xiaomiMes/MainForm/Atlas/AtlasScrew_Left.cs

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;
                }

            }
        }




    }
}