlCommand(sql, conn);
MySqlDataAdapter da = new MySqlDataAdapter(command);
DataSet ds = new DataSet();
da.Fill(ds);
if (ds.Tables.Count > 0)
{
dt = ds.Tables[0];
}
success = true;
}
catch (Exception er)
{
err = er.Message;
}
finally
{
if (conn != null)
{
conn.Close();
}
}
}
return success;
}
}
}

113
DT_SCADA/Core/Remote.Receive.cs Normal file
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using System;
using System.Collections.Generic;
using System.Data;
using System.Data.SqlClient;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace MesWork
{
public partial class QingYa_OP0010 { }
public partial class MesWorkForm
{
/// <summary>
///
/// </summary>
/// <param name="_Msg"></param>
public void LoadClientInfo(object _Msg)
{
try
{
string recStr = (string)_Msg;
string m_Source = recStr.Split('|')[0];
string cmd = recStr.Split('|')[1];
//string OpName = recStr.Split('|')[2];
//string tagValue = recStr.Split('|')[3];
switch (m_Source)
{
case "DT":
switch (cmd)
{
case "B_C_DT_WebLoaded":
new TaskFactory().StartNew(delegate () {
try
{
var tagList = DriverCache["Cache_Tag"];
foreach (var item in tagList)
{
var tf = (OpcBasic.TagFormat)item.Value;
var tagID = tf.TagID;
var tagValue = tf.TagValue.ToString();
var tagTypeID = Convert.ToInt32(tf.TagTypeID);
var tagTypeCodeID = (int)tf.TagTypeCodeID;
var opName = tf.OpName.ToString();
if (tagTypeID == 11)
{
switch (tagValue.ToUpper())
{
case "1":
case "TRUE":
tagValue = "1";
break;
default:
tagValue = "0";
break;
}
}
S_C_B_TagIDTrigger(opName,tagID, tagValue);
}
}
catch (Exception ew1) { }
//try
//{
// var from_to_loc = agvRead.ReadAgv();
// MesWorkForm.S_C_B_TagIDTrigger(agvRead.connectStr, agvRead.tagID, from_to_loc);
//}
//catch (Exception ew2) { }
});
break;
}
break;
case "MES":
switch (cmd)
{
case "B_C_DT_WebLoaded":
//string OpName = recStr.Split('|')[2];
//if (OpName == "AllOpName")
//{
// foreach (var fanucBaseNC in fanucBaseNCArray)
// {
// fanucBaseNC.SendDataReLoad();
// }
// return;
//}
//if (fanucBaseNCArray.FirstOrDefault(o => o.OpName == OpName) != null) {
// fanucBaseNCArray.FirstOrDefault(o => o.OpName == OpName).SendDataReLoad();
//}
// FanucBaseNC.SendStateDataFirst();
break;
default:
break;
}
break;
}
}
catch (Exception err) { }
}
}
}

275
DT_SCADA/Core/Remote.Send.cs Normal file
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using HslCommunication;
using HslCommunication.Core.Net;
using HslCommunication.Enthernet;
using MQTTnet;
using MQTTnet.Client.Connecting;
using MQTTnet.Client.Disconnecting;
using MQTTnet.Client.Options;
using MQTTnet.Client.Receiving;
using MQTTnet.Extensions.ManagedClient;
using MQTTnet.Formatter;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Net;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
/// <summary>
///
/// </summary>
namespace MesWork
{
/// <summary>
///
/// </summary>
public partial class Temp { }
/// <summary>
///
/// </summary>
public partial class MesWorkForm
{
/// <summary>
///
/// </summary>
public static NetComplexClient complexClient = null;
/// <summary>
///
/// </summary>
static private IManagedMqttClient mqttClient = null;
/// <summary>
///
/// </summary>
string topic = "";
/// <summary>
///
/// </summary>
static bool OnLine_Mqtt = false;
/// <summary>
///
/// </summary>
/// <param name="uri"></param>
/// <returns></returns>
public async Task StartAsync(string uri)
{
var array = uri.Split(new char[] { ':', ',' });
string mqttUser = array[2];
string mqttPassword = "";
var options = new MqttClientOptions
{
ClientId = $"{mqttUser}_{Guid.NewGuid().ToString()}",
ProtocolVersion = MqttProtocolVersion.V311,
ChannelOptions = new MqttClientTcpOptions { Server = array[0], Port = Convert.ToInt32(array[1]) },
CleanSession = true,
KeepAlivePeriod = TimeSpan.FromSeconds(15),
Credentials = new MqttClientCredentials
{
Username = mqttUser,
Password = Encoding.UTF8.GetBytes(mqttPassword)
}
};
mqttClient = new MqttFactory().CreateManagedMqttClient();
mqttClient.ConnectedHandler = new MqttClientConnectedHandlerDelegate(OnSubscriberConnected);
mqttClient.DisconnectedHandler = new MqttClientDisconnectedHandlerDelegate(OnSubscriberDisconnected);
mqttClient.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(OnSubscriberMessageReceived);
await mqttClient.StartAsync(new ManagedMqttClientOptions { ClientOptions = options });
this.topic = array[2];
await mqttClient.SubscribeAsync(new MqttTopicFilter { Topic = topic });
}
/// <summary>
///
/// </summary>
/// <param name="MesServer_IpPortName"></param>
private void ClientConnection(string MesServer_IpPortName)
{
string serverIP = MesServer_IpPortName.Split(':')[0];
string portString = MesServer_IpPortName.Split(':')[1].Split(',')[0];
string opNameSocket = MesServer_IpPortName.Split(',')[1];
if (!IPAddress.TryParse(serverIP, out IPAddress address))
{
return;
}
if (!int.TryParse(portString, out int port))
{
return;
}
try
{
// 连接 connect
complexClient = new NetComplexClient();
complexClient.ClientAlias = opNameSocket;
complexClient.EndPointServer = new IPEndPoint(address, port);
//complexClient.Token = new Guid(textBox3.Text);
complexClient.AcceptString += ComplexClient_AcceptString;
complexClient.MessageAlerts += ComplexClient_MessageAlerts;
complexClient.ClientStart();
}
catch (Exception ex)
{
HslCommunication.BasicFramework.SoftBasic.ShowExceptionMessage(ex);
}
}
/// <summary>
///
/// </summary>
/// <param name="publish_topic"></param>
/// <param name="publish_msg"></param>
/// <returns></returns>
private static async Task Publish(string publish_topic, string publish_msg)
{
if (mqttClient != null)
{
await mqttClient.PublishAsync(new MqttApplicationMessageBuilder().WithTopic(publish_topic).WithPayload(publish_msg).WithAtMostOnceQoS().Build());
}
}
/// <summary>
///
/// </summary>
/// <returns></returns>
private async Task DisConnectService()
{
if (mqttClient != null)
{
await mqttClient.UnsubscribeAsync(new string[] { topic });
await mqttClient.StopAsync();
}
}
/// <summary>
///
/// </summary>
/// <param name="text"></param>
private void ComplexClient_MessageAlerts(string text)
{
//if (InvokeRequired)
//{
// Invoke(new Action<string>(ComplexClient_MessageAlerts), text);
// return;
//}
}
/// <summary>
/// 连接完成
/// </summary>
/// <param name="x"></param>
private void OnSubscriberConnected(MqttClientConnectedEventArgs x)
{
OnLine_Mqtt = true;
// textBox1_robotData.Text += "连接完成" + "\r\n";
var rec = x.AuthenticateResult.ResultCode.ToString();
// label_State.Text = rec;
// textBox1_robotData.Text += rec + "\r\n";
}
/// <summary>
/// 断开连接
/// </summary>
/// <param name="x"></param>
private void OnSubscriberDisconnected(MqttClientDisconnectedEventArgs x)
{
OnLine_Mqtt = false;
try
{
// textBox1_robotData.Text += "断开连接" + "\r\n";
var rec = x.ClientWasConnected.ToString();
// textBox1_robotData.Text += rec + "\r\n";
}
catch (Exception err)
{
// textBox1_robotData.Text += $"Message:{err.Message}\r\n\r\nStackTrace:{err.StackTrace}" + "\r\n";
}
}
/// <summary>
/// 接收信息
/// </summary>
/// <param name="x"></param>
private void OnSubscriberMessageReceived(MqttApplicationMessageReceivedEventArgs x)
{
var recStr = x.ApplicationMessage.ConvertPayloadToString();
ThreadPool.QueueUserWorkItem(LoadClientInfo, recStr);
}
/// <summary>
/// 接收消息
/// </summary>
/// <param name="arg1"></param>
/// <param name="arg2"></param>
/// <param name="arg3"></param>
private void ComplexClient_AcceptString(AppSession arg1, NetHandle arg2, string arg3)
{
ThreadPool.QueueUserWorkItem(LoadClientInfo, (string)arg3);
}
public static void SendMsg(string str)
{
try
{
switch (ConnectType)
{
case 1:
complexClient.Send(1, str);
break;
case 2:
//var s = $"{MqttTargetTopic}\\?";
//var sendString = Regex.Split(str, s, RegexOptions.IgnoreCase);
//TOBS??SCADAMain?DT|C_B_JointMoveTo|
var topic = $"{str.Split('?')[2]}";
var content = $"{str.Split('?')[3]}";
Publish(topic, content);
break;
default:
break;
}
}
catch (Exception err)
{
}
}
public static void SendMsg(string opName, string topic, string content)
{
try
{
switch (ConnectType)
{
case 1:
complexClient.Send(1, content);
break;
case 2:
Publish(topic + opName, content);
break;
default:
break;
}
}
catch (Exception err)
{
}
}
private void ConnectService()
{
switch (ConnectType)
{
case 1:
ClientConnection(IpPortSub);
break;
case 2:
var _task = StartAsync(IpPortSub);
break;
default:
break;
}
}
}
}

103
DT_SCADA/Core/ScadaConfig.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace MesWork
{
public class ToolInfo
{
public string Name { get; set; }
public string TimeRated { get; set; }
public string TimeUsed { get; set; }
}
public class AxisInfo
{
public string AxisName { get; set; }
public string AxisValue { get; set; }
}
public class ParameterInfo
{
public string ParameterName { get; set; }
public string ParameterValue { get; set; }
}
public class AlarmInfo
{
public string AlarmCode { get; set; } = "83721";
public string Alarm { get; set; } = "该吃饭了！";
public string AlarmTime { get; set; } = DateTime.Now.ToString();
}
public class TipInfo
{
public string TipCode { get; set; } = "1123";
public string Tip { get; set; } = "该睡觉了！";
public string TipTime { get; set; } = DateTime.Now.ToString();
}
public class DeviceInfo
{
public string order { get; set; } = "";
public string Name { get; set; } = "";
public string Id { get; set; } = "";
public string Status { get; set; } = "";
public string Program { get; set; } = "";
public string Feed { get; set; } = "";
public string Speed { get; set; } = "";
public string Rapid { get; set; } = "";
public string ProgramStatus { get; set; } = "";
/// <summary>
/// 电流
/// </summary>
public string Current { get; set; } = "";
/// <summary>
/// 电压
/// </summary>
public string Voltage { get; set; } = "";
public ToolInfo Tool { get; set; } = new ToolInfo();
public List<AxisInfo> Axis { get; set; } = new List<AxisInfo>();
public List<ParameterInfo> OtherParameter { get; set; } = new List<ParameterInfo>();
public List<AlarmInfo> Alarm { get; set; } = new List<AlarmInfo>();
public List<TipInfo> Tip { get; set; } = new List<TipInfo>();
}
public class JointConfig
{
public string DeviceCode { get; set; }
public string JointName { get; set; }
public string ModelCode { get; set; }
public string JointType { get; set; }
public string Axis { get; set; }
public string Flip { get; set; }
public string Value { get; set; }
public string ValueFactor { get; set; }
public string Delta { get; set; }
}
public class MachineToolConfig
{
public string Enable { get; set; }
public string Type { get; set; }
public string ConnectStr { get; set; }
public string Id { get; set; }
public string Name { get; set; }
public string DataTimeInterval { get; set; }
public string AxesTimeInterval { get; set; }
public List<JointConfig> Joints { get; set; }
public string TagID_Clamp { get; set; }
}
public class ScadaConfig
{
public List<MachineToolConfig> MachineTool { get; set; }
}
}

67
DT_SCADA/Core/SendProtocol.cs Normal file
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using Newtonsoft.Json;
using Opc.Ua;
using OpcBasic;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Text.RegularExpressions;
using System.Threading;
namespace MesWork
{
public partial class Temp { }
public partial class MesWorkForm
{
/// <summary>
/// 01
/// </summary>
/// <param name="opName"></param>
/// <param name="tagID"></param>
/// <param name="tagValue"></param>
public static void S_C_B_TagIDTrigger(string opName, string tagID, string tagValue)
{
SendMsg(MesServer_SendProtocol_Tag + "{\"DeviceCode\":\"" + opName + "\",\"TagID\":\"" + tagID + "\",\"TagValue\":\"" + tagValue + "\"}");
}
/// <summary>
/// 02
/// </summary>
/// <param name="joints"></param>
/// <returns></returns>
public static string Move_Joint(List<JointConfig> joints)
{
var sendStr = MesServer_SendProtocol_Joint + JsonConvert.SerializeObject(joints);
return sendStr;
}
/// <summary>
/// 11
/// </summary>
/// <param name="tagValue"></param>
public static void S_C_B_Info_Fast(List<JointConfig> tagValue)
{
SendMsg(MesServer_SendProtocol_Info_Fast + JsonConvert.SerializeObject(tagValue));
}
/// <summary>
/// 12
/// </summary>
/// <param name="tagValue"></param>
public static void S_C_B_Info_Slow(Param_Slow tagValue)
{
SendMsg(MesServer_SendProtocol_Info_Slow + JsonConvert.SerializeObject(tagValue));
}
public static string Make_DeviceInfo(List<DeviceInfo> di)
{
var sendStr = MesServer_SendProtocol_DeviceInfo + JsonConvert.SerializeObject(di);
return sendStr;
}
}
}

466
DT_SCADA/Core/TagTypeCodeID.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
///1 X WorkStart 2 工件到位(PLC) 工件到位。托盘到达工位，并且托盘上有工件。
///2 X RepairPartStatusPLC 3 RepairPartStatusPLC 备用
///3 STRING RepairPathString 4 RepairPathString "工位返修字符串（121211112222111）,前2位是西门子字符串格式，第一位是总长度，第二位是实际长度"
///4 X EngineTypeGetOverMES 5 传递机型(MES) MES传递总成信息给PLC（上线工位）
///5 X PartPalletGoOver 6 PartPalletGoOver 上线工位。0：正常工作；1：空托盘放行，PLC读取到此标志不走申请上线逻辑。
///6 X MaterialVerifyOver 7 MaterialVerifyOver MES保存完质量数据，物料数据等与PLC信号交互完成后通知PLC，所以工步都完成，才可以放行工件，正常工作时工件放行的必要条件。
///7 X FalseGo 8 FalseGo 按MES界面[不合格放行]按钮，MES发送此信号。操作者判断工件不合格，通知设备，按不合格方式放行工件，工件流转到返修下线工位后，返修下线。MES工作完成MES0.3=1，MES合格放行MES0.5=0，MES0.4=1
///8 INT EngineTypeID 9 EngineTypeID MES发动机机型标志(必须PLC)
///9 STRING EngineID 10 EngineID MES发动机编号(必须PLC)
///10 STRING EngineType 11 机型(MES) MES发动机机型(必须PLC)
///11 X PartPalletStatus 13 PartPalletStatus MES激发变量托盘到位离开(必须PLC)
///12 X HeartBeatPLC 14 HeartBeatPLC 心跳处理：PLC收到MES心跳信号后，PLC延时5秒后，数值取反再写回PLC，写回PLC开始计时，如果5秒钟MES无反馈报通讯故障。
///13 X HeartBeatMIS 15 HeartBeatMIS 间隔时间5S，心跳处理。收到PLC心跳信号后，MES按原值回写。PLC收到MES信号后延时5秒，取反写入，以此循环。
///14 X TargetTimeRead 16 TargetTimeRead MES允许可读工位运行时间
///15 Int MachineTargetTime 17 MachineTargetTime 目标运行时间
///16 Int MachineActualTime 18 MachineActualTime 实际运行时间
///17 X MesRead 19 允许保存(PLC) 质量数据可以读数据
///18 X MesReadOver 20 保存完成(MES) MES保存完数据(必须MIS)
///19 INT QualityMask 21 合格标志(PLC) 质量数据工位合格标志0:没有工作；1：合格 ；2 ：不合格(必须PLC)
///20 B PalletInfo 22 PalletInfo 0空托盘，1合格件，2不合格件
///21 INT RepairStatusPLC 23 RepairStatusPLC 0正常件，1返修件
///22 INT OrderNo 24 订单号(MES) 订单号(MES)
///23 X StorageNo 25 库位号(MES) 库位号(MES)
///24 X AllowPass 26 允许放行(MES) 允许放行
///25 X PartLoadFinish 27 PartLoadFinish PartLoadFinish
///26 X Reserved_7 28 Reserved_7 备用
///27 X Reserved_8 29 Reserved_8 备用
///28 X Reserved_9 30 Reserved_9 备用
///29 X Reserved_10 31 Reserved_10 备用
///30 X Reserved_11 32 Reserved_11 备用
///31 X Reserved_12 33 Reserved_12 备用
///32 X Reserved_13 34 Reserved_13 备用
///33 X Reserved_14 35 Reserved_14 备用
///34 Int PLCSPareint1 36 PLCSPareint1 备用
///35 Int PLCSPareint2 37 PLCSPareint2 备用
///36 Int PLCSPareint3 38 PLCSPareint3 备用
///37 STRING PLCSarestring1 39 PLCSarestring1 备用
///38 STRING PLCSarestring2 40 PLCSarestring2 备用
///39 STRING MarkID 42 MarkID 机体打标号（MES）前2位是西门子字符串格式，第一位是总长度，第二位是实际长度
///40 X PartLoad 43 PartLoad 上线工位，PLC向MES申请总成编号。收到该信号后，MES将机型标志（DBB22 ~23）、总成号（DBB24 ~63）、总成机型DBB64 ~103写入PLC。之后MES通过信号“传递机型（DBX0.1）”通知PLC。
///41 X EngineTypeGetOverPLC 44 传递机型（PLC） PLC将机型标志（DBB50…51）、工件编号（DBB52…101）、产品型号（DBB102…187）、托盘编号（DBB188…189）准备完毕后，通知MES。
///42 X PartLoadOK 48 PartLoadOK 备用
///43 X Reserved_18 49 Reserved_18 备用
///44 X PalletDown 50 PalletDown 暂时保留，项目未使用
///45 X ConfirmOkGo 51 ConfirmOkGo 按MES界面[合格放行]按钮，MES发送此信号。操作者判断工件合格，通知设备，工件按合格方式放行工件。MES工作完成MES0.3=1，MES合格放行MES0.5=1，MES0.4=0
///46 X ResetDevice 52 ResetDevice 针对手动工位，无HMI，需要复位设备在MES页面操作。
///47 X UnloadCompleted 53 UnloadCompleted 暂时保留，项目未使用
///48 X MachineTime_ReadOver 54 MachineTime_ReadOver 备用
///49 X Reserved_19 58 Reserved_19 备用
///50 X FixOK 59 FixOK 手动拧紧工位，单工步螺栓拧紧完成，通知PC读取数据。
///51 X Reserved_21 61 Reserved_21 备用
///52 X Reserved_22 62 Reserved_22 备用
///53 X Reserved_23 63 Reserved_23 备用
///54 X Reserved_24 64 Reserved_24 备用
///55 X Reserved_25 65 Reserved_25 备用
///56 X FixAllow 66 FixAllow "设备工作的必须信号,对于有物料验证的工位，MES验证完成给出此信号，对于无物料验证工位，MES直接给出此信号。"
///57 X FixOver 67 FixOver 用于手动拧紧且有质量数据工位。通知设备当前工步拧紧螺钉工作结束。
///58 X MatchingCompleted 68 MatchingCompleted 分线上总线，匹配成功是1；不成功是0。
///59 X Match 69 Match 分线上总线，匹配成功是1；不成功是0。
///60 X Reserved_2 70 Reserved_2 备用
///61 X IsAutoGetEngineID 71 IsAutoGetEngineID 自动手动申请工件编号。0是自动方式；1：手动方式。暂时保留，生成流水号方式是在数据库中实现的
///62 X RepairUplineMES 72 RepairUplineMES 上线清空MOBY（针对上线工位）：通知PLC从新开始申请上线流程
///63 INT EngineTypeID_MES 73 机型代码(MES) MES发动机机型标志(必须MES)
///64 STRING EngineID_MES 74 工件编号(MES) MES发动机编号(必须MES)
///65 STRING EngineType_MES 75 EngineType_MES MES发动机机型(必须MES)
///66 X Reserved_20 76 Reserved_20 备用
///67 INT ProcessCode 77 ProcessCode 手动拧紧工位：由MES通知PLC拧紧序号
///68 B OnLineState 79 OnLineState 通过线体工位PC实现下达工位工作状态：工位有三种状态：在线、离线、屏蔽。在线：0正常状态，实现正常功能。1离线:设备脱离MES工作，进入不交互模式。
///69 INT PartPalletCode 80 托盘号(MES) 托盘编号(B5A)
///70 INT BoltCode 88 BoltCode 手动拧紧工位：指导PLC所用套筒
///71 INT RepairStatus 93 RepairStatus "0正常件，1返修件。对于上线工位MES给出是正常上线还是返修上线,返修路径"
///72 DInt Reserved_15 110 Reserved_15 备用
///73 DInt Reserved_16 111 Reserved_16 备用
///74 B Reserved_17 112 Reserved_17 备用
///75 INT SPareint1 113 SPareint1 备用int1
///76 INT SPareint2 114 SPareint2 备用int2
///77 INT SPareint3 115 SPareint3 备用int3
///78 STRING Sparestring1 116 Sparestring1 备用字符串1
///79 STRING Sparestring2 117 Sparestring2 备用字符串2
///80 X MachineStatusPutOn 1000 机床上电(PLC) 机床上电(必须PLC)
///81 X MachineStatusWorkOn 1001 循环开始(PLC) 循环开始(必须PLC)
///82 X MachineStatusAlarm 1002 设备报警(PLC) 机床故障(必须PLC)
///83 X MachineStatusNoPart 1003 MachineStatusNoPart 上料无件(必须PLC)
///84 X MachineStatusBlock 1004 MachineStatusBlock 下料堵塞(必须PLC)
namespace MesWork
{
/// <summary>
/// 这是变量类型代码的配置，几乎是不变的
/// 请不要随意修改，为了保证变量版本同一，并且方便维护，请联系发行人修改！
/// 请注意，此修改为全局修改！
/// </summary>
public enum EnumTagTypeCodeID
{
/// <summary>
/// 工件到位(PLC)
/// 变量类型：Bool
/// 解释：托盘到达工位，并且托盘上有工件。
/// </summary>
WorkStart = 2,
/// <summary>
///
/// </summary>
RepairPartStatusPLC = 3,
/// <summary>
/// 工位返修字符串
/// 变量类型：String
/// 解释：工位返修字符串
/// </summary>
RepairPathString = 4,
/// <summary>
/// 传递机型(MES)
/// 变量类型：Bool
/// 解释：MES传递总成信息给PLC（上线工位）
/// </summary>
EngineTypeGetOverMES = 5,
/// <summary>
///
/// </summary>
PartPalletGoOver = 6,
/// <summary>
///
/// </summary>
MaterialVerifyOver = 7,
/// <summary>
///
/// </summary>
FalseGo = 8,
/// <summary>
///
/// </summary>
EngineTypeID = 9,
/// <summary>
///
/// </summary>
EngineID = 10,
/// <summary>
/// 机型(MES)
/// 变量类型：String
/// </summary>
EngineType = 11,
/// <summary>
///
/// </summary>
PartPalletStatus = 13,
/// <summary>
///
/// </summary>
HeartBeatPLC = 14,
/// <summary>
///
/// </summary>
HeartBeatMIS = 15,
/// <summary>
///
/// </summary>
TargetTimeRead = 16,
/// <summary>
///
/// </summary>
MachineTargetTime = 17,
/// <summary>
///
/// </summary>
MachineActualTime = 18,
/// <summary>
/// 允许保存(PLC)
/// 变量类型：Bool
/// </summary>
MesRead = 19,
/// <summary>
/// 保存完成(MES)
/// 变量类型：Bool
/// </summary>
MesReadOver = 20,
/// <summary>
/// 合格标志(PLC)
/// 变量类型：Int
/// </summary>
QualityMask = 21,
/// <summary>
///
/// </summary>
PalletInfo = 22,
/// <summary>
///
/// </summary>
RepairStatusPLC = 23,
/// <summary>
/// 订单号(MES)
/// 变量类型：Int
/// </summary>
OrderNo = 24,
/// <summary>
/// 库位号(MES)
/// 变量类型：Bool
/// </summary>
StorageNo = 25,
/// <summary>
/// 允许放行(MES)
/// 变量类型：Bool
/// </summary>
AllowPass = 26,
/// <summary>
///
/// </summary>
PartLoadFinish = 27,
/// <summary>
///
/// </summary>
Reserved_7 = 28,
/// <summary>
///
/// </summary>
Reserved_8 = 29,
/// <summary>
///
/// </summary>
Reserved_9 = 30,
/// <summary>
///
/// </summary>
Reserved_10 = 31,
/// <summary>
///
/// </summary>
Reserved_11 = 32,
/// <summary>
///
/// </summary>
Reserved_12 = 33,
/// <summary>
///
/// </summary>
Reserved_13 = 34,
/// <summary>
///
/// </summary>
Reserved_14 = 35,
/// <summary>
///
/// </summary>
PLCSPareint1 = 36,
/// <summary>
///
/// </summary>
PLCSPareint2 = 37,
/// <summary>
///
/// </summary>
PLCSPareint3 = 38,
/// <summary>
///
/// </summary>
PLCSarestring1 = 39,
/// <summary>
///
/// </summary>
PLCSarestring2 = 40,
/// <summary>
///
/// </summary>
MarkID = 42,
/// <summary>
///
/// </summary>
PartLoad = 43,
/// <summary>
/// 传递机型（PLC）
/// 变量类型：Bool
/// </summary>
EngineTypeGetOverPLC = 44,
/// <summary>
///
/// </summary>
PartLoadOK = 48,
/// <summary>
///
/// </summary>
Reserved_18 = 49,
/// <summary>
///
/// </summary>
PalletDown = 50,
/// <summary>
///
/// </summary>
ConfirmOkGo = 51,
/// <summary>
///
/// </summary>
ResetDevice = 52,
/// <summary>
///
/// </summary>
UnloadCompleted = 53,
/// <summary>
///
/// </summary>
MachineTime_ReadOver = 54,
/// <summary>
///
/// </summary>
Reserved_19 = 58,
/// <summary>
///
/// </summary>
FixOK = 59,
/// <summary>
///
/// </summary>
Reserved_21 = 61,
/// <summary>
///
/// </summary>
Reserved_22 = 62,
/// <summary>
///
/// </summary>
Reserved_23 = 63,
/// <summary>
///
/// </summary>
Reserved_24 = 64,
/// <summary>
///
/// </summary>
Reserved_25 = 65,
/// <summary>
///
/// </summary>
FixAllow = 66,
/// <summary>
///
/// </summary>
FixOver = 67,
/// <summary>
///
/// </summary>
MatchingCompleted = 68,
/// <summary>
///
/// </summary>
Match = 69,
/// <summary>
///
/// </summary>
Reserved_2 = 70,
/// <summary>
///
/// </summary>
IsAutoGetEngineID = 71,
/// <summary>
///
/// </summary>
RepairUplineMES = 72,
/// <summary>
/// 机型代码(MES)
/// 变量类型：Int
/// </summary>
EngineTypeID_MES = 73,
/// <summary>
/// 工件编号(MES)
/// 变量类型：String
/// </summary>
EngineID_MES = 74,
/// <summary>
///
/// </summary>
EngineType_MES = 75,
/// <summary>
///
/// </summary>
Reserved_20 = 76,
/// <summary>
///
/// </summary>
ProcessCode = 77,
/// <summary>
///
/// </summary>
OnLineState = 79,
/// <summary>
/// 托盘号(MES)
/// 变量类型：Int
/// </summary>
PartPalletCode = 80,
/// <summary>
///
/// </summary>
BoltCode = 88,
/// <summary>
///
/// </summary>
RepairStatus = 93,
/// <summary>
///
/// </summary>
Reserved_15 = 110,
/// <summary>
///
/// </summary>
Reserved_16 = 111,
/// <summary>
///
/// </summary>
Reserved_17 = 112,
/// <summary>
///
/// </summary>
SPareint1 = 113,
/// <summary>
///
/// </summary>
SPareint2 = 114,
/// <summary>
///
/// </summary>
SPareint3 = 115,
/// <summary>
///
/// </summary>
Sparestring1 = 116,
/// <summary>
///
/// </summary>
Sparestring2 = 117,
/// <summary>
/// 机床上电(PLC)
/// 变量类型：Bool
/// </summary>
MachineStatusPutOn = 1000,
/// <summary>
/// 循环开始(PLC)
/// 变量类型：Bool
/// </summary>
MachineStatusWorkOn = 1001,
/// <summary>
/// 设备报警(PLC)
/// 变量类型：Bool
/// </summary>
MachineStatusAlarm = 1002,
/// <summary>
/// 上料无件(PLC)
/// 变量类型：Bool
/// </summary>
MachineStatusNoPart = 1003,
/// <summary>
/// 下料堵塞(PLC)
/// 变量类型：Bool
/// </summary>
MachineStatusBlock = 1004,
/// <summary>
/// 下料堵塞(PLC)
/// 变量类型：Bool
/// </summary>
havePart70 = 10003,
}
}

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