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/AuboRobotDriver.cs | 41 ++++++++++++++++++++++++++---------------
1 files changed, 26 insertions(+), 15 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index d2ae516..11f343f 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -82,6 +82,7 @@
#endregion
TcpClient client = new TcpClient();
+ NetworkStream stream = null;
byte[] buffer = new byte[1024];
private void OnConnect(IAsyncResult ar)
@@ -89,7 +90,8 @@
try
{
client.EndConnect(ar);
- client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
+ stream = client.GetStream();
+ stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, null);
}
catch (Exception ex)
{
@@ -103,20 +105,21 @@
}
}
- private void OnDateReceived(IAsyncResult ar)
+ private void OnDataReceived(IAsyncResult ar)
{
try
{
- int dataLength = client.GetStream().EndRead(ar);
+ int dataLength = stream.EndRead(ar);
if (dataLength > 0)
{
byte[] data = buffer.Take(dataLength).ToArray();
string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
+ //OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}鎺ユ敹鏁版嵁锛歿dataStr}", null, null);
AnalyzeData(dataStr);
- client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
+ stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, null);
}
else
{
@@ -192,7 +195,7 @@
newValues.Add(int.Parse(resultStr[i].ToString()));
}
- monitorHandle.Set();
+ MonitorHandle.Set();
}
else
{
@@ -232,6 +235,7 @@
msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));
+ OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}鍙戦�佹寚浠わ細{msg.GetDisplayText()}", null, null);
SendMsg(msg, true);
}
@@ -246,6 +250,7 @@
}
bool canMonitor = true;
+ object monitorLock = new object();
public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
{
if (isWaitReply)
@@ -256,17 +261,20 @@
byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
- if (!isMonitorMsg)
+ lock (monitorLock)
{
- canMonitor = false;
- }
+ if (!isMonitorMsg)
+ {
+ canMonitor = false;
+ }
- if (isMonitorMsg && !canMonitor)
- return;
+ if (isMonitorMsg && !canMonitor)
+ return;
- //lock (this)
- {
- client.GetStream().Write(bytes, 0, bytes.Length);
+ //lock (this)
+ {
+ stream.Write(bytes, 0, bytes.Length);
+ }
}
if (isWaitReply)
@@ -286,12 +294,15 @@
protected List<int> oldValues = new List<int>();
List<int> newValues = new List<int>();
- AutoResetEvent monitorHandle = new AutoResetEvent(false);
+ public ManualResetEvent MonitorHandle { get; set; } = new ManualResetEvent(false);
+ //public ManualResetEvent IOChangedHandle { get; set; } = new ManualResetEvent(true);
public List<int> GetMonitorValues(int startAddress, int length)
{
+ MonitorHandle.Reset();
scanMsg.ID = SID;
SendMsg(scanMsg, true, true);
- monitorHandle.WaitOne(IConfig.ReplyTimeout);
+
+ MonitorHandle.WaitOne(IConfig.ReplyTimeout);
return newValues;
}
--
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