733 lines
32 KiB
C#
733 lines
32 KiB
C#
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace WindowsService1
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{
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public class MqttDataService
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{
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public static string BU_id;
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public static string District_id;
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public static string Factory_id;
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public static string Production_line_id;
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public static string Device_name;
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public static string Topic;
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public static string Work_Center_id;
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public class OperationData
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{
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public int Item_Value { get; set; }
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public string Start_Time { get; set; }
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public string End_Time { get; set; }
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}
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public class MqttMessage
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{
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public string bu_id { get; set; }
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public string district_id { get; set; }
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public string factory_id { get; set; }
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public string production_line_id { get; set; }
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public string production_processes_id { get; set; }
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public string work_center_id { get; set; }
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public string station_id { get; set; }
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public string device_name { get; set; }
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public List<TagList> taglist { get; set; }
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}
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public class TagList
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{
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public string device_time { get; set; }
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public Dictionary<string, OperationData> collection_items { get; set; }
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="source"></param>
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/// <param name="type"></param>
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/// <param name="processedValues"></param>
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/// <param name="_plcAddresses"></param>
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/// <param name="_collectionGroups"></param>
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/// <returns></returns>
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public static MqttMessage CreateMqttMessage(string source, AcquisitionType type, List<StationData> processedValues,
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Dictionary<AcquisitionType, Dictionary<string, string>> _plcAddresses,
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Dictionary<AcquisitionType, CollectionGroupConfig> _collectionGroups)
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{
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try
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{
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Logger.WriteInfo($"开始创建 MQTT 消息, 类型: {type}, 数据点数量: {processedValues?.Count ?? 0}");
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if (processedValues == null || processedValues.Count == 0)
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{
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Logger.WriteInfo("没有需要处理的数据，返回 null");
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return null;
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}
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var addresses = _plcAddresses[type];
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var config = _collectionGroups[type];
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var collectionItems = new Dictionary<string, OperationData>();
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// 获取当前时间作为设备时间
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var currentTime = DateTime.Now;
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var deviceTimeStr = currentTime.ToString("yyyy-MM-dd HH:mm:ss.fff");
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Logger.WriteInfo($"处理数据类型: {type}, 当前时间: {deviceTimeStr}");
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switch (type)
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{
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case AcquisitionType.PPM:
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ProcessPPMData(processedValues, addresses, config, collectionItems);
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break;
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case AcquisitionType.Axis:
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case AcquisitionType.Cylinder:
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ProcessFloatData(processedValues, addresses, config, currentTime, collectionItems);
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break;
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default:
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Logger.WriteError($"未知的数据类型: {type}");
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return null;
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}
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if (collectionItems.Count == 0)
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{
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Logger.WriteInfo("没有有效的采集项，返回 null");
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return null;
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}
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var message = new MqttMessage
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{
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bu_id = BU_id,
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district_id = District_id,
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factory_id = Factory_id,
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production_line_id = Production_line_id,
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production_processes_id = string.Empty,
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work_center_id = Work_Center_id,
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station_id = "1",
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device_name = Device_name,
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taglist = new List<TagList>
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{
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new TagList
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{
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device_time = deviceTimeStr,
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collection_items = collectionItems
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}
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}
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};
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// 记录创建的消息内容
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Logger.WriteInfo($"MQTT 消息创建完成: {JsonConvert.SerializeObject(message, Formatting.None)}");
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return message;
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}
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catch (Exception ex)
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{
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Logger.WriteError($"创建 MQTT 消息时发生错误: {ex.Message}");
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return null;
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}
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}
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/// <summary>
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/// PPM点位数据
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/// </summary>
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/// <param name="processedValues"></param>
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/// <param name="addresses"></param>
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/// <param name="config"></param>
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/// <param name="collectionItems"></param>
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///
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// 添加静态字段来存储上次发送的数据
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private static Dictionary<string, OperationData> _lastSentData = new Dictionary<string, OperationData>();
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public static void ProcessPPMData(List<StationData> processedValues, Dictionary<string, string> addresses, CollectionGroupConfig config, Dictionary<string, OperationData> collectionItems)
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{
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try
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{
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Logger.WriteInfo($"开始处理 PPM 数据，数据点数量: {processedValues.Count}");
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// 创建临时字典存储当前所有数据点
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var tempItems = new Dictionary<string, OperationData>();
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foreach (var value in processedValues)
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{
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var addressPair = addresses.FirstOrDefault(x => x.Key == value.Name);
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if (!string.IsNullOrEmpty(addressPair.Key))
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{
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int itemValue = Convert.ToInt32(ConvertToIntegerWithThreeDecimals(value.MainValue));
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// 计算开始时间 (结束时间 - 时长)
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var startTime = value.Timestamp.AddMilliseconds(-itemValue);
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var operationData = new OperationData
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{
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Item_Value = itemValue,
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Start_Time = startTime.ToString("yyyy-MM-dd HH:mm:ss.fff"),
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End_Time = value.Timestamp.ToString("yyyy-MM-dd HH:mm:ss.fff")
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};
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// 检查数据是否发生变化
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bool shouldAdd = true;
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// 检查是否与上次发送的数据重复
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if (_lastSentData.TryGetValue(addressPair.Key, out var lastData))
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{
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var currentEndTime = operationData.End_Time.ToString();
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var lastEndTime = lastData.End_Time.ToString();
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if (string.Equals(lastEndTime, currentEndTime, StringComparison.OrdinalIgnoreCase))
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{
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shouldAdd = false;
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Logger.WriteInfo($"跳过重复数据点: {addressPair.Key}");
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continue;
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}
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}
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if (shouldAdd)
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{
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tempItems[addressPair.Key] = operationData;
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Logger.WriteInfo($"处理数据点: {addressPair.Key}, 值: {itemValue}, " +
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$"开始时间: {startTime:yyyy-MM-dd HH:mm:ss.fff}, " +
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$"结束时间: {operationData.End_Time}");
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}
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//if (shouldAdd)
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//{
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// // 检查是否与当前批次的其他数据有重复的结束时间
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// var duplicateEndTimeItem = tempItems.FirstOrDefault(x =>
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// string.Equals(x.Value.End_Time.ToString(), operationData.End_Time.ToString(), StringComparison.OrdinalIgnoreCase));
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// if (duplicateEndTimeItem.Key != null)
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// {
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// Logger.WriteError($"检测到结束时间重复: {operationData.End_Time} 对应地址: {addressPair.Key}, " +
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// $"与地址 {duplicateEndTimeItem.Key} 的数据重复");
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// // 根据地址的字母顺序决定哪个需要调整时间，确保调整的一致性
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// if (string.Compare(addressPair.Key, duplicateEndTimeItem.Key) > 0)
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// {
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// operationData.End_Time = value.Timestamp.AddMilliseconds(1).ToString("yyyy-MM-dd HH:mm:ss.fff");
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// Logger.WriteInfo($"调整后的结束时间: {operationData.End_Time}");
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// }
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// }
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// tempItems[addressPair.Key] = operationData;
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// Logger.WriteInfo($"处理数据点: {addressPair.Key}, 值: {itemValue}, " +
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// $"开始时间: {startTime:yyyy-MM-dd HH:mm:ss.fff}, " +
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// $"结束时间: {operationData.End_Time}");
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//}
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}
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else
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{
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Logger.WriteError($"未找到数据点 {value.Name} 对应的地址配置");
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}
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}
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// 将处理后的数据添加到最终结果并更新上次发送的数据
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foreach (var item in tempItems)
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{
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collectionItems[item.Key] = item.Value;
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_lastSentData[item.Key] = item.Value; // 更新上次发送的数据
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}
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Logger.WriteInfo($"PPM 数据处理完成，处理后的数据点数量: {collectionItems.Count}");
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}
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catch (Exception ex)
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{
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Logger.WriteError($"处理 PPM 数据时出错: {ex.Message}");
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throw;
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}
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}
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private static bool IsDataEqual(OperationData data1, OperationData data2, string addressKey)
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{
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if (data1 == null || data2 == null)
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return false;
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bool isEqual = data1.Item_Value == data2.Item_Value &&
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data1.Start_Time == data2.Start_Time &&
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data1.End_Time == data2.End_Time;
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if (isEqual)
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{
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Logger.WriteInfo($"检测到重复数据 - 地址: {addressKey}, " +
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$"值: {data1.Item_Value}, " +
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$"开始时间: {data1.Start_Time}, " +
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$"结束时间: {data1.End_Time}");
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}
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return isEqual;
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}
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/// <summary>
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/// 预测性点位
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/// </summary>
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/// <param name="processedValues"></param>
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/// <param name="addresses"></param>
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/// <param name="config"></param>
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/// <param name="endTime"></param>
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/// <param name="collectionItems"></param>
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public static void ProcessFloatData(List<StationData> processedValues, Dictionary<string, string> addresses, CollectionGroupConfig config, DateTime endTime, Dictionary<string, OperationData> collectionItems)
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{
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for (int i = 0; i < processedValues.Count && i < config.Length; i++)
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{
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string address = $"D{int.Parse(config.StartAddress.Substring(1)) + i * 2}";
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if (addresses.ContainsValue(address))
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{
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var key = addresses.FirstOrDefault(x => x.Value == address).Key;
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int itemValue = Convert.ToInt32(ConvertToIntegerWithThreeDecimals(processedValues[i].MainValue));
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// 计算开始时间 (结束时间 - 时长)
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//var startTime = endTime.AddMilliseconds(-itemValue);
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collectionItems[key] = new OperationData
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{
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Item_Value = (int)itemValue,
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Start_Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
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End_Time = endTime.ToString("yyyy-MM-dd HH:mm:ss.fff")
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};
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}
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}
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}
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/// <summary>
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/// 机械臂数据
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/// </summary>
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/// <param name="source"></param>
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/// <param name="type"></param>
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/// <param name="processedValues"></param>
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/// <param name="_plcAddresses"></param>
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/// <param name="_collectionGroups"></param>
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/// <returns></returns>
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public static LRobot LRobotMessage(string source, AcquisitionType type, List<StationData> processedValues, Dictionary<AcquisitionType, Dictionary<string, string>> _plcAddresses,
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Dictionary<AcquisitionType, CollectionGroupConfig> _collectionGroups)
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{
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if (processedValues == null || processedValues.Count == 0)
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{
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return null;
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}
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var addresses = _plcAddresses[type];
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var config = _collectionGroups[type];
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return new LRobot()
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{
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bu_id = BU_id,
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district_id = District_id,
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factory_id = Factory_id,
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production_line_id = Production_line_id,
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production_processes_id = "",
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work_center_id = "",
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station_id = "",
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device_name = "601PWM01",
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robot_name = "LUR01",
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taglist = new List<Taglist>
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{
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new Taglist//上料动子1
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{
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device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
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collections_items=new Collection()
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{
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robot_status = "1",
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x_value=processedValues[0].MainValue.ToString(),
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y_value="0",
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z_value=processedValues[1].MainValue.ToString(),
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time_span="2.5",
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hand_status="1",
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}
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},
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new Taglist//上料动子2
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{
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device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
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collections_items=new Collection()
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{
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robot_status = "1",
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x_value=processedValues[2].MainValue.ToString(),
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y_value="0",
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z_value=processedValues[3].MainValue.ToString(),
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time_span="2.5",
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hand_status="1",
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}
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},
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new Taglist//上料动子3
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{
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device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
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collections_items=new Collection()
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{
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robot_status = "1",
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||
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x_value=processedValues[4].MainValue.ToString(),
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y_value="0",
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z_value=processedValues[5].MainValue.ToString(),
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time_span="2.5",
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hand_status="1",
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|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子4
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[6].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[7].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子5
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[8].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[9].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子6
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[10].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[11].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子7
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[13].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[14].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子8
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[16].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[17].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//上料动子9
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[18].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[19].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机1
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[20].MainValue.ToString(),
|
||
|
|
y_value=processedValues[21].MainValue.ToString(),
|
||
|
|
z_value=processedValues[22].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机2
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[23].MainValue.ToString(),
|
||
|
|
y_value=processedValues[24].MainValue.ToString(),
|
||
|
|
z_value=processedValues[25].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机3
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[26].MainValue.ToString(),
|
||
|
|
y_value=processedValues[27].MainValue.ToString(),
|
||
|
|
z_value=processedValues[28].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机4
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[29].MainValue.ToString(),
|
||
|
|
y_value=processedValues[30].MainValue.ToString(),
|
||
|
|
z_value=processedValues[31].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机5
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[32].MainValue.ToString(),
|
||
|
|
y_value=processedValues[33].MainValue.ToString(),
|
||
|
|
z_value=processedValues[34].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机6
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[35].MainValue.ToString(),
|
||
|
|
y_value=processedValues[36].MainValue.ToString(),
|
||
|
|
z_value=processedValues[37].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机7
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[38].MainValue.ToString(),
|
||
|
|
y_value=processedValues[39].MainValue.ToString(),
|
||
|
|
z_value=processedValues[40].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机8
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[41].MainValue.ToString(),
|
||
|
|
y_value=processedValues[42].MainValue.ToString(),
|
||
|
|
z_value=processedValues[43].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机9
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[44].MainValue.ToString(),
|
||
|
|
y_value=processedValues[45].MainValue.ToString(),
|
||
|
|
z_value=processedValues[46].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机10
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[47].MainValue.ToString(),
|
||
|
|
y_value=processedValues[48].MainValue.ToString(),
|
||
|
|
z_value=processedValues[49].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机11
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[50].MainValue.ToString(),
|
||
|
|
y_value=processedValues[51].MainValue.ToString(),
|
||
|
|
z_value=processedValues[52].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//焊机12
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[53].MainValue.ToString(),
|
||
|
|
y_value=processedValues[54].MainValue.ToString(),
|
||
|
|
z_value=processedValues[55].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子1
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[56].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[57].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子2
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[58].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[59].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子3
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[61].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[62].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子4
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[63].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[64].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子5
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[65].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[66].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
},
|
||
|
|
new Taglist//下料动子6
|
||
|
|
{
|
||
|
|
device_time=DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
|
||
|
|
collections_items=new Collection()
|
||
|
|
{
|
||
|
|
robot_status = "1",
|
||
|
|
x_value=processedValues[67].MainValue.ToString(),
|
||
|
|
y_value="0",
|
||
|
|
z_value=processedValues[68].MainValue.ToString(),
|
||
|
|
time_span="2.5",
|
||
|
|
hand_status="1",
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
// 辅助方法
|
||
|
|
private static List<short> ConvertToShortList(object[] data)
|
||
|
|
{
|
||
|
|
return data.Select(x => Convert.ToInt16(x)).ToList();
|
||
|
|
}
|
||
|
|
|
||
|
|
private static List<float> ConvertToFloatList(object[] data)
|
||
|
|
{
|
||
|
|
return data.Select(x => Convert.ToSingle(x)).ToList();
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
private static object ConvertToIntegerWithThreeDecimals(object value)
|
||
|
|
{
|
||
|
|
try
|
||
|
|
{
|
||
|
|
if (value == null) return 0;
|
||
|
|
|
||
|
|
if (value is float floatValue)
|
||
|
|
{
|
||
|
|
return (int)Math.Round(floatValue * 1000);
|
||
|
|
}
|
||
|
|
else if (value is double doubleValue)
|
||
|
|
{
|
||
|
|
return (int)Math.Round(doubleValue * 1000);
|
||
|
|
}
|
||
|
|
else if (value is decimal decimalValue)
|
||
|
|
{
|
||
|
|
return (int)Math.Round(decimalValue * 1000);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// 尝试转换其他类型
|
||
|
|
float converted = Convert.ToSingle(value);
|
||
|
|
return (int)Math.Round(converted * 1000);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (Exception ex)
|
||
|
|
{
|
||
|
|
Logger.WriteError($"转换值到整数时出错: {ex.Message}, 值: {value}");
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|