using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Model;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing.Design;
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using System.Linq;
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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("反馈超时重试次数")]
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public int TimeoutRetryTimes { get; set; } = 5;
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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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[Category("动作设置")]
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[Description("动作超时设置，单位min")]
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public float OperationTimeout { get; set; } = 1;
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[Category("IO监听设置")]
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[Description("IO监听操作配置集合")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<MonitorSet>), typeof(UITypeEditor))]
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public List<MonitorSet> MonitorSetCollection { get; set; } = new List<MonitorSet>();
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[Category("IO监听设置")]
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[Description("IO监听间隔，以ms为单位")]
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public int ScanInterval { get; set; } = 9999;
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[Category("IO监听设置")]
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[Description("是否启用IO监听,true：监听 false：不监听")]
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public bool IsEnableMonitor { get; set; } = false;
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[Category("报警配置")]
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[Description("报警代码配置")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<RobotWarningCode>), typeof(UITypeEditor))]
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public List<RobotWarningCode> RobotWarnings { get; set; } = new List<RobotWarningCode>();
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}
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public class RobotWarningCode
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{
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[Category("报警配置")]
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[Description("报警代码")]
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public int WarningCode { get; set; }
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[Category("报警配置")]
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[Description("报警代码描述")]
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public string WarningDescription { 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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[Category("动作指令")]
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[Description("动作指令")]
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public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;
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[Category("参数")]
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[Description("参数1")]
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public int Para1 { get; set; } = 0;
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[Category("参数")]
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[Description("参数2")]
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public int Para2 { get; set; } = 0;
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[Category("运动配置")]
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[Description("机器人运动点位")]
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[TypeConverter(typeof(ComplexObjectConvert))]
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[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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public RobotPoint Point { get; set; } = new RobotPoint();
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[Category("操作配置")]
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[Description("是否等待完成信号")]
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public bool IsWaitFinished { get; set; } = true;
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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 int Para1 { get; set; }
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public int Para2 { get; set; } = 0;
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public RobotPoint Point { get; set; } = new RobotPoint();
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public byte[] GetMsgBytes(string seperator, string endChar, out string msg)
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{
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List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };
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if (Type == RobotMsgType.Send)
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{
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list.Add(((int)Action).ToString("D2"));
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list.Add(Para1.ToString("D2"));
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list.Add(Para2.ToString("D2"));
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list.Add(GetFormatString(Point.X));
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list.Add(GetFormatString(Point.Y));
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list.Add(GetFormatString(Point.Z));
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list.Add(GetFormatString_Angle(Point.A));
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list.Add(GetFormatString_Angle(Point.B));
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list.Add(GetFormatString_Angle(Point.C));
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}
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msg = string.Join(seperator, list) + seperator + endChar;
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return System.Text.Encoding.ASCII.GetBytes(msg);
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}
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private string GetFormatString(float x)
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{
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string s = x.ToString("f10");
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s = s.TrimEnd(new char[] { '0' });
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bool isNegative = x < 0;
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while (s.Length < 11)
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{
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s = s.Insert(isNegative ? 1 : 0, "0");
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}
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return s;
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}
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/// <summary>
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/// 将角度数值转换为11位字符串，输入角度区间0~360，输出角度区间-180~+180
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/// </summary>
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/// <param name="x"></param>
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/// <returns></returns>
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private string GetFormatString_Angle(float x)
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{
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if (x > 180)
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{
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x = x - 360;
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}
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return GetFormatString(x);
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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)int.Parse(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)int.Parse(datas[2]);
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msg.Para1 = int.Parse(datas[3]);
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msg.Para2 = int.Parse(datas[4]);
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msg.Point = new RobotPoint()
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{
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X = float.Parse(datas[5]),
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Y = float.Parse(datas[6]),
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Z = float.Parse(datas[7]),
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A = float.Parse(datas[8]) < 0 ? float.Parse(datas[8]) + 360 : float.Parse(datas[8]),
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B = float.Parse(datas[9]) < 0 ? float.Parse(datas[9]) + 360 : float.Parse(datas[9]),
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C = float.Parse(datas[10]) < 0 ? float.Parse(datas[10]) + 360 : float.Parse(datas[10]),
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};
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}
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else
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{
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msg.Para1 = int.Parse(datas[2]);
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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()}_{Para2.ToString()}_{Point.GetDisplayText()}";
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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 = 1,
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Rec = 2,
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}
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public enum RobotMsgAction
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{
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Move = 1,
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Unload = 2,
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Load = 3,
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GetPosition = 4,
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/// <summary>
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/// 指定当前点位为基准点
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/// </summary>
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BasePoint = 5,
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IOSet = 6,
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IOQuery = 7,
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Calibration = 9,
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StandardPoint = 10,
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}
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public enum MoveType
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{
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[Description("绝对运动")]
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AbsoluteMove = 1,
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[Description("机器人坐标系相对运动")]
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RobotRelativeMove = 2,
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[Description("相对某个基准点位的相对运动")]
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BasedPointRelativeMove = 3,
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[Description("回原点")]
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Origin = 4,
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[Description("左侧姿势")]
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LeftPose = 6,
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[Description("右侧姿势")]
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RightPose = 5,
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[Description("前侧姿势")]
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FrontPose = 7,
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[Description("相机坐标系相对运动")]
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CameraRelativeMove = 12,
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}
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public enum TrayType
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{
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FullTray = 1,
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EmptyTray = 2,
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}
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//public enum RobotMsgAction
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//{
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// Move = 1,
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// Unload = 2,
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// Load = 3,
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// IO = 6,
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// Calibration = 9,
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// StandardPoint = 10,
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//}
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//public enum RobotMsgParas
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//{
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// None = 0,
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// Home = 1,
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// LineSnap = 2,
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// EmptyTray = 3,
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// FullTray = 4,
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// UnloadEmptyTraySnap = 5,
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// LoadFullTraySnap = 6,
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// Query = 7,
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//}
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}
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