using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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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.Net;
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using System.Net.Sockets;
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using System.Threading;
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using System.Threading.Tasks;
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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.Device)]
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public class AuboRobotDriver : DeviceBase
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{
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public Action<RobotMsg> OnMsgReceived { get; set; }
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AuboRobotInitialConfig IConfig
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{
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get => InitialConfig as AuboRobotInitialConfig;
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}
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#region DeviceBase
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protected override void DeviceRun(IOperationConfig config)
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{
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}
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protected override void DeviceSet(IDeviceConfig config)
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{
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}
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protected override void Init()
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{
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if (string.IsNullOrWhiteSpace(IConfig.EndChar))
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{
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throw new ProcessException("协议文本的结束字符不可为空，请检查配置", null);
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}
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client = new TcpClient();
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client.SendBufferSize = client.ReceiveBufferSize = 0;
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client.Client.Blocking = true;
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client.NoDelay = true;
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client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
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}
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protected override void Pause()
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{
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}
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protected override void Resume()
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{
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}
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protected override void Start()
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{
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//Query Robot IOs
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//SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());
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}
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protected override void Stop()
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{
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client.Close();
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}
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#endregion
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TcpClient client = new TcpClient();
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byte[] buffer = new byte[1024];
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private void OnConnect(IAsyncResult ar)
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{
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try
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{
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client.EndConnect(ar);
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client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
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}
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catch (Exception ex)
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{
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OnLog?.Invoke(DateTime.Now, this, ex.GetExceptionMessage());
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client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
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}
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}
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private void OnDateReceived(IAsyncResult ar)
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{
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int dataLength = client.GetStream().EndRead(ar);
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if (dataLength > 0)
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{
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byte[] data = buffer.Take(dataLength).ToArray();
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string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
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AnalyzeData(dataStr);
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client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
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}
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else
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{
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if (!client.Connected)
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{
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OnLog?.Invoke(DateTime.Now, this, "返回空数据，连接中断");
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client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
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}
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}
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}
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string msg = "";
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static object analyzeLock = new object();
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private async void AnalyzeData(string data)
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{
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await Task.Run(() =>
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{
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lock (analyzeLock)
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{
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msg += data;
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var datas = msg.Split(new string[] { IConfig.EndChar }, StringSplitOptions.RemoveEmptyEntries);
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if (msg.EndsWith(IConfig.EndChar))
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{
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msg = "";
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}
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else
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{
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msg = datas[datas.Length - 1];
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datas = datas.Take(datas.Length - 1).ToArray();
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}
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AnalyzeDataList(datas);
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}
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});
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}
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private async void AnalyzeDataList(string[] datas)
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{
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await Task.Run(() =>
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{
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Array.ForEach(datas, data =>
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{
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RobotMsg msg = RobotMsg.GetRobotMsg(data, IConfig.Seperator);
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if (msg.Type == RobotMsgType.Rec)
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{
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if (replyHandleDict.ContainsKey(msg.ID))
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{
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replyHandleList.Remove(msg.ID);
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replyHandleDict[msg.ID].Set();
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replyHandleDict.Remove(msg.ID);
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}
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}
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else
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{
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SendMsg(RobotMsgType.Rec, msg.ID, false);
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OnMsgReceived?.Invoke(msg);
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}
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});
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});
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}
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int sid = 1;
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int SID
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{
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get
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{
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if (sid > 999)
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{
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sid = 1;
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}
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return sid++;
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}
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}
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List<int> replyHandleList = new List<int>();
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Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();
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public void SendMsg(RobotMsgType type, int replyId, bool isWaitReply = true, RobotMsgAction action = RobotMsgAction.Move, RobotMsgParas para1 = RobotMsgParas.None, List<string> paras = null)
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{
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RobotMsg msg = new RobotMsg();
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msg.Type = type;
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if (msg.Type == RobotMsgType.Send)
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{
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msg.ID = SID;
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}
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else
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{
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msg.ID = replyId;
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}
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msg.Para1 = para1;
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msg.Paras = new List<string>(paras ?? new List<string>());
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SendMsg(msg, isWaitReply);
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}
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public void SendMsg(RobotMsg msg, bool isWaitReply = true)
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{
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if (isWaitReply)
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{
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replyHandleList.Add(msg.ID);
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replyHandleDict[msg.ID] = new AutoResetEvent(false);
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}
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byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
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client.GetStream().Write(bytes, 0, bytes.Length);
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if (isWaitReply)
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{
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replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
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if (replyHandleList.Contains(msg.ID))
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{
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throw new ProcessException("反馈数据超时\r\n" + msg.GetDisplayText(), null);
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}
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}
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}
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}
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}
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