using Bro.Common.Base;
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using Bro.Common.Helper;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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namespace Bro.Device.AuboRobot
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{
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[Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.InitialConfig)]
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public class AuboRobotInitialConfig : InitialConfigBase
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{
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[Category("机器人设置")]
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[Description("机器人通信IP")]
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public string RobotIP { get; set; } = "0.0.0.0";
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[Category("机器人设置")]
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[Description("机器人通信端口")]
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public int RobotPort { get; set; }
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[Category("通信设置")]
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[Description("反馈超时设置，单位ms")]
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public int ReplyTimeout { get; set; } = 1000;
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[Category("通信设置")]
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[Description("协议文本结束字符")]
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public string EndChar { get; set; } = "#";
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[Category("通信设置")]
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[Description("协议内容分隔字符")]
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public string Seperator { get; set; } = ",";
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}
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[Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.OperationConfig)]
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public class AuboRobotOperationConfig : OperationConfigBase
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{
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}
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public class RobotMsg : IComplexDisplay
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{
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public RobotMsgType Type { get; set; } = RobotMsgType.Send;
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public int ID { get; set; }
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public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;
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public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;
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public List<string> Paras { get; set; } = new List<string>();
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public byte[] GetMsgBytes(string seperator, string endChar)
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{
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List<string> list = new List<string>() { Type.ToString(), ID.ToString() };
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if (Type == RobotMsgType.Send)
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{
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list.Add(Action.ToString());
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if (Para1 != RobotMsgParas.None)
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{
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list.Add(Para1.ToString());
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}
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list.AddRange(Paras);
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}
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string msg = string.Join(seperator, list);
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return System.Text.Encoding.ASCII.GetBytes(msg + endChar);
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}
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public static RobotMsg GetRobotMsg(string data, string seperator)
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{
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string[] datas = data.Split(new string[] { seperator }, System.StringSplitOptions.RemoveEmptyEntries);
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RobotMsg msg = new RobotMsg();
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msg.Type = (RobotMsgType)Enum.Parse(typeof(RobotMsgType), datas[0]);
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msg.ID = int.Parse(datas[1]);
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if (msg.Type == RobotMsgType.Send)
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{
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msg.Action = (RobotMsgAction)Enum.Parse(typeof(RobotMsgAction), datas[2]);
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if (int.TryParse(datas[3], out int para1))
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{
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msg.Para1 = RobotMsgParas.None;
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for (int i = 3; i < datas.Length; i++)
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{
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msg.Paras.Add(datas[i]);
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}
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}
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else
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{
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msg.Para1 = (RobotMsgParas)Enum.Parse(typeof(RobotMsgParas), datas[3]);
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for (int i = 4; i < datas.Length; i++)
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{
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msg.Paras.Add(datas[i]);
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}
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}
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}
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return msg;
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}
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public string GetDisplayText()
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{
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string msg = $"序号：{ID},{Action.ToString()}_{Para1.ToString()}{(Paras.Count > 0 ? ("_" + string.Join(",", Paras)) : "")}";
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return msg;
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}
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}
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public enum RobotMsgType
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{
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Send,
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Rec
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}
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public enum RobotMsgAction
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{
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Move,
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State,
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Adjust,
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IO,
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}
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public enum RobotMsgParas
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{
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None,
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LineSnap,
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Line,
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Robot,
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LoadEmptyTraySnap,
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LoadEmptyTrayDone,
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LoadFullTraySnap,
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LoadFullTrayDone,
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EmptyTrayReady,
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EmptyTrayEmpty,
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FullTrayFull,
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Query,
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}
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}
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