阿特拉斯

MainForm/Atlas/AtlasScrew_Left.cs

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+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using EIP_Protocol;
+using MainForm;
+using MathNet.Numerics.RootFinding;
+using Newtonsoft.Json;
+
+namespace CommonLib
+{
+    public class AtlasScrew_Left : BaseScrew
+    {
+        MTF6KConnStus connFlow = new MTF6KConnStus();
+        public TightResult tightResult = new TightResult();
+
+        string receiveMsg;
+
+        //连接状态
+        //public bool connectStaus = false;
+
+        public Thread MTF6KThread;
+
+        public AtlasScrew_Left(object ip, object port, int connectTimeOut,int sendDataTimeOut,string direction)
+        {
+            Ip = ip.ToString();
+            Port = port.ToString();
+            ConnectTimeOut = connectTimeOut;
+            SendDataTimeOut = sendDataTimeOut;
+            IsCarriage = true;
+            IsShield = false;
+            Direction = direction;
+        }
+
+        /// <summary>
+        /// MTF6K连接流程结构体
+        /// </summary>
+        enum MTF6KConnStus
+        {
+            Idle,
+            Disconnect,
+            Connected,
+            CheckConnect,
+            SelectPSET,
+            CheckSelectPSET,
+            SelectBatch,
+            CheckSelectBatch,
+            SubscribeResult,
+            CheckSubscribeResult1,
+            CheckSubscribeResult2,
+            CheckSubscribeResult3,
+            SubscribeCurve,
+            CheckSubscribeCurve,
+            Ready,
+            UnsubcribeResult,
+            UnsubscribeCurve,
+        };
+
+        /// <summary>
+        /// 拧紧结果
+        /// </summary>
+        public class TightResult
+        {
+            /// <summary>
+            /// 扭矩数组
+            /// </summary>
+            public double[] torque;
+            /// <summary>
+            /// 角度数组
+            /// </summary>
+            public double[] angle;
+            /// <summary>
+            /// 
+            /// </summary>
+            public double torCoef = 0.0;
+            /// <summary>
+            /// 
+            /// </summary>
+            public double angCoef = 0.0;
+            /// <summary>
+            /// 峰值扭矩
+            /// </summary>
+            public double PearkTorque = 0.0;
+            /// <summary>
+            /// 总角度
+            /// </summary>
+            public double TotalAngle = 0.0;//总角度
+            /// <summary>
+            /// 总持续时间
+            /// </summary>
+            public double TotalDuration;//总持续时间
+            /// <summary>
+            /// 结果代码
+            /// </summary>
+            public int ResultCode = 0;//结果代码
+
+            public TightResult()
+            {
+
+            }
+            public void Reset()
+            {
+                torCoef = 0.0;
+                angCoef = 0.0;
+                ResultCode = 0;
+                PearkTorque = 0.0;//峰值扭矩
+                TotalAngle = 0.0;//总角度
+                TotalDuration = 0.0;//总持续时间
+                MTF6K.isDataRecvFinish = false;
+            }
+
+        }
+        private Communicate TCP;
+        public override void Initial()
+        {
+            base.Initial();
+            try
+            {
+                // 如果线程已经存在，先关闭旧线程
+                if (MTF6KThread != null && MTF6KThread.IsAlive)
+                {
+                    MTF6KThread.Abort(); // 强制终止线程（注意：Abort 不推荐使用，建议改用信号机制）
+                    MTF6KThread = null;
+                }
+
+                // 如果 TCP 已经连接，先关闭连接
+                if (TCP != null)
+                {
+                    TCP.ConnectedResult -= new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                    TCP.MessageReceived -= new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+                    TCP.closeSocket();
+                    TCP = null;
+                }
+
+                TCP = new Communicate("TCP1", Ip, Convert.ToInt32(Port));
+                TCP.FormOpening = true;
+                TCP.ConnectedResult += new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                TCP.MessageReceived += new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+
+                MTF6KThread = new Thread(MTF6KFlow);
+                MTF6KThread.IsBackground = true;
+                MTF6KThread.Start();
+                IsOk = true;
+            }
+            catch (Exception)
+            {
+                IsOk = IsShield ? true : false;
+            }
+        }
+
+        /// <summary>
+        /// MTF6K -TCP连接状态
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        public void Comm_ConnectedResult(object sender, Communicate.ResultEventArgs e)
+        {
+            if (e.conResult)
+            {
+                connFlow = MTF6KConnStus.Connected;
+                connectStaus = true;
+
+            }
+            else
+            {
+                connectStaus = false;
+            }
+
+        }
+
+        /// <summary>
+        /// 接收数据-MTF6K
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        public void Comm_MessageReceived(object sender, Communicate.MessageEventArgs e)
+        {
+            if (sender is Communicate sender1)
+            {
+                ReceiveIP = sender1.IpAddress.ToString();
+            }
+            if (connFlow == MTF6KConnStus.Ready)
+            {
+                MTF6K.ParseKerwords(e.byteMes, false);
+                //ReceiveIP = ((CommonLib.Communicate)sender).IpAddress.ToString();
+            }
+            else
+            {
+                MTF6K.ParseKerwords(e.byteMes, true);
+            }
+        }
+        /// <summary>
+        /// 连接MTF6K流程
+        /// </summary>
+        private void MTF6KFlow()
+        {
+            int screwIndex = 0;
+
+            while (true)
+            {
+                Thread.Sleep(20);
+                while (connectStaus)
+                {
+                    Thread.Sleep(20);
+                    try
+                    {
+                        switch (connFlow)
+                        {
+                            case MTF6KConnStus.Idle:
+                                break;
+                            case MTF6KConnStus.Disconnect:
+                                {
+                                    TCP.SendMessage(MTF6K.disconnect);
+                                    connectStaus = false;
+                                    TCP.FormOpening = false;
+                                    TCP.ConnectedResult -= new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                                    TCP.MessageReceived -= new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+                                    TCP.closeSocket();
+                                    TCP = null;
+                                }
+                                break;
+                            case MTF6KConnStus.Connected:
+                                TCP.SendMessage(MTF6K.disconnect);
+                                Thread.Sleep(20);
+                                TCP.SendMessage(MTF6K.connect);
+                                connFlow = MTF6KConnStus.CheckConnect;
+                                break;
+                            case MTF6KConnStus.CheckConnect:
+                                if (MTF6K.MID == "0002")
+                                {
+                                    TCP.SendMessage(MTF6K.keepAlive);
+                                    connFlow = MTF6KConnStus.SelectPSET;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.SelectPSET:
+                                TCP.SendMessage(MTF6K.switchPSET1);
+                                connFlow = MTF6KConnStus.CheckSelectPSET;
+                                break;
+                            case MTF6KConnStus.CheckSelectPSET:
+                                if (MTF6K.MID == "0005")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeResult;
+                                }
+                                else if (MTF6K.MID == "0004")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeResult;
+                                }
+                                break;
+                            case MTF6KConnStus.SubscribeResult:
+                                TCP.SendMessage(MTF6K.subscribeTightingResult);
+                                connFlow = MTF6KConnStus.CheckSubscribeResult1;
+                                break;
+                            case MTF6KConnStus.CheckSubscribeResult1:
+                                if (MTF6K.MID == "1202")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeCurve;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.SubscribeCurve:
+                                TCP.SendMessage(MTF6K.subscribeLastTightingCurve);
+                                connFlow = MTF6KConnStus.CheckSubscribeCurve;
+                                break;
+                            case MTF6KConnStus.CheckSubscribeCurve:
+                                if (MTF6K.MID == "0005")
+                                {
+                                    connFlow = MTF6KConnStus.Ready;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.Ready:
+
+                                {
+                                    if (MTF6K.MID == "0901" && MTF6K.isDataRecvFinish == true)
+                                    {
+                                        MTF6K.MID = "error";
+                                        MTF6K.TightingResult.Convert(out tightResult.ResultCode, out tightResult.PearkTorque, out tightResult.TotalAngle, out tightResult.TotalDuration);
+                                        
+                                        tightResult.torque = new double[MTF6K.CurveResult.SampleCount];
+                                        tightResult.angle = new double[MTF6K.CurveResult.SampleCount];
+                                        MTF6K.CurveResult.Convert(out tightResult.torque, out tightResult.torCoef, out tightResult.angle, out tightResult.angCoef);
+                                        Form_Home home = new Form_Home();
+
+                                        #region 保存数据
+                                        string dic = GlobalContext.AtlasLogDir + "扭力曲线\\";
+                                        if (!Directory.Exists(dic))
+                                        {
+                                            Directory.CreateDirectory(dic);
+                                        }
+                                        string 扭力曲线文件名 = dic + DateTime.Now.ToString("yyyy_MM_dd") +".csv" ;
+
+                                        string strDirection = "";
+                                        string strValue="";
+                                        StringBuilder sbStr =new StringBuilder();
+                                        if (!File.Exists(扭力曲线文件名))
+                                        {
+                                            // 记录时间,产品SN,螺丝序号
+                                            //sbStr.AppendLine("序号,产品SN,扭力数组,角度数组,峰值扭矩,总角度,总持续时间,结果代码,工位");
+                                            sbStr.Append("序号,产品SN,扭力数组,角度数组,峰值扭矩,总角度,总持续时间,结果代码,工位");
+                                            File.WriteAllText(扭力曲线文件名, sbStr.ToString());
+                                        }
+                                        if (ReceiveIP == GlobalContext.AtlasAddressLeft)
+                                        {
+                                            //左工位
+                                            Form_Home.screwIndex_left += 1;//螺丝序号，采集一次加一次,进站时先清0
+                                            screwIndex = Form_Home.screwIndex_left;
+                                            strDirection = "左工位";
+                                            string torqueData = string.Join("，", tightResult.torque);
+                                            string angleData = string.Join("，", tightResult.angle);
+                                            string sn = Form_Home.barcode_left.strProductBarcode;
+                                            strValue=$"{screwIndex},{sn},{torqueData},{angleData},{tightResult.PearkTorque},{tightResult.TotalAngle}" +
+                                                $",{tightResult.TotalDuration},{tightResult.ResultCode},{strDirection}";
+                                            //写入PLC
+                                            double maxfTorque = tightResult.torque.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                            double maxfCircles = tightResult.angle.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                            OP70_ScrewDataSet_t resultToPlC = new OP70_ScrewDataSet_t
+                                            {
+                                                fTorque = (float)maxfTorque,
+                                                fCircles = (float)maxfCircles
+                                            };
+                                            home.WriteResultToPlc(7, "", "g_OP70_MES.Left.screwDriver", 1, resultToPlC);
+                                        }
+                                        //else if (ReceiveIP == GlobalContext.AtlasAddressRight)
+                                        //{
+                                        //    Form_Home.screwIndex_right += 1;//螺丝序号，采集一次加一次,进站时先清0
+                                        //    screwIndex = Form_Home.screwIndex_right;
+                                        //    strDirection = "右工位";
+                                        //    string torqueData = string.Join("，", tightResult.torque);
+                                        //    string angleData = string.Join("，", tightResult.angle);
+                                        //    string sn = Form_Home.barcode_left.strProductBarcode;
+                                        //    strValue = $"{screwIndex},{sn},{torqueData},{angleData},{tightResult.PearkTorque},{tightResult.TotalAngle}" +
+                                        //        $",{tightResult.TotalDuration},{tightResult.ResultCode},{strDirection}";
+
+                                        //    //写入PLC
+                                        //    double maxfTorque = tightResult.torque.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                        //    double maxfCircles = tightResult.angle.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                        //    OP70_ScrewDataSet_t resultToPlC = new OP70_ScrewDataSet_t
+                                        //    {
+                                        //        fTorque = (float)maxfTorque,
+                                        //        fCircles = (float)maxfCircles
+                                        //    };
+                                        //    home.WriteResultToPlc(7, "", "g_OP70_MES.Right.screwDriver", 1, resultToPlC);
+                                        //}
+                                        
+                                        using(StreamWriter writer=new StreamWriter(扭力曲线文件名,true)){
+                                            writer.WriteLine(strValue);
+                                        }
+
+                                        #endregion 保存数据
+
+                                        //tightResult.PearkTorque = tightResult.PearkTorque / 98;
+
+                                        #region 删除
+                                        //double preDegree = 0;
+                                        //double curDegree = 0;
+                                        //bool Step3 = false;
+                                        //double PearkTorque = 0.0;
+                                        //double Pearkdegree = 0.0;
+                                        //double mindegree = 0;
+                                        //double minvalue = 0;
+                                        //JD.Clear();
+                                        //NL.Clear();
+                                        //List<double> pearkTorqueList = new List<double>(); // 存储 PearkTorque
+                                        //List<double> pearkDegreeList = new List<double>(); // 存储 Pearkdegree
+                                        //for (int i = 0; i < tightResult.angle.Length; i++)
+                                        //{
+                                        //    double degree = tightResult.angle[i] * tightResult.angCoef;
+                                        //    double torque = tightResult.torque[i] * tightResult.torCoef / 98;
+                                        //    preDegree = curDegree;
+                                        //    curDegree = degree;
+                                        //    if (i > tightResult.angle.Length - 5 && torque <= 0)
+                                        //    {
+                                        //        continue;
+                                        //    }
+                                        //    JD.Add(Math.Round(degree,0).ToString());
+                                        //    NL.Add(Math.Round(torque,2).ToString());
+                                        //    //反转
+                                        //    if (curDegree - preDegree <= 0 && degree < 0)
+                                        //    {
+                                        //        if (torque > PearkTorque)
+                                        //        {
+                                        //            PearkTorque = torque;
+                                        //            Pearkdegree = degree;
+                                        //        }
+
+                                        //        if (torque < mindegree)
+                                        //        {
+                                        //            mindegree = torque;
+                                        //            minvalue = degree;
+                                        //        }
+
+                                        //    }
+                                        //    else if (curDegree - preDegree > 0)//正转
+                                        //    {
+                                        //        if (degree < 360 && !Step3)//切换扭矩值
+                                        //        {
+                                        //            if (torque > PearkTorque)
+                                        //            {
+                                        //                PearkTorque = torque;
+                                        //                Pearkdegree = degree;
+                                        //            }
+                                        //        }
+                                        //        else
+                                        //        {
+                                        //            Step3 = true;
+                                        //            if (torque > PearkTorque)
+                                        //            {
+                                        //                PearkTorque = torque;
+                                        //                Pearkdegree = degree;
+                                        //            }
+                                        //        }
+                                        //    }
+                                        //    pearkTorqueList.Add(Math.Round(Pearkdegree)); // 添加到列表
+                                        //    pearkDegreeList.Add(Math.Round(PearkTorque, 2)); // 添加到列表
+                                        //}
+
+                                        ////精度
+                                        //JD_MEAN = Math.Round(Pearkdegree);
+                                        ////扭力
+                                        //NL_MEAN = Math.Round(PearkTorque, 2);
+                                        //// 调用 AddData 方法，存储数据
+                                        //AddData(JD_MEAN, NL_MEAN, pearkTorqueList.ToArray(), pearkDegreeList.ToArray());
+                                        #endregion
+                                    }
+                                }
+                                break;
+                            case MTF6KConnStus.UnsubscribeCurve:
+                                TCP.SendMessage(MTF6K.unsubscribeLastTightingCurve);
+                                break;
+                            case MTF6KConnStus.UnsubcribeResult:
+                                TCP.SendMessage(MTF6K.unsubscribeTightingResult);
+                                break;
+                        }
+                    }
+                    catch (Exception e)
+                    {
+                        //logHelper.WriteLog("阿特拉斯通讯异常:" + e.StackTrace);
+                    }
+                }
+            }
+        }
+         // 线程安全锁对象
+        private readonly object _queueLock = new object();
+        // 添加数据到缓存
+        private readonly Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> _dataQueueLeft = new Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)>();
+        private readonly Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> _dataQueueRight = new Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)>();
+
+        // 添加数据到缓存
+        public void AddData(double jdMean, double nlMean, double[] pearkTorque, double[] pearkDegree)
+        {
+            lock (_queueLock)
+            {
+                if (ReceiveIP == GlobalContext.AtlasAddressLeft)
+                {
+                    _dataQueueLeft.Enqueue((jdMean, nlMean, pearkTorque, pearkDegree));
+                }
+                else if (Direction == GlobalContext.AtlasAddressRight)
+                {
+                    _dataQueueRight.Enqueue((jdMean, nlMean, pearkTorque, pearkDegree));
+                }
+            }
+        }
+
+        // 获取并清空缓存中的所有数据（左侧）
+        public IEnumerable<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> GetCachedDataLeft()
+        {
+            lock (_queueLock)
+            {
+                var cachedData = _dataQueueLeft.ToList(); // 将当前队列内容复制到列表
+                _dataQueueLeft.Clear(); // 清空队列
+                return cachedData;
+            }
+        }
+
+        // 获取并清空缓存中的所有数据（右侧）
+        public IEnumerable<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> GetCachedDataRight()
+        {
+            lock (_queueLock)
+            {
+                var cachedData = _dataQueueRight.ToList(); // 将当前队列内容复制到列表
+                _dataQueueRight.Clear(); // 清空队列
+                return cachedData;
+            }
+        }
+
+        public void DrawCurveDegTor()
+        {
+            double preDegree = 0;
+            double curDegree = 0;
+            bool Step3 = false;
+            double PearkTorque = 0.0;
+            double Pearkdegree = 0.0;
+            for (int i = 0; i < tightResult.angle.Length; i++)
+            {
+                double degree = tightResult.angle[i] * tightResult.angCoef;
+                double torque = tightResult.torque[i] * tightResult.torCoef / 98;
+                preDegree = curDegree;
+                curDegree = degree;
+
+                //反转
+                if (curDegree - preDegree <= 0 && degree < 0)
+                {
+
+                    if (torque > PearkTorque)
+                    {
+                        PearkTorque = torque;
+                        Pearkdegree = degree;
+                    }
+                }
+                else if (curDegree - preDegree > 0)//正转
+                {
+                    if (degree < 360 && !Step3)//切换扭矩值
+                    {
+
+                        if (torque > PearkTorque)
+                        {
+                            PearkTorque = torque;
+                            Pearkdegree = degree;
+                        }
+                    }
+                    else
+                    {
+                        Step3 = true;
+
+                        if (torque > PearkTorque)
+                        {
+                            PearkTorque = torque;
+                            Pearkdegree = degree;
+                        }
+                    }
+                    //bianliang.NL_MEAN = PearkTorque;
+                    //   bianliang.JD_MEAN = Pearkdegree;
+                }
+
+            }
+        }
+
+
+
+
+    }
+}

MainForm/Atlas/AtlasScrew_Right.cs

@@ -0,0 +1,548 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using EIP_Protocol;
+using MainForm;
+using MathNet.Numerics.RootFinding;
+using Newtonsoft.Json;
+
+namespace CommonLib
+{
+    public class AtlasScrew_Right : BaseScrew
+    {
+        MTF6KConnStus connFlow = new MTF6KConnStus();
+        public TightResult tightResult = new TightResult();
+
+        string receiveMsg;
+
+        //连接状态
+        //public bool connectStaus = false;
+
+        public Thread MTF6KThread;
+
+        public AtlasScrew_Right(object ip, object port, int connectTimeOut,int sendDataTimeOut,string direction)
+        {
+            Ip = ip.ToString();
+            Port = port.ToString();
+            ConnectTimeOut = connectTimeOut;
+            SendDataTimeOut = sendDataTimeOut;
+            IsCarriage = true;
+            IsShield = false;
+            Direction = direction;
+        }
+
+        /// <summary>
+        /// MTF6K连接流程结构体
+        /// </summary>
+        enum MTF6KConnStus
+        {
+            Idle,
+            Disconnect,
+            Connected,
+            CheckConnect,
+            SelectPSET,
+            CheckSelectPSET,
+            SelectBatch,
+            CheckSelectBatch,
+            SubscribeResult,
+            CheckSubscribeResult1,
+            CheckSubscribeResult2,
+            CheckSubscribeResult3,
+            SubscribeCurve,
+            CheckSubscribeCurve,
+            Ready,
+            UnsubcribeResult,
+            UnsubscribeCurve,
+        };
+
+        /// <summary>
+        /// 拧紧结果
+        /// </summary>
+        public class TightResult
+        {
+            /// <summary>
+            /// 扭矩数组
+            /// </summary>
+            public double[] torque;
+            /// <summary>
+            /// 角度数组
+            /// </summary>
+            public double[] angle;
+            /// <summary>
+            /// 
+            /// </summary>
+            public double torCoef = 0.0;
+            /// <summary>
+            /// 
+            /// </summary>
+            public double angCoef = 0.0;
+            /// <summary>
+            /// 峰值扭矩
+            /// </summary>
+            public double PearkTorque = 0.0;
+            /// <summary>
+            /// 总角度
+            /// </summary>
+            public double TotalAngle = 0.0;//总角度
+            /// <summary>
+            /// 总持续时间
+            /// </summary>
+            public double TotalDuration;//总持续时间
+            /// <summary>
+            /// 结果代码
+            /// </summary>
+            public int ResultCode = 0;//结果代码
+
+            public TightResult()
+            {
+
+            }
+            public void Reset()
+            {
+                torCoef = 0.0;
+                angCoef = 0.0;
+                ResultCode = 0;
+                PearkTorque = 0.0;//峰值扭矩
+                TotalAngle = 0.0;//总角度
+                TotalDuration = 0.0;//总持续时间
+                MTF6K.isDataRecvFinish = false;
+            }
+
+        }
+        private Communicate TCP;
+        public override void Initial()
+        {
+            base.Initial();
+            try
+            {
+                // 如果线程已经存在，先关闭旧线程
+                if (MTF6KThread != null && MTF6KThread.IsAlive)
+                {
+                    MTF6KThread.Abort(); // 强制终止线程（注意：Abort 不推荐使用，建议改用信号机制）
+                    MTF6KThread = null;
+                }
+
+                // 如果 TCP 已经连接，先关闭连接
+                if (TCP != null)
+                {
+                    TCP.ConnectedResult -= new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                    TCP.MessageReceived -= new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+                    TCP.closeSocket();
+                    TCP = null;
+                }
+
+                TCP = new Communicate("TCP1", Ip, Convert.ToInt32(Port));
+                TCP.FormOpening = true;
+                TCP.ConnectedResult += new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                TCP.MessageReceived += new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+
+                MTF6KThread = new Thread(MTF6KFlow);
+                MTF6KThread.IsBackground = true;
+                MTF6KThread.Start();
+                IsOk = true;
+            }
+            catch (Exception)
+            {
+                IsOk = IsShield ? true : false;
+            }
+        }
+
+        /// <summary>
+        /// MTF6K -TCP连接状态
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        public void Comm_ConnectedResult(object sender, Communicate.ResultEventArgs e)
+        {
+            if (e.conResult)
+            {
+                connFlow = MTF6KConnStus.Connected;
+                connectStaus = true;
+
+            }
+            else
+            {
+                connectStaus = false;
+            }
+
+        }
+
+        /// <summary>
+        /// 接收数据-MTF6K
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        public void Comm_MessageReceived(object sender, Communicate.MessageEventArgs e)
+        {
+            if (sender is Communicate sender1)
+            {
+                ReceiveIP = sender1.IpAddress.ToString();
+            }
+            if (connFlow == MTF6KConnStus.Ready)
+            {
+                MTF6K.ParseKerwords(e.byteMes, false);
+                //ReceiveIP = ((CommonLib.Communicate)sender).IpAddress.ToString();
+            }
+            else
+            {
+                MTF6K.ParseKerwords(e.byteMes, true);
+            }
+        }
+        /// <summary>
+        /// 连接MTF6K流程
+        /// </summary>
+        private void MTF6KFlow()
+        {
+            int screwIndex = 0;
+
+            while (true)
+            {
+                Thread.Sleep(20);
+                while (connectStaus)
+                {
+                    Thread.Sleep(20);
+                    try
+                    {
+                        switch (connFlow)
+                        {
+                            case MTF6KConnStus.Idle:
+                                break;
+                            case MTF6KConnStus.Disconnect:
+                                {
+                                    TCP.SendMessage(MTF6K.disconnect);
+                                    connectStaus = false;
+                                    TCP.FormOpening = false;
+                                    TCP.ConnectedResult -= new Communicate.ConnectResultEventHandler(Comm_ConnectedResult);
+                                    TCP.MessageReceived -= new Communicate.MessageReceivedEventHandler(Comm_MessageReceived);
+                                    TCP.closeSocket();
+                                    TCP = null;
+                                }
+                                break;
+                            case MTF6KConnStus.Connected:
+                                TCP.SendMessage(MTF6K.disconnect);
+                                Thread.Sleep(20);
+                                TCP.SendMessage(MTF6K.connect);
+                                connFlow = MTF6KConnStus.CheckConnect;
+                                break;
+                            case MTF6KConnStus.CheckConnect:
+                                if (MTF6K.MID == "0002")
+                                {
+                                    TCP.SendMessage(MTF6K.keepAlive);
+                                    connFlow = MTF6KConnStus.SelectPSET;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.SelectPSET:
+                                TCP.SendMessage(MTF6K.switchPSET1);
+                                connFlow = MTF6KConnStus.CheckSelectPSET;
+                                break;
+                            case MTF6KConnStus.CheckSelectPSET:
+                                if (MTF6K.MID == "0005")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeResult;
+                                }
+                                else if (MTF6K.MID == "0004")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeResult;
+                                }
+                                break;
+                            case MTF6KConnStus.SubscribeResult:
+                                TCP.SendMessage(MTF6K.subscribeTightingResult);
+                                connFlow = MTF6KConnStus.CheckSubscribeResult1;
+                                break;
+                            case MTF6KConnStus.CheckSubscribeResult1:
+                                if (MTF6K.MID == "1202")
+                                {
+                                    connFlow = MTF6KConnStus.SubscribeCurve;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.SubscribeCurve:
+                                TCP.SendMessage(MTF6K.subscribeLastTightingCurve);
+                                connFlow = MTF6KConnStus.CheckSubscribeCurve;
+                                break;
+                            case MTF6KConnStus.CheckSubscribeCurve:
+                                if (MTF6K.MID == "0005")
+                                {
+                                    connFlow = MTF6KConnStus.Ready;
+                                }
+                                else
+                                { }
+                                break;
+                            case MTF6KConnStus.Ready:
+
+                                {
+                                    if (MTF6K.MID == "0901" && MTF6K.isDataRecvFinish == true)
+                                    {
+                                        MTF6K.MID = "error";
+                                        MTF6K.TightingResult.Convert(out tightResult.ResultCode, out tightResult.PearkTorque, out tightResult.TotalAngle, out tightResult.TotalDuration);
+                                        
+                                        tightResult.torque = new double[MTF6K.CurveResult.SampleCount];
+                                        tightResult.angle = new double[MTF6K.CurveResult.SampleCount];
+                                        MTF6K.CurveResult.Convert(out tightResult.torque, out tightResult.torCoef, out tightResult.angle, out tightResult.angCoef);
+                                        Form_Home home = new Form_Home();
+
+                                        #region 保存数据
+                                        string dic = GlobalContext.AtlasLogDir + "扭力曲线\\";
+                                        if (!Directory.Exists(dic))
+                                        {
+                                            Directory.CreateDirectory(dic);
+                                        }
+                                        string 扭力曲线文件名 = dic + DateTime.Now.ToString("yyyy_MM_dd") +".csv" ;
+
+                                        string strDirection = "";
+                                        string strValue="";
+                                        StringBuilder sbStr =new StringBuilder();
+                                        if (!File.Exists(扭力曲线文件名))
+                                        {
+                                            // 记录时间,产品SN,螺丝序号
+                                            //sbStr.AppendLine("序号,产品SN,扭力数组,角度数组,峰值扭矩,总角度,总持续时间,结果代码,工位");
+                                            sbStr.Append("序号,产品SN,扭力数组,角度数组,峰值扭矩,总角度,总持续时间,结果代码,工位");
+                                            File.WriteAllText(扭力曲线文件名, sbStr.ToString());
+                                        }
+                                        //if (ReceiveIP == GlobalContext.AtlasAddressLeft)
+                                        //{
+                                        //    //左工位
+                                        //    Form_Home.screwIndex_left += 1;//螺丝序号，采集一次加一次,进站时先清0
+                                        //    screwIndex = Form_Home.screwIndex_left;
+                                        //    strDirection = "左工位";
+                                        //    string torqueData = string.Join("，", tightResult.torque);
+                                        //    string angleData = string.Join("，", tightResult.angle);
+                                        //    string sn = Form_Home.barcode_left.strProductBarcode;
+                                        //    strValue=$"{screwIndex},{sn},{torqueData},{angleData},{tightResult.PearkTorque},{tightResult.TotalAngle}" +
+                                        //        $",{tightResult.TotalDuration},{tightResult.ResultCode},{strDirection}";
+                                        //    //写入PLC
+                                        //    double maxfTorque = tightResult.torque.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                        //    double maxfCircles = tightResult.angle.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                        //    OP70_ScrewDataSet_t resultToPlC = new OP70_ScrewDataSet_t
+                                        //    {
+                                        //        fTorque = (float)maxfTorque,
+                                        //        fCircles = (float)maxfCircles
+                                        //    };
+                                        //    home.WriteResultToPlc(7, "", "g_OP70_MES.Left.screwDriver", 1, resultToPlC);
+                                        //}
+                                        if (ReceiveIP == GlobalContext.AtlasAddressRight)
+                                        {
+                                            Form_Home.screwIndex_right += 1;//螺丝序号，采集一次加一次,进站时先清0
+                                            screwIndex = Form_Home.screwIndex_right;
+                                            strDirection = "右工位";
+                                            string torqueData = string.Join("，", tightResult.torque);
+                                            string angleData = string.Join("，", tightResult.angle);
+                                            string sn = Form_Home.barcode_left.strProductBarcode;
+                                            strValue = $"{screwIndex},{sn},{torqueData},{angleData},{tightResult.PearkTorque},{tightResult.TotalAngle}" +
+                                                $",{tightResult.TotalDuration},{tightResult.ResultCode},{strDirection}";
+
+                                            //写入PLC
+                                            double maxfTorque = tightResult.torque.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                            double maxfCircles = tightResult.angle.Aggregate((currentMax, next) => currentMax > next ? currentMax : next);
+                                            OP70_ScrewDataSet_t resultToPlC = new OP70_ScrewDataSet_t
+                                            {
+                                                fTorque = (float)maxfTorque,
+                                                fCircles = (float)maxfCircles
+                                            };
+                                            home.WriteResultToPlc(7, "", "g_OP70_MES.Right.screwDriver", 1, resultToPlC);
+                                        }
+                                        
+                                        using(StreamWriter writer=new StreamWriter(扭力曲线文件名,true)){
+                                            writer.WriteLine(strValue);
+                                        }
+
+                                        #endregion 保存数据
+
+                                        //tightResult.PearkTorque = tightResult.PearkTorque / 98;
+
+                                        #region 删除
+                                        //double preDegree = 0;
+                                        //double curDegree = 0;
+                                        //bool Step3 = false;
+                                        //double PearkTorque = 0.0;
+                                        //double Pearkdegree = 0.0;
+                                        //double mindegree = 0;
+                                        //double minvalue = 0;
+                                        //JD.Clear();
+                                        //NL.Clear();
+                                        //List<double> pearkTorqueList = new List<double>(); // 存储 PearkTorque
+                                        //List<double> pearkDegreeList = new List<double>(); // 存储 Pearkdegree
+                                        //for (int i = 0; i < tightResult.angle.Length; i++)
+                                        //{
+                                        //    double degree = tightResult.angle[i] * tightResult.angCoef;
+                                        //    double torque = tightResult.torque[i] * tightResult.torCoef / 98;
+                                        //    preDegree = curDegree;
+                                        //    curDegree = degree;
+                                        //    if (i > tightResult.angle.Length - 5 && torque <= 0)
+                                        //    {
+                                        //        continue;
+                                        //    }
+                                        //    JD.Add(Math.Round(degree,0).ToString());
+                                        //    NL.Add(Math.Round(torque,2).ToString());
+                                        //    //反转
+                                        //    if (curDegree - preDegree <= 0 && degree < 0)
+                                        //    {
+                                        //        if (torque > PearkTorque)
+                                        //        {
+                                        //            PearkTorque = torque;
+                                        //            Pearkdegree = degree;
+                                        //        }
+
+                                        //        if (torque < mindegree)
+                                        //        {
+                                        //            mindegree = torque;
+                                        //            minvalue = degree;
+                                        //        }
+
+                                        //    }
+                                        //    else if (curDegree - preDegree > 0)//正转
+                                        //    {
+                                        //        if (degree < 360 && !Step3)//切换扭矩值
+                                        //        {
+                                        //            if (torque > PearkTorque)
+                                        //            {
+                                        //                PearkTorque = torque;
+                                        //                Pearkdegree = degree;
+                                        //            }
+                                        //        }
+                                        //        else
+                                        //        {
+                                        //            Step3 = true;
+                                        //            if (torque > PearkTorque)
+                                        //            {
+                                        //                PearkTorque = torque;
+                                        //                Pearkdegree = degree;
+                                        //            }
+                                        //        }
+                                        //    }
+                                        //    pearkTorqueList.Add(Math.Round(Pearkdegree)); // 添加到列表
+                                        //    pearkDegreeList.Add(Math.Round(PearkTorque, 2)); // 添加到列表
+                                        //}
+
+                                        ////精度
+                                        //JD_MEAN = Math.Round(Pearkdegree);
+                                        ////扭力
+                                        //NL_MEAN = Math.Round(PearkTorque, 2);
+                                        //// 调用 AddData 方法，存储数据
+                                        //AddData(JD_MEAN, NL_MEAN, pearkTorqueList.ToArray(), pearkDegreeList.ToArray());
+                                        #endregion
+                                    }
+                                }
+                                break;
+                            case MTF6KConnStus.UnsubscribeCurve:
+                                TCP.SendMessage(MTF6K.unsubscribeLastTightingCurve);
+                                break;
+                            case MTF6KConnStus.UnsubcribeResult:
+                                TCP.SendMessage(MTF6K.unsubscribeTightingResult);
+                                break;
+                        }
+                    }
+                    catch (Exception e)
+                    {
+                        //logHelper.WriteLog("阿特拉斯通讯异常:" + e.StackTrace);
+                    }
+                }
+            }
+        }
+         // 线程安全锁对象
+        private readonly object _queueLock = new object();
+        // 添加数据到缓存
+        private readonly Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> _dataQueueLeft = new Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)>();
+        private readonly Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> _dataQueueRight = new Queue<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)>();
+
+        // 添加数据到缓存
+        public void AddData(double jdMean, double nlMean, double[] pearkTorque, double[] pearkDegree)
+        {
+            lock (_queueLock)
+            {
+                if (ReceiveIP == GlobalContext.AtlasAddressLeft)
+                {
+                    _dataQueueLeft.Enqueue((jdMean, nlMean, pearkTorque, pearkDegree));
+                }
+                else if (Direction == GlobalContext.AtlasAddressRight)
+                {
+                    _dataQueueRight.Enqueue((jdMean, nlMean, pearkTorque, pearkDegree));
+                }
+            }
+        }
+
+        // 获取并清空缓存中的所有数据（左侧）
+        public IEnumerable<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> GetCachedDataLeft()
+        {
+            lock (_queueLock)
+            {
+                var cachedData = _dataQueueLeft.ToList(); // 将当前队列内容复制到列表
+                _dataQueueLeft.Clear(); // 清空队列
+                return cachedData;
+            }
+        }
+
+        // 获取并清空缓存中的所有数据（右侧）
+        public IEnumerable<(double JD_MEAN, double NL_MEAN, double[] PearkTorque, double[] Pearkdegree)> GetCachedDataRight()
+        {
+            lock (_queueLock)
+            {
+                var cachedData = _dataQueueRight.ToList(); // 将当前队列内容复制到列表
+                _dataQueueRight.Clear(); // 清空队列
+                return cachedData;
+            }
+        }
+
+        public void DrawCurveDegTor()
+        {
+            double preDegree = 0;
+            double curDegree = 0;
+            bool Step3 = false;
+            double PearkTorque = 0.0;
+            double Pearkdegree = 0.0;
+            for (int i = 0; i < tightResult.angle.Length; i++)
+            {
+                double degree = tightResult.angle[i] * tightResult.angCoef;
+                double torque = tightResult.torque[i] * tightResult.torCoef / 98;
+                preDegree = curDegree;
+                curDegree = degree;
+
+                //反转
+                if (curDegree - preDegree <= 0 && degree < 0)
+                {
+
+                    if (torque > PearkTorque)
+                    {
+                        PearkTorque = torque;
+                        Pearkdegree = degree;
+                    }
+                }
+                else if (curDegree - preDegree > 0)//正转
+                {
+                    if (degree < 360 && !Step3)//切换扭矩值
+                    {
+
+                        if (torque > PearkTorque)
+                        {
+                            PearkTorque = torque;
+                            Pearkdegree = degree;
+                        }
+                    }
+                    else
+                    {
+                        Step3 = true;
+
+                        if (torque > PearkTorque)
+                        {
+                            PearkTorque = torque;
+                            Pearkdegree = degree;
+                        }
+                    }
+                    //bianliang.NL_MEAN = PearkTorque;
+                    //   bianliang.JD_MEAN = Pearkdegree;
+                }
+
+            }
+        }
+
+
+
+
+    }
+}