1. 修改机器人通信协议及相关流程触发和操作

patrick

2019-10-18 4e8bf084f8a04617a9f542099183b8d829fa7c4b

 src/Bro.Device.AuboRobot/AuboRobotDriver.cs

@@ -1,6 +1,8 @@
using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using Bro.Common.Model.Interface;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -12,9 +14,9 @@
namespace Bro.Device.AuboRobot
{
    [Device("AuboRobot", "奥博机器人", EnumHelper.DeviceAttributeType.Device)]
    public class AuboRobotDriver : DeviceBase
    public class AuboRobotDriver : DeviceBase, IMonitor
    {
        public Action<RobotMsg> OnMsgReceived { get; set; }
        public Action<DateTime, AuboRobotDriver, RobotMsg> OnMsgReceived { get; set; }

        AuboRobotInitialConfig IConfig
        {
@@ -52,10 +54,20 @@
        {
        }

        RobotMsg scanMsg = new RobotMsg();
        protected override void Start()
        {
            //Query Robot IOs
            //SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());

            scanMsg = new RobotMsg();
            scanMsg.Action = RobotMsgAction.IO;
            scanMsg.Para1 = RobotMsgParas.Query;

            Task.Run(() =>
            {
                Monitor();
            });
        }

        protected override void Stop()
@@ -152,8 +164,24 @@
                     }
                     else
                     {
                         SendMsg(RobotMsgType.Rec, msg.ID, false);
                         OnMsgReceived?.Invoke(msg);                         
                         canMonitor = true;

                         if (msg.Action == RobotMsgAction.IO && msg.Para1 == RobotMsgParas.Query)
                         {
                             string resultStr = msg.Datas[0];
                             newValues = new List<int>();

                             for (int i = resultStr.Length - 1; i >= 0; i--)
                             {
                                 newValues.Add(resultStr[i]);
                             }

                             monitorHandle.Set();
                         }
                         else
                         {
                             OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
                         }
                     }
                 });
            });
@@ -164,7 +192,7 @@
        {
            get
            {
                if (sid > 999)
                if (sid > 99)
                {
                    sid = 1;
                }
@@ -176,27 +204,33 @@
        List<int> replyHandleList = new List<int>();
        Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();

        public void SendMsg(RobotMsgType type, int replyId, bool isWaitReply = true, RobotMsgAction action = RobotMsgAction.Move, RobotMsgParas para1 = RobotMsgParas.None, List<string> paras = null)
        public void SendMsg(RobotMsgAction action, RobotMsgParas para1, int para2, List<float> paras = null)
        {
            RobotMsg msg = new RobotMsg();
            msg.Type = RobotMsgType.Send;
            msg.ID = SID;

            msg.Action = action;
            msg.Para1 = para1;
            msg.Para2 = para2;

            msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));

            SendMsg(msg, true);
        }

        public void SendReplyMsg(int replyId)
        {
            RobotMsg msg = new RobotMsg();

            msg.Type = type;
            if (msg.Type == RobotMsgType.Send)
            {
                msg.ID = SID;
            }
            else
            {
                msg.ID = replyId;
            }
            msg.Type = RobotMsgType.Rec;
            msg.ID = replyId;

            msg.Para1 = para1;
            msg.Paras = new List<string>(paras ?? new List<string>());

            SendMsg(msg, isWaitReply);
            SendMsg(msg, false);
        }

        public void SendMsg(RobotMsg msg, bool isWaitReply = true)
        bool canMonitor = true;
        public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
        {
            if (isWaitReply)
            {
@@ -205,17 +239,99 @@
            }

            byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
            client.GetStream().Write(bytes, 0, bytes.Length);

            if (isWaitReply)
            if (!isMonitorMsg)
            {
                replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
                canMonitor = false;
            }

                if (replyHandleList.Contains(msg.ID))
            if (isMonitorMsg && !canMonitor)
                return;

            lock (this)
            {
                client.GetStream().Write(bytes, 0, bytes.Length);
                if (isWaitReply)
                {
                    throw new ProcessException("反馈数据超时\r\n" + msg.GetDisplayText(), null);
                    replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);

                    if (replyHandleList.Contains(msg.ID))
                    {
                        throw new ProcessException("反馈数据超时\r\n" + msg.GetDisplayText(), null);
                    }
                }
            }
        }

        #region IMonitor
        public event OnMonitorInvokeDelegate OnMonitorInvoke;
        public event OnMonitorAlarmDelegate OnMonitorAlarm;

        protected List<int> oldValues = new List<int>();
        List<int> newValues = new List<int>();
        AutoResetEvent monitorHandle = new AutoResetEvent(false);
        public List<int> GetMonitorValues(int startAddress, int length)
        {
            SendMsg(scanMsg, true, true);
            monitorHandle.WaitOne();

            return newValues;
        }

        public virtual void Monitor()
        {
            while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
            {
                try
                {
                    List<int> newValues = GetMonitorValues(0, 0);

                    if (newValues == null || newValues.Count == 0)
                        continue;

                    if (oldValues.Count == newValues.Count)
                    {
                        var tempNew = new List<int>(newValues);
                        var tempOld = new List<int>(oldValues);
                        MonitorCheckAndInvoke(tempNew, tempOld);
                    }
                    oldValues = new List<int>(newValues);

                    Thread.Sleep(IConfig.ScanInterval);
                }
                catch (Exception ex)
                {
                    OnLog?.Invoke(DateTime.Now, this, $"{Name}监听异常:{ex.GetExceptionMessage()}");
                }
            }
        }

        protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
        {
            IConfig.MonitorSetCollection.ForEach(m =>
            {
                int newValue = tempNew[m.TriggerIndex];
                int oldValue = tempOld[m.TriggerIndex];

                if (newValue != oldValue)
                {
                    if (m.TriggerValue == -999 || newValue == m.TriggerValue)
                    {
                        if (m.OpConfig == null)
                        {
                            m.OpConfig = new OperationConfigBase();
                        }

                        m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
                        {
                            return tempNew[index];
                        }).ToList();

                        OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
                    }
                }
            });
        }
        #endregion
    }
}