From 6428fad15dbe79e30a48ffc9aabe31e03a45426c Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期四, 05 十二月 2019 12:50:13 +0800
Subject: [PATCH] 1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数
---
src/Bro.Device.AuboRobot/AuboRobotConfig.cs | 107 +++++++++++++++++++++++++++++++----------------------
1 files changed, 63 insertions(+), 44 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
index 190ee8b..8c70b49 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
@@ -1,8 +1,11 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
+using Bro.Common.Model;
using System;
using System.Collections.Generic;
using System.ComponentModel;
+using System.Drawing.Design;
+using System.Linq;
namespace Bro.Device.AuboRobot
{
@@ -28,6 +31,16 @@
[Category("閫氫俊璁剧疆")]
[Description("鍗忚鍐呭鍒嗛殧瀛楃")]
public string Seperator { get; set; } = ",";
+
+ [Category("IO鐩戝惉璁剧疆")]
+ [Description("IO鐩戝惉鎿嶄綔閰嶇疆闆嗗悎")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<MonitorSet>), typeof(UITypeEditor))]
+ public List<MonitorSet> MonitorSetCollection { get; set; } = new List<MonitorSet>();
+
+ [Category("IO鐩戝惉璁剧疆")]
+ [Description("IO鐩戝惉闂撮殧锛屼互ms涓哄崟浣�")]
+ public int ScanInterval { get; set; } = 100;
}
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.OperationConfig)]
@@ -45,22 +58,44 @@
public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;
- public List<string> Paras { get; set; } = new List<string>();
+ public int Para2 { get; set; } = 0;
+
+ /// <summary>
+ /// Paras涓嶅寘鍚玃ara1,Para2鍐呭
+ /// </summary>
+ public List<string> Datas { get; set; } = new List<string>();
public byte[] GetMsgBytes(string seperator, string endChar)
{
- List<string> list = new List<string>() { Type.ToString(), ID.ToString() };
+ List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };
if (Type == RobotMsgType.Send)
{
- list.Add(Action.ToString());
+ list.Add(((int)Action).ToString("D2"));
- if (Para1 != RobotMsgParas.None)
+ list.Add(((int)Para1).ToString("D2"));
+ list.Add(Para2.ToString("D2"));
+
+ if (Datas == null)
{
- list.Add(Para1.ToString());
+ Datas = new List<string>();
}
- list.AddRange(Paras);
+ while (Datas.Count < 5)
+ {
+ Datas.Add("0");
+ }
+
+ list.AddRange(Datas.ConvertAll(s =>
+ {
+ string res = float.Parse(s).ToString("F7");
+
+ while (res.Length < 11)
+ {
+ res = "0" + res;
+ }
+ return res;
+ }));
}
string msg = string.Join(seperator, list);
@@ -74,31 +109,17 @@
RobotMsg msg = new RobotMsg();
- msg.Type = (RobotMsgType)Enum.Parse(typeof(RobotMsgType), datas[0]);
+ msg.Type = (RobotMsgType)int.Parse(datas[0]);
msg.ID = int.Parse(datas[1]);
if (msg.Type == RobotMsgType.Send)
{
- msg.Action = (RobotMsgAction)Enum.Parse(typeof(RobotMsgAction), datas[2]);
+ msg.Action = (RobotMsgAction)int.Parse(datas[2]);
- if (int.TryParse(datas[3], out int para1))
- {
- msg.Para1 = RobotMsgParas.None;
+ msg.Para1 = (RobotMsgParas)int.Parse(datas[3]);
+ msg.Para2 = int.Parse(datas[4]);
- for (int i = 3; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
- else
- {
- msg.Para1 = (RobotMsgParas)Enum.Parse(typeof(RobotMsgParas), datas[3]);
-
- for (int i = 4; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
+ msg.Datas = datas.Skip(5).ToList();
}
return msg;
@@ -106,38 +127,36 @@
public string GetDisplayText()
{
- string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}{(Paras.Count > 0 ? ("_" + string.Join(",", Paras)) : "")}";
+ string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{(Datas.Count > 0 ? ("_" + string.Join(",", Datas)) : "")}";
return msg;
}
}
public enum RobotMsgType
{
- Send,
- Rec
+ Send = 1,
+ Rec = 2,
}
public enum RobotMsgAction
{
- Move,
- State,
- Adjust,
- IO,
+ Move = 1,
+ Unload = 2,
+ Load = 3,
+ IO = 6,
+ Calibration = 9,
+ StandardPoint = 10,
}
public enum RobotMsgParas
{
- None,
- LineSnap,
- Line,
- Robot,
- LoadEmptyTraySnap,
- LoadEmptyTrayDone,
- LoadFullTraySnap,
- LoadFullTrayDone,
- EmptyTrayReady,
- EmptyTrayEmpty,
- FullTrayFull,
- Query,
+ None = 0,
+ Home = 1,
+ LineSnap = 2,
+ EmptyTray = 3,
+ FullTray = 4,
+ UnloadEmptyTraySnap = 5,
+ LoadFullTraySnap = 6,
+ Query = 7,
}
}
--
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