STATION_COLLECT/workstation/MsWorkstation.cs

using AmrControl.ADS;
using AmrControl.Clients;
using AmrControl.Common.HttpClients;
using AmrControl.Vo;
using Microsoft.AspNetCore.SignalR.Protocol;
using MQTTnet.Internal;
using Newtonsoft.Json;
using NPOI.SS.Formula.Functions;
using System.Threading;

namespace AmrControl.workstation
{
    public class MsWorkstation
    {
        DateTime StartTime { get; set; }
        bool IsStart = false;
        int period = 0;
        /// <summary>
        /// 配置信息
        /// </summary>
        private readonly IConfiguration _configuration;
        /// <summary>
        /// 服务获取
        /// </summary>
        private readonly IServiceProvider _service;
        WsState wsState { get; set; }
        /// <summary>
        /// 锁对象
        /// </summary>
        Mutex mutex = new Mutex();
        public MsWorkstation(IConfiguration configuration, IServiceProvider service) 
        {
            period = 1000;
            try
            {
                period = Int32.Parse(configuration["Mqtt:period"]);
                if(period < 500)
                {
                    period = 500;
                }
            }
            catch { }
            StartTime = DateTime.Now;
            this._configuration = configuration;
            this._service = service;
            wsState = new WsState();
        }
        TcClient client = null;
        //避免界面多次点击start方法
        int reqCount = 0;
        public void Start()
        {
            reqCount++;
            if (reqCount > 1)
                return;

            Stop();
            //if(client != null)
            //{
            //    client.Close();
            //}
            //等待run退出，然后重启,有点风险
            Thread.Sleep(period + period + period);
            //关闭ADS
            //client = TcClient.GetInstance();
            //{
            //    client.Close();
            //}

            StartTime = DateTime.Now;
            IsStart = true;
            Task.Run(run);
            reqCount = 0;
        }

        public void Stop()
        {
            IsStart = false;
            if (client != null)
            {
                client.Close();
            }
        }

        bool isRuning = false;
        void run()
        {
            while(IsStart)
            {
                //更新ADS的IO状态
                //Task.Run(readAds);
                //更新螺丝枪的状态
                Task.Run(readElectricScrewdriver);
                //更新电烙铁的状态
                Task.Run(readElectricIron);

                //if (client != null)
                //{
                //    Task.Run(watchStationState);
                //}
                //等待时间
                Thread.Sleep(period);
                wsState.power = null;
                wsState.smokePurifier = null;
                wsState.balanceArm = null;
                wsState.triCokourLight = null;
                wsState.wristStrap = null;
                wsState.bodySensor = null;
                //发消息
                string msg = Newtonsoft.Json.JsonConvert.SerializeObject(wsState);
                sendMqMessage(msg);
            }
        }

        void watchStationState()
        {
            try
            {
                if (client.State == false)
                    client.InitAds();
                //字节数,一个工位36个字节（倍福采用字节对齐方式最长4个字节）共18个工位的数据
                byte[] datas = client.ReadBytes("GVL_STATION.Station_Var", 648);
                List<StationStateVO> stationList = new();
                int stationPos = 1;
                for (var i = 0; i < datas.Length; i += 36)
                {
                    stationList.Add(new()
                    {
                        stationPosNo = (stationPos++),
                        //此处按规则新增工站编号信息（位置从仓储开始计算工位）
                        power = Convert.ToBoolean(datas[i] | (datas[i + 1] << 8) | (datas[i + 2] << 16) | (datas[i + 3] << 32)),
                        triColorLight = Convert.ToInt16(datas[i + 4] | (datas[i + 5] << 8) | (datas[i + 6] << 16) | (datas[i + 7] << 32)),
                        wsristStrapMonitorCh1 = Convert.ToInt16(datas[i + 8] | (datas[i + 9] << 8) | (datas[i + 10] << 16) | (datas[i + 11] << 32)),
                        wsristStrapMonitorCh2 = Convert.ToInt16(datas[i + 12] | (datas[i + 13] << 8) | (datas[i + 14] << 16) | (datas[i + 15] << 32)),
                        smokePurifier = Convert.ToBoolean(datas[i + 16] | (datas[i + 17] << 8) | (datas[i + 18] << 16) | (datas[i + 19] << 32)),
                        bigArm_encoding = Convert.ToInt16(datas[i + 20] | (datas[i + 21] << 8) | (datas[i + 22] << 16) | (datas[i + 23] << 32)),
                        bigArm_angle = Convert.ToSingle(datas[i + 24] | (datas[i + 25] << 8) | (datas[i + 26] << 16) | (datas[i + 27] << 32)),
                        smallArm_encoding = Convert.ToInt16(datas[i + 28] | (datas[i + 29] << 8) | (datas[i + 30] << 16) | (datas[i + 31] << 32)),
                        smallArm_angle = Convert.ToSingle(datas[i + 32] | (datas[i + 29] << 33) | (datas[i + 34] << 16) | (datas[i + 35] << 32)),
                    });
                }
                Console.WriteLine("stationStatus=======>"+JsonConvert.SerializeObject(stationList));
                Console.WriteLine("current station:" + JsonConvert.SerializeObject(stationList[8]));
                //将结果推送到前端，后期可修改为使用mq推送
                this.wsState.triCokourLight = stationList[8].triColorLight == 0 ? "off" :
                    (stationList[8].triColorLight == 1 ? "green" : (stationList[8].triColorLight == 2 ? "yellow" : "red"));
                this.wsState.wristStrap = stationList[8].wsristStrapMonitorCh1 == 0
                    && stationList[8].wsristStrapMonitorCh2 == 0 ? "off" : (stationList[8].wsristStrapMonitorCh1 == 1
                    && stationList[8].wsristStrapMonitorCh2 == 1 ? "uwear" : "wear");
                this.wsState.smokePurifier = stationList[8].smokePurifier ? "on" : "off";
                this.wsState.power.state = stationList[8].power ? "on" : "off";
            }
            catch (Exception ex)
            {
                Console.WriteLine(ex.ToString());
            }
        }
        //ADS读
        void readAds()
        {
            //TcClient client = TcClient.GetInstance();
            //if (client == null)
            //    return;

            //if (client.State == false)
            //    client.InitAds();

            //读参数

        }

        //螺丝枪更新，从http的get请求获取
        void readElectricScrewdriver()
        {
            try
            {
                //todo::,从网络获取数据
                //http://10.10.25.100:8081/api/v1.0/processdata/latestfinalvalueobject
                DefaultHttpClient http = DefaultHttpClient.getClient("http://192.168.148.253:8081");
                Dictionary<string, string> header = new Dictionary<string, string>();
                header["Authorization"] = "Basic YWRtaW46MDAwMA==";
                HttpRespResult result = http.httpGetClient().sendRequest<string>("/api/v1.0/processdata/latestfinalvalueobject", header, null);
                if(result == null || result.data == null)
                {
                    return;
                }
                DeprageElecScrewdriver deprage = Newtonsoft.Json.JsonConvert.DeserializeObject<DeprageElecScrewdriver>(result.data);
                if(deprage != null && deprage.Steps != null && deprage.Steps.Count > 0)
                {
                    //在线
                    this.wsState.electricScrewdriver.state = "on";
                    StepState? state = deprage.Steps.Where(step => step.StepNumber==1).FirstOrDefault();
                    if(state != null)
                    {
                        this.wsState.electricScrewdriver.angle = state.Angle.Value.ToString("0.00");
                        this.wsState.electricScrewdriver.torqueForce = state.Torque.Value.ToString("0.0");
                        this.wsState.electricScrewdriver.lowTorqueForce = state.Torque.Target.Lower.ToString("0.0");
                        this.wsState.electricScrewdriver.highTorqueForce = state.Torque.Target.Upper.ToString("0.0");
                    } else
                    {
                        this.wsState.electricScrewdriver.angle = "0.00";
                        this.wsState.electricScrewdriver.torqueForce = "0.0";
                        this.wsState.electricScrewdriver.lowTorqueForce = "0.0";
                        this.wsState.electricScrewdriver.highTorqueForce = "0.0";
                    }
                    
                }
                else
                {
                    //不在线
                    this.wsState.electricScrewdriver.state = "off";
                }
            }
            catch { }
        }
        bool electricIronInit = false;
        int units = 0;
        //电烙铁更新
        void readElectricIron()
        {
            try
            {
                if (!electricIronInit)
                {
                    mutex.WaitOne();
                    try
                    {
                        if (!electricIronInit)
                        {
                            units = JbcDllInvoke.Init();
                            Console.WriteLine($"read init result. {units}");
                            electricIronInit = true;
                        }
                    } finally
                    {
                        mutex.ReleaseMutex();
                    }
                    
                }
                if (electricIronInit && units > 0)
                {
                    try
                    {
                        Console.WriteLine($"初始化jbc,值为：{units}");
                        int status = JbcDllInvoke.GetPortToolSleepStatus(units);
                        Console.WriteLine($"read sleep status:{status}");
                        this.wsState.electricIron.state = status > 0 ? "off" : "on";
                        //获取设定值
                        int setTemp = JbcDllInvoke.GetPortToolSelectedTemp(units, 1);
                        Console.WriteLine($"set temperature:{setTemp}");
                        this.wsState.electricIron.setTemperature = setTemp.ToString();
                        int temp = JbcDllInvoke.GetPortToolActualTemp(units, 1);
                        Console.WriteLine($"actual temperature:{temp}");
                        this.wsState.electricIron.temperature = temp.ToString();
                        int maxTemp = JbcDllInvoke.GetStationMaxTemp(units);
                        Console.WriteLine($"max temperature:{maxTemp}");
                        this.wsState.electricIron.highTemp = maxTemp.ToString();
                        int minTemp = JbcDllInvoke.GetStationMinTemp(units);
                        Console.WriteLine($"min temperature:{minTemp}");
                        this.wsState.electricIron.lowTemp = minTemp.ToString();
                        this.wsState.electricIron.warning = temp > maxTemp && temp < minTemp ? "true" : "false";
                    }
                    catch
                    {
                        electricIronInit = false;
                    }

                }

            }
            catch (Exception ex)
            {
                Console.WriteLine (ex.Message );
            }
        }

        /// <summary>
        /// 接收到MQ消息,是命令
        /// </summary>
        /// <param name="topic"></param>
        /// <param name="message"></param>
        public void PushMqMessage(string topic, string message)
        {
            if (string.IsNullOrEmpty(message))
                return;

            try
            {
                WsCmd wscmd = (WsCmd)Newtonsoft.Json.JsonConvert.DeserializeObject<WsCmd>(message);
                if (wscmd != null && wscmd.Cmd=="start")
                {
                    if (wscmd.Cmd == "start")
                    {
                        Start();
                    }
                    else if (wscmd.Cmd == "stop")
                    {
                        Stop();
                    }
                }
            }
            catch(Exception ex)
            {

            }

        }

        void sendMqMessage(string msg)
        {
            try
            {
                MqttClient _mqttClient = _service.GetRequiredService<MqttClient>();
                if (_mqttClient != null)
                {
                    _mqttClient.SendToMqtt(msg);
                }
            }
            catch
            {

            }
        }
        
    }

    public interface IWorkstation
    {
        void Start();
        void Stop();

        void PushMqMessage(string topic , string message);
    }
}