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 | 109 +++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 74 insertions(+), 35 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 7007dc8..11f343f 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -34,6 +34,8 @@
protected override void Init()
{
+ oldValues = new List<int>();
+
if (string.IsNullOrWhiteSpace(IConfig.EndChar))
{
throw new ProcessException("鍗忚鏂囨湰鐨勭粨鏉熷瓧绗︿笉鍙负绌猴紝璇锋鏌ラ厤缃�", null);
@@ -72,11 +74,15 @@
protected override void Stop()
{
- client.Close();
+ if (client != null && client.Connected)
+ {
+ client.Close();
+ }
}
#endregion
TcpClient client = new TcpClient();
+ NetworkStream stream = null;
byte[] buffer = new byte[1024];
private void OnConnect(IAsyncResult ar)
@@ -84,36 +90,49 @@
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)
{
OnLog?.Invoke(DateTime.Now, this, ex.GetExceptionMessage());
+ if (client != null && client.Connected)
+ {
+ client.Close();
+ }
client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
}
}
- private void OnDateReceived(IAsyncResult ar)
+ private void OnDataReceived(IAsyncResult ar)
{
- int dataLength = client.GetStream().EndRead(ar);
-
- if (dataLength > 0)
+ try
{
- byte[] data = buffer.Take(dataLength).ToArray();
+ int dataLength = stream.EndRead(ar);
- string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
- AnalyzeData(dataStr);
-
- client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
- }
- else
- {
- if (!client.Connected)
+ if (dataLength > 0)
{
- OnLog?.Invoke(DateTime.Now, this, "杩斿洖绌烘暟鎹紝杩炴帴涓柇");
- client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
+ 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);
+
+ stream.BeginRead(buffer, 0, buffer.Length, OnDataReceived, null);
}
+ else
+ {
+ if (!client.Connected)
+ {
+ OnLog?.Invoke(DateTime.Now, this, "杩斿洖绌烘暟鎹紝杩炴帴涓柇");
+ client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鏁版嵁鎺ユ敹寮傚父锛歿ex.GetExceptionMessage()}");
}
}
@@ -173,10 +192,10 @@
for (int i = resultStr.Length - 1; i >= 0; i--)
{
- newValues.Add(resultStr[i]);
+ newValues.Add(int.Parse(resultStr[i].ToString()));
}
- monitorHandle.Set();
+ MonitorHandle.Set();
}
else
{
@@ -216,6 +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);
}
@@ -230,6 +250,7 @@
}
bool canMonitor = true;
+ object monitorLock = new object();
public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
{
if (isWaitReply)
@@ -240,25 +261,29 @@
byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
- if (!isMonitorMsg)
+ lock (monitorLock)
{
- canMonitor = false;
+ if (!isMonitorMsg)
+ {
+ canMonitor = false;
+ }
+
+ if (isMonitorMsg && !canMonitor)
+ return;
+
+ //lock (this)
+ {
+ stream.Write(bytes, 0, bytes.Length);
+ }
}
- if (isMonitorMsg && !canMonitor)
- return;
-
- lock (this)
+ if (isWaitReply)
{
- client.GetStream().Write(bytes, 0, bytes.Length);
- if (isWaitReply)
- {
- replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
+ replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
- if (replyHandleList.Contains(msg.ID))
- {
- throw new ProcessException("鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText(), null);
- }
+ if (replyHandleList.Contains(msg.ID))
+ {
+ throw new ProcessException("鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText(), null);
}
}
}
@@ -269,11 +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();
+
+ MonitorHandle.WaitOne(IConfig.ReplyTimeout);
return newValues;
}
@@ -288,6 +317,11 @@
if (newValues == null || newValues.Count == 0)
continue;
+
+ if (oldValues.Count == 0)
+ {
+ oldValues = newValues.ConvertAll(s => -1).ToList();
+ }
if (oldValues.Count == newValues.Count)
{
@@ -310,6 +344,11 @@
{
IConfig.MonitorSetCollection.ForEach(m =>
{
+ if (m.TriggerIndex < 0 || m.TriggerIndex >= tempNew.Count)
+ {
+ return;
+ }
+
int newValue = tempNew[m.TriggerIndex];
int oldValue = tempOld[m.TriggerIndex];
--
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