using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Model.Helper;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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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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using System.Linq;
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using System.Net;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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namespace Bro.Device.SeerAGV
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{
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[Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.InitialConfig)]
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public class SeerAGVInitialConfig : InitialConfigBase
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{
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[Category("通信配置")]
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[Description("AGVIP地址")]
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public string AGVIP { get; set; } = "0.0.0.0";
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[Category("通信配置")]
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[Description("状态端口")]
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public int StatusPort { get; set; } = 19204;
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[Category("通信配置")]
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[Description("导航端口")]
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public int GuidePort { get; set; } = 19206;
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[Category("监听配置")]
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[Description("监听间隔，单位ms")]
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public int ScanInterval { get; set; } = 200;
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[Category("监听配置")]
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[Description("是否采用简单监听模式。true：简单模式，只获取任务状态；false：全部模式，获取任务所有信息")]
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public bool IsSimpleMonitor { get; set; } = true;
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private float batteryLvlToCharge = 0.1f;
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[Category("充电配置")]
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[Description("充电电池容量，电池容量低于该值时需要充电")]
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public float BatteryLvlToCharge
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{
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get => batteryLvlToCharge;
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set
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{
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if (value >= 1 || value <= 0)
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{
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value = 0.1f;
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}
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batteryLvlToCharge = value;
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}
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}
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private float batteryLvlChargeDone = 0.9f;
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[Category("充电配置")]
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[Description("充电完成电池容量，电池容量高于该值时确认充电完成")]
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public float BatteryLvlChargeDone
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{
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get => batteryLvlChargeDone;
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set
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{
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if (value >= 1 || value <= 0)
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{
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value = 0.9f;
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}
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batteryLvlChargeDone = value;
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}
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}
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}
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[Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.OperationConfig)]
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public class SeerAGVOperationConfig : OperationConfigBase
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{
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}
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public class SeerMessage : IComplexDisplay
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{
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private byte[] frame = null;
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public byte[] Frame
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{
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get
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{
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if (frame == null)
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{
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frame = GetFrame();
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}
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return frame;
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}
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set => frame = value;
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}
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public int SyncHead { get; set; } = 0x5A;
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public int Version { get; set; } = 0x01;
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public int SeqNum { get; set; }
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public int DataLength { get; set; }
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public int TypeCode { get; set; }
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public byte[] JsonData { get; set; } = new byte[0];
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public JObject JValues { get; set; } = null;
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public SeerMessage() { }
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public SeerMessage(int typeCode, int seqNum, string jsonData = "")
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{
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TypeCode = typeCode;
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SeqNum = seqNum;
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if (!string.IsNullOrWhiteSpace(jsonData))
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{
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JsonData = System.Text.Encoding.ASCII.GetBytes(jsonData);
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}
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DataLength = JsonData.Length;
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}
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public byte[] GetFrame()
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{
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List<byte> list = new List<byte>();
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list.Add((byte)SyncHead);
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list.Add((byte)Version);
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list.AddRange(SeqNum.IntToBytes());
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list.AddRange(DataLength.IntToBytes(4));
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list.AddRange(TypeCode.IntToBytes());
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list.AddRange(new byte[] { 0, 0, 0, 0, 0, 0 });
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list.AddRange(JsonData);
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return list.ToArray();
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}
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public static SeerMessage GetSeerMessage(byte[] data)
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{
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SeerMessage msg = new SeerMessage();
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msg.Frame = data;
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msg.SeqNum = data.Skip(2).Take(2).ToArray().BytesToInt();
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msg.DataLength = data.Skip(4).Take(4).ToArray().BytesToInt();
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msg.TypeCode = data.Skip(8).Take(2).ToArray().BytesToInt();
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if (data.Length < 16 + msg.DataLength)
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{
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throw new ProcessException("数据长度错误", null);
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}
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msg.JsonData = data.Skip(16).Take(msg.DataLength).ToArray();
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msg.JValues = JsonConvert.DeserializeObject<JObject>(System.Text.Encoding.ASCII.GetString(msg.JsonData));
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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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return "";
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}
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}
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//public enum RobotPort
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//{
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// StatusPort = 19204,
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// ControlPort = 19205,
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// GuidePort = 19206,
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// SettingPort = 19207,
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// OtherPort = 19210
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//}
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public enum AGVCode
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{
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QueryPosition = 0x03EC,
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QueryTaskStatus = 0x03FC,
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CancelTask = 0x0BBB,
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PauseTask = 0x0BB9,
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TaskOrder = 0x0BEB,
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QueryBattery = 0x03EF,
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}
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public enum AGVTaskStatus
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{
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None = 0,
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Waiting = 1,
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Running = 2,
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Suspended = 3,
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Completed = 4,
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Failed = 5,
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Cancelled = 6,
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}
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}
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