From b0a4c47dd74bc41c5df3bab6ddd8de7bcc6a52b0 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期五, 06 十二月 2019 18:35:42 +0800
Subject: [PATCH] 1. 重新整理项目，按照A034模式，将设备异步操作修改为类同步操作。使用任务队列来存储和分配任务。
---
src/Bro.Device.AuboRobot/AuboRobotConfig.cs | 205 ++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 161 insertions(+), 44 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
index 8c70b49..043faec 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
@@ -1,7 +1,6 @@
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;
@@ -25,12 +24,20 @@
public int ReplyTimeout { get; set; } = 1000;
[Category("閫氫俊璁剧疆")]
+ [Description("鍙嶉瓒呮椂閲嶈瘯娆℃暟")]
+ public int TimeoutRetryTimes { get; set; } = 5;
+
+ [Category("閫氫俊璁剧疆")]
[Description("鍗忚鏂囨湰缁撴潫瀛楃")]
public string EndChar { get; set; } = "#";
[Category("閫氫俊璁剧疆")]
[Description("鍗忚鍐呭鍒嗛殧瀛楃")]
public string Seperator { get; set; } = ",";
+
+ [Category("鍔ㄤ綔璁剧疆")]
+ [Description("鍔ㄤ綔瓒呮椂璁剧疆锛屽崟浣峬in")]
+ public float OperationTimeout { get; set; } = 1;
[Category("IO鐩戝惉璁剧疆")]
[Description("IO鐩戝惉鎿嶄綔閰嶇疆闆嗗悎")]
@@ -40,12 +47,54 @@
[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;
+ public int ScanInterval { get; set; } = 9999;
+
+ [Category("IO鐩戝惉璁剧疆")]
+ [Description("鏄惁鍚敤IO鐩戝惉,true锛氱洃鍚� false锛氫笉鐩戝惉")]
+ public bool IsEnableMonitor { get; set; } = false;
+
+ [Category("鎶ヨ閰嶇疆")]
+ [Description("鎶ヨ浠ｇ爜閰嶇疆")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<RobotWarningCode>), typeof(UITypeEditor))]
+ public List<RobotWarningCode> RobotWarnings { get; set; } = new List<RobotWarningCode>();
+ }
+
+ public class RobotWarningCode
+ {
+ [Category("鎶ヨ閰嶇疆")]
+ [Description("鎶ヨ浠ｇ爜")]
+ public int WarningCode { get; set; }
+
+ [Category("鎶ヨ閰嶇疆")]
+ [Description("鎶ヨ浠ｇ爜鎻忚堪")]
+ public string WarningDescription { get; set; }
}
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.OperationConfig)]
public class AuboRobotOperationConfig : OperationConfigBase
{
+ [Category("鍔ㄤ綔鎸囦护")]
+ [Description("鍔ㄤ綔鎸囦护")]
+ public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;
+
+ [Category("鍙傛暟")]
+ [Description("鍙傛暟1")]
+ public int Para1 { get; set; } = 0;
+
+ [Category("鍙傛暟")]
+ [Description("鍙傛暟2")]
+ public int Para2 { get; set; } = 0;
+
+ [Category("杩愬姩閰嶇疆")]
+ [Description("鏈哄櫒浜鸿繍鍔ㄧ偣浣�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public RobotPoint Point { get; set; } = new RobotPoint();
+
+ [Category("鎿嶄綔閰嶇疆")]
+ [Description("鏄惁绛夊緟瀹屾垚淇″彿")]
+ public bool IsWaitFinished { get; set; } = true;
}
public class RobotMsg : IComplexDisplay
@@ -56,16 +105,13 @@
public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;
- public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;
+ public int Para1 { get; set; }
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 RobotPoint Point { get; set; } = new RobotPoint();
- public byte[] GetMsgBytes(string seperator, string endChar)
+ public byte[] GetMsgBytes(string seperator, string endChar, out string msg)
{
List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };
@@ -73,34 +119,51 @@
{
list.Add(((int)Action).ToString("D2"));
- list.Add(((int)Para1).ToString("D2"));
+ list.Add(Para1.ToString("D2"));
list.Add(Para2.ToString("D2"));
- if (Datas == null)
- {
- Datas = new List<string>();
- }
-
- 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;
- }));
+ list.Add(GetFormatString(Point.X));
+ list.Add(GetFormatString(Point.Y));
+ list.Add(GetFormatString(Point.Z));
+ list.Add(GetFormatString_Angle(Point.A));
+ list.Add(GetFormatString_Angle(Point.B));
+ list.Add(GetFormatString_Angle(Point.C));
}
- string msg = string.Join(seperator, list);
+ msg = string.Join(seperator, list) + seperator + endChar;
- return System.Text.Encoding.ASCII.GetBytes(msg + endChar);
+ return System.Text.Encoding.ASCII.GetBytes(msg);
+ }
+
+ private string GetFormatString(float x)
+ {
+ string s = x.ToString("f10");
+
+ s = s.TrimEnd(new char[] { '0' });
+
+ bool isNegative = x < 0;
+
+ while (s.Length < 11)
+ {
+ s = s.Insert(isNegative ? 1 : 0, "0");
+ }
+
+ return s;
+ }
+
+ /// <summary>
+ /// 灏嗚搴︽暟鍊艰浆鎹负11浣嶅瓧绗︿覆锛岃緭鍏ヨ搴﹀尯闂�0~360锛岃緭鍑鸿搴﹀尯闂�-180~+180
+ /// </summary>
+ /// <param name="x"></param>
+ /// <returns></returns>
+ private string GetFormatString_Angle(float x)
+ {
+ if (x > 180)
+ {
+ x = x - 360;
+ }
+
+ return GetFormatString(x);
}
public static RobotMsg GetRobotMsg(string data, string seperator)
@@ -116,10 +179,22 @@
{
msg.Action = (RobotMsgAction)int.Parse(datas[2]);
- msg.Para1 = (RobotMsgParas)int.Parse(datas[3]);
+ msg.Para1 = int.Parse(datas[3]);
msg.Para2 = int.Parse(datas[4]);
- msg.Datas = datas.Skip(5).ToList();
+ msg.Point = new RobotPoint()
+ {
+ X = float.Parse(datas[5]),
+ Y = float.Parse(datas[6]),
+ Z = float.Parse(datas[7]),
+ A = float.Parse(datas[8]) < 0 ? float.Parse(datas[8]) + 360 : float.Parse(datas[8]),
+ B = float.Parse(datas[9]) < 0 ? float.Parse(datas[9]) + 360 : float.Parse(datas[9]),
+ C = float.Parse(datas[10]) < 0 ? float.Parse(datas[10]) + 360 : float.Parse(datas[10]),
+ };
+ }
+ else
+ {
+ msg.Para1 = int.Parse(datas[2]);
}
return msg;
@@ -127,7 +202,7 @@
public string GetDisplayText()
{
- string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{(Datas.Count > 0 ? ("_" + string.Join(",", Datas)) : "")}";
+ string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{Point.GetDisplayText()}";
return msg;
}
}
@@ -143,20 +218,62 @@
Move = 1,
Unload = 2,
Load = 3,
- IO = 6,
+ GetPosition = 4,
+ /// <summary>
+ /// 鎸囧畾褰撳墠鐐逛綅涓哄熀鍑嗙偣
+ /// </summary>
+ BasePoint = 5,
+ IOSet = 6,
+ IOQuery = 7,
Calibration = 9,
StandardPoint = 10,
}
- public enum RobotMsgParas
+ public enum MoveType
{
- None = 0,
- Home = 1,
- LineSnap = 2,
- EmptyTray = 3,
- FullTray = 4,
- UnloadEmptyTraySnap = 5,
- LoadFullTraySnap = 6,
- Query = 7,
+ [Description("缁濆杩愬姩")]
+ AbsoluteMove = 1,
+ [Description("鏈哄櫒浜哄潗鏍囩郴鐩稿杩愬姩")]
+ RobotRelativeMove = 2,
+ [Description("鐩稿鏌愪釜鍩哄噯鐐逛綅鐨勭浉瀵硅繍鍔�")]
+ BasedPointRelativeMove = 3,
+ [Description("鍥炲師鐐�")]
+ Origin = 4,
+ [Description("宸︿晶濮垮娍")]
+ LeftPose = 6,
+ [Description("鍙充晶濮垮娍")]
+ RightPose = 5,
+ [Description("鍓嶄晶濮垮娍")]
+ FrontPose = 7,
+ [Description("鐩告満鍧愭爣绯荤浉瀵硅繍鍔�")]
+ CameraRelativeMove = 12,
}
+
+ public enum TrayType
+ {
+ FullTray = 1,
+ EmptyTray = 2,
+ }
+
+ //public enum RobotMsgAction
+ //{
+ // Move = 1,
+ // Unload = 2,
+ // Load = 3,
+ // IO = 6,
+ // Calibration = 9,
+ // StandardPoint = 10,
+ //}
+
+ //public enum RobotMsgParas
+ //{
+ // None = 0,
+ // Home = 1,
+ // LineSnap = 2,
+ // EmptyTray = 3,
+ // FullTray = 4,
+ // UnloadEmptyTraySnap = 5,
+ // LoadFullTraySnap = 6,
+ // Query = 7,
+ //}
}
--
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