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 Bro.Common.Model;
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using Bro.Common.Model.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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using static Bro.Common.Helper.EnumHelper;
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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, IMonitor
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{
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public Action<DateTime, AuboRobotDriver, 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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oldValues = new List<int>();
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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");
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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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replyHandleDict = new Dictionary<int, AutoResetEvent>();
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replyErrorCodeDict = new Dictionary<int, int>();
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taskHandleDict = new Dictionary<int, ManualResetEvent>();
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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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RobotMsg scanMsg = new RobotMsg();
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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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//scanMsg = new RobotMsg();
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//scanMsg.Action = RobotMsgAction.IO;
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//scanMsg.Para1 = RobotMsgParas.Query;
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//Task.Run(() =>
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//{
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// Monitor();
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//});
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}
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protected override void Stop()
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{
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replyHandleDict.Values.ToList().ForEach(h => h.Set());
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replyHandleDict.Clear();
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taskHandleDict.Values.ToList().ForEach(h => h.Set());
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taskHandleDict.Clear();
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if (client != null && client.Connected)
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{
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client.Close();
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}
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}
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#endregion
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TcpClient client = new TcpClient();
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NetworkStream stream = null;
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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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stream = client.GetStream();
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stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, 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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LogAsync(DateTime.Now, "连接异常", ex.GetExceptionMessage());
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if (client != null && client.Connected)
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{
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client.Close();
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}
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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 OnDataReceived(IAsyncResult ar)
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{
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try
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{
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int dataLength = stream.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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stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, 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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LogAsync(DateTime.Now, "连接中断", "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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catch (Exception ex)
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{
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//OnLog?.Invoke(DateTime.Now, this, $"{Name}：{ex.GetExceptionMessage()}");
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LogAsync(DateTime.Now, "数据接收异常", ex.GetExceptionMessage());
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}
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}
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string msg = "";
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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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replyErrorCodeDict[msg.ID] = msg.Para1;
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if (replyHandleDict.ContainsKey(msg.ID))
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{
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replyHandleDict[msg.ID].Set();
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}
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}
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else
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{
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if (msg.Action == RobotMsgAction.IOQuery)
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{
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newValues = new List<int>();
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for (int i = msg.Para1.ToString().Length - 1; i >= 0; i--)
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{
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newValues.Add((msg.Para1 >> i) & 1);
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}
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MonitorHandle.Set();
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}
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else
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{
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canMonitor = true;
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switch (msg.Action)
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{
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case RobotMsgAction.Move:
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CurrentPoint = msg.Point;
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break;
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//case RobotMsgAction.Load:
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// //SlotIndex = msg.Para1;
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// break;
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case RobotMsgAction.GetPosition:
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CurrentPoint = msg.Point;
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break;
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default:
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break;
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}
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if (taskHandleDict.ContainsKey(msg.ID))
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{
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taskHandleDict[msg.ID].Set();
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}
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LogAsync(DateTime.Now, "指令反馈", msg.GetDisplayText());
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OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, 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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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 > 99)
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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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Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();
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Dictionary<int, int> replyErrorCodeDict = new Dictionary<int, int>();
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Dictionary<int, ManualResetEvent> taskHandleDict = new Dictionary<int, ManualResetEvent>();
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public void SendReplyMsg(int replyId)
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{
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Rec;
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msg.ID = replyId;
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SendMsg(msg, false);
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}
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bool canMonitor = true;
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object monitorLock = new object();
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public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
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{
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replyErrorCodeDict[msg.ID] = 0;
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if (isWaitReply)
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{
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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, out string dataStr);
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if (!isMonitorMsg)
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{
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LogAsync(DateTime.Now, "指令发送", dataStr);
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}
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bool isNotTimeout = true;
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int reTryTime = IConfig.TimeoutRetryTimes;
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do
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{
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lock (monitorLock)
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{
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if (!isMonitorMsg)
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{
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canMonitor = false;
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}
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if (isMonitorMsg && !canMonitor)
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return;
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stream.Write(bytes, 0, bytes.Length);
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if (!isMonitorMsg)
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{
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LogAsync(DateTime.Now, "数据发送", BitConverter.ToString(bytes));
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}
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}
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if (isWaitReply)
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{
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int errorCode = replyErrorCodeDict[msg.ID];
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if (errorCode != 0)
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{
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var desc = IConfig.RobotWarnings.FirstOrDefault(u => u.WarningCode == errorCode);
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throw new ProcessException($"{Name}{msg.ID}任务反馈异常{errorCode},异常描述：{(desc == null ? "无" : desc.WarningDescription)}");
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}
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isNotTimeout = replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
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if (!isNotTimeout)
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{
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reTryTime--;
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}
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}
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} while (reTryTime > 0 && !isNotTimeout);
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if (isWaitReply)
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{
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replyHandleDict.Remove(msg.ID);
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}
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if (!isNotTimeout)
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{
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throw new ProcessException($"{Name}反馈数据超时\r\n" + msg.GetDisplayText());
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}
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}
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#region 执行结果属性
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public RobotPoint CurrentPoint { get; set; } = null;
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//public int SlotIndex { get; set; } = 0;
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#endregion
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public void Move(RobotPoint point, MoveType isAbs, bool isWaitFinished)
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{
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CurrentPoint = null;
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.Move;
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msg.Para1 = (int)isAbs;
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msg.Point = point ?? new RobotPoint();
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SendMsg(msg, true);
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TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}{(isAbs.GetEnumDescription())}至{point.GetDisplayText()}动作超时");
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}
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public void Load(RobotPoint point, TrayType trayType, bool isWaitFinished)
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{
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//SlotIndex = 0;
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.Load;
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msg.Para1 = (int)trayType;
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msg.Point = point;
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SendMsg(msg, true);
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TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}取{trayType.ToString()}{point.GetDisplayText()}动作超时");
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//if (isWaitFinished && SlotIndex <= 0)
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//{
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// throw new ProcessException($"{Name}没有可用的空白格位,无法放置卷宗");
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//}
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}
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public void UnLoad(RobotPoint point, TrayType trayType, bool isWaitFinished)
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{
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.Unload;
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msg.Para1 = (int)trayType;
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msg.Point = point;
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SendMsg(msg, true);
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TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}卸{trayType.ToString()}{point.GetDisplayText()}动作超时");
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}
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public void GetPosition(bool isWaitFinished)
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{
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CurrentPoint = null;
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.GetPosition;
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SendMsg(msg, true);
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TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}获取当前坐标超时");
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}
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public void SetBasePoint()
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{
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.BasePoint;
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SendMsg(msg, true);
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}
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public void SetIO(int outputIndex, bool isOn)
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{
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RobotMsg msg = new RobotMsg();
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msg.Type = RobotMsgType.Send;
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msg.ID = SID;
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msg.Action = RobotMsgAction.IOSet;
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msg.Para1 = outputIndex;
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msg.Para2 = isOn ? 1 : 0;
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SendMsg(msg, true);
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}
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private void TaskTimeoutCheck(bool isWaitFinished, int msgId, string errorMsg)
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{
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if (isWaitFinished)
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{
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taskHandleDict[msgId] = new ManualResetEvent(false);
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taskHandleDict[msgId].Reset();
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bool isNotTimeout = taskHandleDict[msgId].WaitOne((int)(IConfig.OperationTimeout * 60 * 1000));
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taskHandleDict.Remove(msgId);
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if (!isNotTimeout)
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{
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throw new ProcessException(errorMsg);
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}
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}
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}
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#region IMonitor
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public event OnMonitorInvokeDelegate OnMonitorInvoke;
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public event OnMonitorAlarmDelegate OnMonitorAlarm;
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protected List<int> oldValues = new List<int>();
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List<int> newValues = new List<int>();
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public ManualResetEvent MonitorHandle { get; set; } = new ManualResetEvent(false);
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public List<int> GetIOValues()
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{
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MonitorHandle.Reset();
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scanMsg.ID = SID;
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SendMsg(scanMsg, true, true);
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var isNotTimeout = MonitorHandle.WaitOne(IConfig.ReplyTimeout * 3);
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if (!isNotTimeout)
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throw new ProcessException($"{Name}监听操作超时");
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return newValues;
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}
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public virtual void Monitor()
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{
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while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
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{
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try
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{
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if (IConfig.IsEnableMonitor)
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{
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List<int> newValues = GetIOValues();
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if (newValues == null || newValues.Count == 0)
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continue;
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if (oldValues.Count == 0)
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{
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oldValues = newValues.ConvertAll(s => -1).ToList();
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}
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if (oldValues.Count == newValues.Count)
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{
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var tempNew = new List<int>(newValues);
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var tempOld = new List<int>(oldValues);
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MonitorCheckAndInvoke(tempNew, tempOld);
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}
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oldValues = new List<int>(newValues);
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}
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Thread.Sleep(IConfig.ScanInterval);
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, "监听异常", ex.GetExceptionMessage());
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}
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}
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}
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protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
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{
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IConfig.MonitorSetCollection.ForEach(m =>
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{
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if (m.TriggerIndex < 0 || m.TriggerIndex >= tempNew.Count)
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{
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return;
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}
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int newValue = tempNew[m.TriggerIndex];
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int oldValue = tempOld[m.TriggerIndex];
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if (newValue != oldValue)
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{
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if (m.TriggerValue == -999 || newValue == m.TriggerValue)
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{
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if (m.OpConfig == null)
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{
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m.OpConfig = new OperationConfigBase();
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}
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m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
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{
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return tempNew[index];
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}).ToList();
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OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
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}
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}
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});
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}
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#endregion
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}
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}
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