发那科数据采集 （法兰克数据采集）
因为项目需要用到发那科机器的一些数据，在里面踩了无数的坑，终于写好了一个可以满足目前项目需求的程序。
回想起来真是心酸都不足以形容。。
先上一个采集端的界面，界面是很丑陋，但是胜在简单。：
机器的配置信息我都是写进数据库的，每次开启程序之前都要先查询一次数据库，然后再连接CNC机器一次，以获取相应的机器连接情况。这个也只是方便用户查看而已，没什么实际的作用，因为在这里获取的句柄在采集程序里面是用不了的。
原则上，我是没有用到全局变量，因为使用全局变量有很多问题需要考虑，什么全局加锁啦，什么的。反正我是不懂。
先上一个界面的代码：
先说一下数据库架构。
1：第一张表用来保存所有数据，方便以后统计停机时间什么的。
2：第二张表，只做更新数据，用来查询机器的当前运行状态。
所以我在程序了分了两个方法。
/***************************************************************
* date:2018-11-30
* By:Bevan
* * [email protected]
* * 说明：IP，机号添加面板。主要实现多线程开启采集功能。
* *
* ***************************************************************/
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Data.SqlClient;
using System.Threading;
namespace SmachCNC
{
public partial class Form1 : Form
{
public int sleepTime;
private List threadPool = new List(); //创建第一个线程池，用来写数据库
private List threadPool2 = new List(); //创建第二个线程池，用来更新实时数据
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
ip_show(DGVip);
ChangLabStatue();
txtip1.Enabled = false;
txtmachno1.Enabled = false;
txtmodel.Enabled = false;
txtname.Enabled = false;
version.Enabled = false;
}
///
/// 将采集方法实例化，以方便多线程调用。我采用的是委托方法，使用多线程开启采集程序，所以需要先将采集方法实例化，以方便给线程传递参数。
///
public class IndataCnc
{
private int sleeptime;
private string IP;
private string machno;
public IndataCnc(string ip, string machno, int sleep) //这个方法是LinkCnc();采集方法中需要的参数。这里一定要处理好，如果看不懂这个代码，建议多看看多线程方面的文章。或者搜索“”c#多线程调用有参数方法“”。
{
this.machno = machno;
this.IP = ip;
this.sleeptime = sleep;
}
public void funRun()
{
LinkCnc Lcnc = new LinkCnc();
Lcnc.readCncToData(IP, machno, sleeptime);
}
}
///
/// 使用实例化类给方法传参数。另一个方法。
///
public class UpdataCnc
{
private string IP;
private string machno;
public UpdataCnc(string ip, string machno)
{
this.machno = machno;
this.IP = ip;
}
public void funRun()
{
ReadCnc cnc = new ReadCnc();
cnc.readCncUpData(IP, machno);
}
}
///
/// 改变程序运行状态提示
///
public void ChangLabStatue()
{
if (button2.Text == "启动程序")
{
labShowInfo1.Text = "程序已停止";
labShowInfo1.ForeColor = Color.Red;
}
else
{
labShowInfo1.Text = "程序正在运行....";
labShowInfo1.ForeColor = Color.Green;
}
}
///
/// 将数据库中的机器信息带出面板。
///
public void ip_show(DataGridView dgvw)
{
try
{
this.Invoke(new EventHandler(delegate
{
string sql = "select * from machinfo order by machno";
DataSet ds = new DbHelp().QueryDataset(sql);
dsNum = ds.Tables[0].Rows.Count;
if (ds.Tables[0].Rows.Count > 0)
{
for (int i = 0; i < ds.Tables[0].Rows.Count; i++)
{
dgvw.Rows.Add();
dgvw.Rows[i].Cells[0].Value = ds.Tables[0].Rows[i]["machno"];
dgvw.Rows[i].Cells[1].Value = ds.Tables[0].Rows[i]["ip"];
dgvw.Rows[i].Cells[2].Value = ds.Tables[0].Rows[i]["port"];
}
}
}
));
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
///
/// 判断机器是否连接成功
///
///
///
/// 连接机器取回句柄号
///
public void GetCncHandle()
{
DGVip.DataSource = null;
string sql = "select * from machinfo";
DataSet ds = new DbHelp().QueryDataset(sql);
for (int i = 0; i < ds.Tables[0].Rows.Count; i++)
{
string Ip;
ushort port;
string statue;
ushort fwlibHandle = 0;
Ip = ds.Tables[0].Rows[i]["ip"].ToString();
port = Convert.ToUInt16(ds.Tables[0].Rows[i]["port"].ToString());
short ret = Focas1.cnc_allclibhndl3((object)Ip, port, 5, out fwlibHandle);
statue = getState(fwlibHandle);
DGVip.Rows[i].Cells[0].Value = ds.Tables[0].Rows[i]["machno"];
DGVip.Rows[i].Cells[1].Value = ds.Tables[0].Rows[i]["ip"];
DGVip.Rows[i].Cells[2].Value = ds.Tables[0].Rows[i]["port"];
DGVip.Rows[i].Cells[3].Value = statue;
DGVip.Rows[i].Cells[4].Value = fwlibHandle;
}
}
///
/// 开启线程，循环将IP读出并传递给DLL
///
public void startThreadPool()
{
if (txtsleeptime.Text != "")
{
sleepTime = Convert.ToInt32(txtsleeptime.Text.Trim());
}
else sleepTime = 30; //这个数值我用的是30秒采集一次。
try
{
for (int i = 0; i < DGVip.Rows.Count; i++)
{
string machno = Convert.ToString(DGVip.Rows[i].Cells[0].Value.ToString());
string ip = Convert.ToString(DGVip.Rows[i].Cells[1].Value.ToString());
IndataCnc Icnc = new IndataCnc(ip, machno, sleepTime);
Thread thread = new Thread(new ThreadStart(Icnc.funRun));
this.threadPool.Add(thread);
}
foreach (Thread thread1 in this.threadPool)
{
thread1.Start();
}
}
catch (Exception ex) { MessageBox.Show(ex.Message); }
}
///
/// 开启第二线程池实时更新数据
///
public void startThreadPool2()
{
for (int i = 0; i < DGVip.Rows.Count; i++)
{
string machno = Convert.ToString(DGVip.Rows[i].Cells[0].Value.ToString());
ushort Handle = Convert.ToUInt16(DGVip.Rows[i].Cells[4].Value.ToString());
string ip = Convert.ToString(DGVip.Rows[i].Cells[1].Value.ToString());
UpdataCnc cnc = new SmachCNC.Form1.UpdataCnc(ip, machno);
Thread thread = new Thread(new ThreadStart(cnc.funRun));
threadPool2.Add(thread);
}
foreach (Thread thread1 in this.threadPool2)
{
thread1.Start();
}
}
///
/// 停止按钮，并销毁线程
///
///
///
private void button2_Click(object sender, EventArgs e)
{
if (button2.Text == "停止程序")
{
stopThread();
button2.Text = "启动程序";
ChangLabStatue();
return;
}
if (button2.Text == "启动程序")
{
GetCncHandle();
startThreadPool();
startThreadPool2();
button2.Text = "停止程序";
ChangLabStatue();
}
}
///
/// 停止线程，并释放机器连接.
///
public void stopThread()
{
foreach (Thread thread2 in this.threadPool2)
{
thread2.Abort();
}
foreach (Thread thread in this.threadPool)
{
thread.Abort();
}
cancelCncContion();
this.threadPool2.Clear();
this.threadPool.Clear();
}
///
/// 释放句柄，在停止程序的时候先释放所有句柄，因为这个句柄超过1024就连接不上了。
///
private void cancelCncContion()
{
for (int i = 0; i < DGVip.Rows.Count; i++)
{
ushort handle = Convert.ToUInt16(DGVip.Rows[i].Cells[4].Value);
int ret = Fanuc.cnc_freelibhndl(handle);
}
}
//以下代码都是些垃圾代码，用不用都无所谓。
private void button1_Click(object sender, EventArgs e)
{
try
{
string machId = txtmachno.Text.Trim();
string Ip = txtip.Text.Trim();
ushort port = Convert.ToUInt16(txtport.Text.Trim());
string btntxt = button2.Text;
machInfo(machId, Ip, port, btntxt);
}
catch
{
MessageBox.Show("机号或者IP已经存在.");
}
}
///
/// 判断Ip是否存在
///
///
///
/// 判断机号是否已经存在表中
///
///
///
/// 添加或者修改IP地址的方法体
///
///
///
///
///
public void machInfo(string machId, string Ip, ushort port, string btnText)
{
string inssql = "insert into machinfo (machno,ip,port)values('" + machId + "','" + Ip + "','" + port + "')";
string upsql = "update machinfo set ip='" + Ip + "' where machno='" + machId + "'";
if (button1.Text == "添加") //添加机器的配置
{
if (machId.Length > 0 || Ip.Length > 0 || port != 0)//判断文本框是否为空
{
int y = new DbHelp().OperSql(inssql);
if (y > 0)
{
MessageBox.Show("添加成功.");
int x = this.DGVip.Rows.Add();
DGVip.Rows[x].Cells[0].Value = machId;
DGVip.Rows[x].Cells[1].Value = Ip;
DGVip.Rows[x].Cells[2].Value = port;
}
}
}
else if (button1.Text == "修改")//修改机器的IP地址
{
int y = new DbHelp().OperSql(upsql);
if (y > 0)
{
MessageBox.Show("信息修改成功.");
}
DGVip.Rows.Clear();
ip_show(DGVip);
}
}
///
///双击显示窗口中的IP将该IP拉取到文本框，以待修改。
///
///
///
private void DGVip_CellDoubleClick(object sender, DataGridViewCellEventArgs e)
{
int index = DGVip.CurrentCell.RowIndex;
txtmachno.Text = DGVip.Rows[index].Cells[0].Value.ToString();
txtip.Text = DGVip.Rows[index].Cells[1].Value.ToString();
txtport.Text = DGVip.Rows[index].Cells[2].Value.ToString();
txtmachno.Enabled = false;
button1.Text = "修改";
}
private void button4_Click(object sender, EventArgs e)
{
button1.Text = "添加";
txtip.Text = "";
txtmachno.Text = "";
txtport.Text = "";
txtmachno.Enabled = true;
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
stopThread();
}
private void txtsleeptime_MouseHover(object sender, EventArgs e)
{
ToolTip tp = new ToolTip();
tp.SetToolTip(txtsleeptime, "这里输入的数值为CNC机床采集的间隔时间。\n如果为空，默认3秒采集一次。");
}
private void Form1_MinimumSizeChanged(object sender, EventArgs e)
{
}
private void button3_Click_3(object sender, EventArgs e)
{
}
}
}
以上就是界面需要用的代码，注释都写明了函数方法使用的功能。
下面就上采集方法的代码。
方法只要用的是使用库函数连接机器，然后返回一个句柄号，然后就循环用句柄号去连接机器。不能使用IP一直连接机器的，因为有1024次的限制。
/**********************************
* date:2018-11-30
* By bevan
* [email protected]
*
*主要实现以下功能：将调用出传递过来的IP，机号，端口号等参数连接ＣＮＣ，读取坐标，负载，运行状态信息，并写入数据库。
*
*/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Threading;
namespace SmachCNC
{
class LinkCnc
{
public ushort Handlew(string cncip) //使用调用出传递多来的IP参数连接机器，返回一个句柄号给调用方法。
{
ushort fwlibHandle = 0;
short ret = Focas1.cnc_allclibhndl3(cncip, 8193, 8, out fwlibHandle);
return fwlibHandle; //如果连接机器超时或者不成功都会返回一个数值。
}
///
/// 开启采集方法，将需要的数据写入数据库
///
public void readCncToData(string ip, string cncno, int sleeptime)
{
string Ip = ip;
string machineNo = cncno;
ushort Handle = Handlew(Ip); //调用方法传入IP，如果成功返回一个句柄号，不成功则返回其他代码。
int sleepTime = sleeptime * 1000; //线程采集时间间隔
if (Handle==0) //判断句柄状态。
{
string sqlen = "INSERT INTO [dbo].[MachState]([MachNo],[Times])values("+machineNo+",getdate())";
int x = new DbHelp().OperSql(sqlen );
Thread.Sleep(sleepTime);
readCncToData(Ip, machineNo, sleeptime); //如果连接机器不成功则继续调用自身去重新连接机器。因为程序是不间断工作的，如果没有这个方法这个机器将一直采集不到数据。需要将采集程序重新启动才可以。
return;
}
while (true) //死循环，用来采集数据。
{
Thread.Sleep(sleepTime); //采集数据的时间间隔
List swap = new List(); //这个是一个泛型，用来保存数据集合
swap.AddRange(get_Abs(Handle));
swap.AddRange(get_MachCoX(Handle));
swap.AddRange(get_Relatively(Handle));
swap.AddRange(get_Status(Handle));
swap.AddRange(get_Load(Handle));
swap.AddRange(get_program(Handle));
swap.AddRange(get_feed(Handle));
swap.AddRange(get_spinfo(Handle));
swap.AddRange(get_spact(Handle));
double spact;
string Mainpro;
double absX;//绝对座标
double absY;
double absZ;
double absA;
double relativelyU; //相对座标
double relativelyW;
double relativelyV;
double machCoX; //机械座标
double machCoY;
double machCoZ;
double alarm;
double aut;
double dummy;
double edit;
double emerg;
double motion;
double mstb;
double run;
double tmmode;
double sp1;
double sp2;
double sp3;
double sv1;
double sv2;
double sv3;
double feed;
int mState;//状态
int WorkModel;//工作模式1,2,3，4、自动、手动、调试、停机
absX = Convert.ToDouble(swap[0].Value);
absY = Convert.ToDouble(swap[1].Value);
absZ = Convert.ToDouble(swap[2].Value);
absA = Convert.ToDouble(swap[3].Value);
machCoX = Convert.ToDouble(swap[4].Value); //机械座标
machCoY = Convert.ToDouble(swap[5].Value);
machCoZ = Convert.ToDouble(swap[6].Value);
relativelyU = Convert.ToDouble(swap[7].Value); //相对座标
relativelyV = Convert.ToDouble(swap[8].Value);
relativelyW = Convert.ToDouble(swap[9].Value);
alarm = Convert.ToInt32(swap[10].Value);
aut = Convert.ToInt32(swap[11].Value);
dummy = Convert.ToInt32(swap[12].Value);
edit = Convert.ToInt32(swap[13].Value);
emerg = Convert.ToInt32(swap[14].Value);
motion = Convert.ToInt32(swap[15].Value);
mstb = Convert.ToInt32(swap[16].Value);
run = Convert.ToInt32(swap[17].Value);
tmmode = Convert.ToInt32(swap[18].Value);
WorkModel = Convert.ToInt32(swap[19].Value);
mState = Convert.ToInt32(swap[20].Value);
sv1 = Convert.ToInt32(swap[21].Value);
sv2 = Convert.ToInt32(swap[22].Value);
sv3 = Convert.ToInt32(swap[23].Value);
// sp1 = Convert.ToInt32(swap[24].Value);
//sp2 = Convert.ToInt32(swap[25].Value);
//sp3 = Convert.ToInt32(swap[26].Value);
Mainpro = Convert.ToString(swap[27].Value);
feed = Convert.ToDouble(swap[28].Value);
sp1 = Convert.ToDouble(swap[29].Value);
sp2 = Convert.ToDouble(swap[30].Value);
sp3 = Convert.ToDouble(swap[31].Value);
spact = Convert.ToInt32(swap[32].Value);
if (aut == 0 && run == 0 && edit == 0 && mstb == 0 && alarm == 0) //再次判断机器是否在线，如果这几个状态都为0的话，机器估计是不在线了，然后重新调用自身连接机器。
{
string sqlen1 = "INSERT INTO [dbo].[MachState]([MachNo],[times])values(" + machineNo + ",getdate())";
int x1 = new DbHelp().OperSql(sqlen1);
readCncToData(Ip, machineNo, sleeptime);
return; //中断当前函数，返回函数入口。
}
string sql = "INSERT INTO [dbo].[MachState]([MachNo],[mState],[WorkModel],[absX],[absY],[absZ],[relativelyU],[relativelyW],[relativelyV],[MachCoX],[MachCoY],[MachCoZ],[Times],[aut],[run],[edit],[mstb],[alarm],[sp1],[sp2],[sp3],[sv3],[sv2],[sv1],[dummy],[emerg],[motion],[tmmode],[Feed],[mainpro],[AbsA],[spact])VALUES('" + machineNo + "','" + mState + "','" + WorkModel + "'," + absX + "," + absY + "," + absZ + "," + relativelyU + "," + relativelyW + "," + relativelyV + "," + machCoX + "," + machCoY + "," + machCoZ + ",getdate(),'" + aut + "','" + run + "','" + edit + "','" + mstb + "','" + alarm + "'," + sp1 + "," + sp2 + "," + sp3 + "," + sv3 + "," + sv2 + "," + sv1 + ",'" + dummy + "','" + emerg + "','" + motion + "','" + tmmode + "'," + feed + ",'" + Mainpro + "'," + absA + "," + spact + ")";
int x = new DbHelp().OperSql(sql);
}
}
///
/// 读取绝对
///
///
/// get_Abs(ushort mun)//座标相关，绝对座标
{
List swap = new List();
swap.Clear();
Focas1.ODBST oDBST = new Focas1.ODBST();
Focas1.ODBAXIS oDBAXI = new Focas1.ODBAXIS();
for (int i = 0; i < 4; i++)
{
Focas1.cnc_absolute2(mun, (short)(i + 1), 8, oDBAXI);
swap.Add(new Swap("abs" + i, (oDBAXI.data[0] / 1000).ToString()));
}
return swap;
}
///
/// 获取相对坐标
///
///
/// get_Relatively(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.ODBST oDBST = new Focas1.ODBST();
Focas1.ODBAXIS oDBAXI = new Focas1.ODBAXIS();
double[] num = new double[100];
for (int i = 0; i < 3; i++)
{
Focas1.cnc_relative2(mun, (short)(i + 1), 8, oDBAXI);
double num1 = (double)oDBAXI.data[0] / 1000;
swap.Add(new Swap("Relatively" + i, num1.ToString()));
}
return swap;
}
///
/// 读取机械坐标
///
///
/// get_MachCoX(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.ODBST oDBST = new Focas1.ODBST();
Focas1.ODBAXIS oDBAXI = new Focas1.ODBAXIS();
for (short i = 0; i < 3; i = (short)(i + 1))
{
Focas1.cnc_machine(mun, (short)(i + 1), 8, oDBAXI);
double num1 = (double)oDBAXI.data[0] / 10000;
swap.Add(new Swap("MachCo" + i, num1.ToString()));
}
return swap;
}
///
/// 读取机器状态信息
///
///
/// get_Status(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.ODBST statu = new Focas1.ODBST();
Focas1.cnc_statinfo(mun, statu);
int edit1 = Convert.ToInt32(statu.edit.ToString());
int run1 = Convert.ToInt32(statu.run.ToString());
int aut1 = Convert.ToInt32(statu.aut.ToString());
int WorkModel;
int mState;
if (run1 == 0 && aut1 == 0)
{
WorkModel = 0; //关机
mState = 0;
}
else if (run1 == 3 && aut1 == 1)
{
WorkModel = 1; //正常运行
mState = 1;
}
else if (aut1 == 3 && run1 == 0)
{
WorkModel = 2; //调机
mState = 1;
}
else if (aut1 == 4)
{
WorkModel = 3; //手轮
mState = 1;
}
else
{
WorkModel = 4; //闲置
mState = 1;
}
swap.Add(new Swap("alarm", statu.alarm.ToString()));
swap.Add(new Swap("aut", statu.aut.ToString()));
swap.Add(new Swap("dummy", statu.dummy.ToString()));
swap.Add(new Swap("edit", statu.edit.ToString()));
swap.Add(new Swap("emerg", statu.emergency.ToString()));
swap.Add(new Swap("motion", statu.motion.ToString()));
swap.Add(new Swap("mstb", statu.mstb.ToString()));
swap.Add(new Swap("run", statu.run.ToString()));
swap.Add(new Swap("tmmode", statu.tmmode.ToString()));
swap.Add(new Swap("workmodel", WorkModel.ToString()));
swap.Add(new Swap("state", mState.ToString()));
return swap;
}
///
/// 读取机器主轴负载信息，这个信息我都不知道是不是准确的，我估计很大几率是不准确的
///
///
/// get_Load(ushort mun)
{
Fanuc.ODBSVLOAD sv = new Focas1.ODBSVLOAD();
Fanuc.ODBSPLOAD sp = new Focas1.ODBSPLOAD();
List swap = new List();
swap.Clear();
short q1 = 6;
Focas1.cnc_rdsvmeter(mun, ref q1, sv);
short q2 = 0;
Focas1.cnc_rdspmeter(mun, q2, ref q1, sp);
swap.Add(new Swap("sv1", sv.svload1.data.ToString()));
swap.Add(new Swap("sv2", sv.svload2.data.ToString()));
swap.Add(new Swap("sv3", sv.svload3.data.ToString()));
swap.Add(new Swap("sp1", sp.spload1.spload.data.ToString()));
swap.Add(new Swap("sp2", sp.spload2.spload.data.ToString()));
swap.Add(new Swap("sp3", sp.spload3.spload.data.ToString()));
return swap;
}
///
///
/// 读取机器进给量
///
///
/// get_feed(ushort mun)
{
Fanuc.ODBSVLOAD sv = new Focas1.ODBSVLOAD();
Focas1.IODBPMC0 pmc = new Focas1.IODBPMC0();
List swap = new List();
swap.Clear();
Focas1.pmc_rdpmcrng(mun, 0, 0, 12, 13, 10, pmc);
swap.Add(new Swap("feed", (this.Transform((int)pmc.cdata[0]).ToString())));
swap.Add(new Swap("RemaFeed", (this.Transform((int)pmc.cdata[1]).ToString())));
return swap;
}
///
/// 转换倍速
///
///
///
/// 获取主轴速度
///
///
/// get_spinfo(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.ODBSPN odbspn = new Focas1.ODBSPN();
for (int i = 0; i < 3; i++)
{
Focas1.cnc_rdspload(mun, -1, odbspn);
swap.Add(new Swap("spq" + i, odbspn.data[i].ToString()));
}
return swap;
}
///
/// 获取实际主轴速度
///
///
/// get_spact(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.ODBACT2 act2 = new Focas1.ODBACT2();
Focas1.cnc_acts2(mun, -1, act2);
swap.Add(new Swap("spact", act2.data[0].ToString()));
return swap;
}
///
/// 读取刀具信息
///
///
/// get_toolInfo(ushort mun)
{
List swap = new List();
swap.Clear();
Focas1.IODBTD iodb = new Focas1.IODBTD();
for (int i = 0; i < 2; i++)
{
Focas1.cnc_rd1tlifedata(mun, 0, 0, iodb);
swap.Add(new Swap("tool_grno" + i, iodb.datano.ToString()));//组编号
swap.Add(new Swap("tool_no" + i, iodb.tool_num.ToString()));//刀具编号
swap.Add(new Swap("tool_inf" + i, iodb.tool_inf.ToString()));//xinxi
swap.Add(new Swap("tool_H" + i, iodb.h_code.ToString()));//长度补偿
swap.Add(new Swap("tool_D" + i, iodb.d_code.ToString()));//半径补偿
}
return swap;
}
///
/// 当前主程序号
///
///
/// get_program(ushort mun)
{
List swap = new List();
Focas1.ODBEXEPRG EXEPRG = new Focas1.ODBEXEPRG();
Focas1.PRGDIR3 pRGDIR3 = new Focas1.PRGDIR3();
Focas1.cnc_exeprgname(mun, EXEPRG);
short num = 2;
int oNum = EXEPRG.o_num;
short num1 = 1;
Focas1.cnc_rdprogdir3(mun, num, ref oNum, ref num1, pRGDIR3);
swap.Add(new Swap("workpart", pRGDIR3.dir1.comment.ToString()));
return swap;
}
}
}
另一个更新数据的方法我就不贴了，跟这个大同小异，只是将insert 改成update方法而已。
总的说来这些代码看着不多，但是坑超多，反正用遍地是坑来形容都不过分。
还有西门子机器的采集，等过段时间再贴了。最近项目很赶。。。也是超多坑。。。