制作了一个与 python 脚本通信的 Hololens 应用程序。 python脚本将PLC(西门子S7-1200)变量以JSON的形式发送到hololens。 C# 脚本处理 JSON。当脚本从 plc 读取数据时，还可以使用 C# 脚本内的 sendMessage 方法来控制变量。我制作了一个单独的Python脚本来控制PLC，这个我不会分享。
我的 Unity3d C# 脚本:
using UnityEngine;
using System;
using System.IO;
using System.Text;
using System.Linq;
using HoloToolkit.Unity;
using System.Collections.Generic;
using UnityEngine.UI;
using Newtonsoft.Json;
#if !UNITY_EDITOR
using Windows.Networking.Sockets;
using Windows.Networking.Connectivity;
using Windows.Networking;
#endif
#if !UNITY_EDITOR
public class RootObject
{
public int Index { get; set; }
public bool Moto { get; set; }
public bool Start { get; set; }
public bool StartWINCC { get; set; }
public bool Stop { get; set; }
public bool StopWINCC { get; set; }
public bool Tag1 { get; set; }
public bool Tag2 { get; set; }
}
#endif
public class UDPCommunication : Singleton<UDPCommunication>
{
// Connection variables
public string port = "8000";
public string externalIP = "172.16.24.136";
public string externalPort = "8000";
// UI/Text elements
public Text testert;
public Image moto;
public Image start;
public Image startwincc;
public Image stop;
public Image stopwincc;
public Image tag1;
public Image tag2;
public String uitext;
// Sets up a Queue
public readonly static Queue<Action> ExecuteOnMainThread = new Queue<Action>();
#if !UNITY_EDITOR
// Socket initialization
DatagramSocket socket;
#endif
#if !UNITY_EDITOR
// use this for initialization
async void Start()
{
Debug.Log("Waiting for a connection...");
socket = new DatagramSocket();
socket.MessageReceived += Socket_MessageReceived;
HostName IP = null;
try
{
var icp = NetworkInformation.GetInternetConnectionProfile();
IP = Windows.Networking.Connectivity.NetworkInformation.GetHostNames()
.SingleOrDefault(
hn =>
hn.IPInformation?.NetworkAdapter != null && hn.IPInformation.NetworkAdapter.NetworkAdapterId
== icp.NetworkAdapter.NetworkAdapterId);
await socket.BindEndpointAsync(IP, port);
}
catch (Exception e)
{
Debug.Log(e.ToString());
Debug.Log(SocketError.GetStatus(e.HResult).ToString());
return;
}
var message = "hello from " + IP;
await SendMessage(message);
await SendMessage("hello");
Debug.Log("exit start");
}
private async System.Threading.Tasks.Task SendMessage(string message)
{
using (var stream = await socket.GetOutputStreamAsync(new Windows.Networking.HostName(externalIP), externalPort))
{
using (var writer = new Windows.Storage.Streams.DataWriter(stream))
{
var data = Encoding.UTF8.GetBytes(message);
writer.WriteBytes(data);
await writer.StoreAsync();
Debug.Log("Sent: " + message);
}
}
}
#else
// Use this for initialization.
void Start()
{
}
#endif
// Update is called once per frame.
void Update()
{
// Dequeues items until there are no more items on the queue.
while (ExecuteOnMainThread.Count > 0)
{
ExecuteOnMainThread.Dequeue().Invoke();
}
}
#if !UNITY_EDITOR
// this method is purely for setting the UI elements based on the received JSON string.
private void setStuff(string input){
// Turns the json string into an object
var results = JsonConvert.DeserializeObject<RootObject>(input);
// Sets the UI element(and converts it to string, because it is an int)
testert.text = results.Index.ToString();
// sets the image green if the variable is true, and red if it's not
if (results.Moto == true)
{
moto.GetComponent<Image>().color = Color.green;
}
else
{
moto.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.Start == true)
{
start.GetComponent<Image>().color = Color.green;
}
else
{
start.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.StartWINCC == true)
{
startwincc.GetComponent<Image>().color = Color.green;
}
else
{
startwincc.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.Stop == true)
{
stop.GetComponent<Image>().color = Color.green;
}
else
{
stop.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.StopWINCC == true)
{
stopwincc.GetComponent<Image>().color = Color.green;
}
else
{
stopwincc.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.Tag1 == true)
{
tag1.GetComponent<Image>().color = Color.green;
}
else
{
tag1.GetComponent<Image>().color = Color.red;
}
// sets the image green if the variable is true, and red if it's not
if (results.Tag2 == true)
{
tag2.GetComponent<Image>().color = Color.green;
}
else
{
tag2.GetComponent<Image>().color = Color.red;
}
}
//this method gets called when a message is received
private async void Socket_MessageReceived(Windows.Networking.Sockets.DatagramSocket sender, Windows.Networking.Sockets.DatagramSocketMessageReceivedEventArgs args)
{
// Read the received message.
Stream streamIn = args.GetDataStream().AsStreamForRead();
StreamReader reader = new StreamReader(streamIn);
string message = await reader.ReadLineAsync();
Debug.Log("MESSAGE: " + message);
// if the count is zero, the message will be relayed to the setStuff method, which processes the string continuously.
// The message contains a JSON string which is received from the server.
if (ExecuteOnMainThread.Count == 0)
{
ExecuteOnMainThread.Enqueue(() =>
{
setStuff(message);
});
}
}
#endif
}
这是我的 python 服务器代码:
import socket,time
from read import CustOPCLib
class BroadcastServer(object):
def __init__(self,host,port):
self._host = host
self._port = port
self.sock = None
def connect(self):
self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
self.sock.connect((self._host,self._port))
def sendMsg(self,msg):
self.sock.send(msg.encode('utf8'))
def disconnect(self):
self.sock.close()
if __name__ == '__main__':
c = CustOPCLib()
c.connect()
Host = '172.16.24.174'
Port = 8000
ser = BroadcastServer(Host,Port)
ser.connect()
msg = 'test'
i = 0
while True:
i = i + 1
msg += (str(i))
ser.sendMsg(c.opcjson())
time.sleep(0.25)
ser.disconnect()
这是读取脚本(p.opcjson() 中的脚本):
from opcua import ua, Client
import json
'''This class makes connection to the OPC-UA server, and has functions that can be used to return the current values of a specific
variable'''
class ReadVariables(object):
'''init function, contains the node locations of the OPC-UA server'''
def __init__(self):
self.jsonobj = {}
self.Index = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.DATA.Index"
self.Moto = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.MOTO"
self.Start = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.START"
self.StartWincc = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.STARTWINCC"
self.Stop = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.STOP"
self.StopWINCC = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.STOPWINCC"
self.Tag_1 = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.Tag_1"
self.Tag_2 = "ns=7;s=S7-1200 station_2.PLC_OPC_HOLOLENS.Tag_2"
self.client = None
'''This function connects to the OPC-UA server'''
def connect(self):
print("Connecting to OPC-UA server")
self.client = Client("opc.tcp://Wilrik-PC:4845")
self.client.connect()
print("Connected to OPC-UA server")
'''This function can be used to disconnect from the OPC-UA server'''
def disconnect(self):
print("Disconnecting from OPC-UA server")
self.client.disconnect()
'''This function returns the root node on the OPC-server'''
def get_root_node(self):
root = self.client.get_root_node()
print("Root node is:", root)
return root
'''This function returns the objects node on the OPC-server'''
def get_objects_node(self):
objects = self.client.get_objects_node()
print("Objects node is: ",objects)
return objects
'''This function returns the children of the objects node on the OPC-server'''
def get_objects_node_children(self):
objects = self.client.get_objects_node()
print("children of objects node is:",objects.get_children())
################################################# VARIABLES ###########################################################
'''This function returns the value of the index variable on the OPC-server'''
def index(self):
index = self.client.get_node(self.Index)
return index.get_value()
'''This function returns the value of the moto variable on the OPC-server'''
def moto(self):
moto = self.client.get_node(self.Moto)
return moto.get_value()
'''This function returns the value of the start variable on the OPC-server'''
def start(self):
start = self.client.get_node(self.Start)
return start.get_value()
'''This function returns the value of the startwincc variable on the OPC-server'''
def startwincc(self):
startwincc = self.client.get_node(self.StartWincc)
return startwincc.get_value()
'''This function returns the value of the stop variable on the OPC-server'''
def stop(self):
stop = self.client.get_node(self.Stop)
return stop.get_value()
'''This function returns the value of the stopwincc variable on the OPC-server'''
def stopwincc(self):
stopwincc = self.client.get_node(self.StopWINCC)
return stopwincc.get_value()
'''This function returns the value of the Tag_1 variable on the OPC-server'''
def tag_1(self):
tag1 = self.client.get_node(self.Tag_1)
return tag1.get_value()
'''This function returns the value of the Tag_2 variable on the OPC-server'''
def tag_2(self):
tag2 = self.client.get_node(self.Tag_2)
return tag2.get_value()
################################################# VARIABLES ###########################################################
################################################# JSON ################################################################
def opcjson(self):
self.jsonobj['Index'] = self.index()
self.jsonobj['Moto'] = self.moto()
self.jsonobj['Start'] = self.start()
self.jsonobj['StartWINCC'] = self.startwincc()
self.jsonobj['Stop'] = self.stop()
self.jsonobj['StopWINCC'] = self.stopwincc()
self.jsonobj['Tag1'] = self.tag_1()
self.jsonobj['Tag2'] = self.tag_2()
obj = json.dumps(self.jsonobj)
return self.jsonobj
################################################# JSON ################################################################
更新1:应用了DoctorPangloss的建议，虽然我让它工作了，但它仍然没有按照我想要的方式工作。我目前的情况:我启动我的Unity3d应用程序，然后启动我的python应用程序，unity接收数据，我关闭python脚本并重新启动它，我只接收一次数据，然后挂起。
更新2:删除了这个问题，将其留给那些可以使用它的人。这不包括控制脚本，您必须自己制作。
最佳答案
您的问题与此行有关:
Debug.Log("client message received as: " + clientMessage);
您无法从另一个线程(即您的监听线程)访问 Unity 线程(即 Unity 对象)。将接收到的包入队放入 ConcurrentQueue 队列，并从 queue 出队，直到 Update 函数内的每个帧都为空。
您的第二个问题与您的 ConcurrentQueue 实现有关。这是不对的。您找到它的地方有这样的评论:
This is not ConcurrentQueue.. but just queue + lock
https://gist.github.com/jaredjenkins/5421892
尝试采用真正的并发队列实现，如下所示:
https://github.com/mono/mono/blob/master/mcs/class/referencesource/mscorlib/system/collections/Concurrent/ConcurrentQueue.cs 。使用 TryDequeue(out item) 实际出队，而不是 peek 或 Dequeue。
您的第三个问题与这些行有关:
using (NetworkStream stream = connectedTcpClient.GetStream())
{
int length;
// Read incomming stream into byte arrary.
while ((length = stream.Read(bytes, 0, bytes.Length)) != 0)
TCP 不是消息传递协议(protocol)。如果您想发送消息，请使用网络套接字，或者为要从一个地方发送到另一个地方的内容的长度添加长度前缀，即使它只是字符串。这不一定会立即困扰您，但稍后会。
您的第四个问题与p.opcjson()有关。也许读一次，然后将其保存到变量中？第二次调用时可能会出乎意料地阻塞；我不确定这里发生了什么。
总的来说，我认为您的 C# 监听代码和 Python 代码可能都存在问题。不幸的是，编写自己的 TCP 套接字代码非常容易出错。考虑使用 Asset Store 和 Python 中的 Web 套接字，其语义明显更加直观。
关于c# - unity3d 中的套接字出现问题，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/49757032/