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.SeerAGV/SeerAGVConfig.cs |   94 ++++++++++++++++++++++++++++++++++++++++++-----
 1 files changed, 84 insertions(+), 10 deletions(-)

diff --git a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
index 67482a1..55214f0 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVConfig.cs
@@ -1,16 +1,12 @@
 锘縰sing Bro.Common.Base;
 using Bro.Common.Helper;
-using Bro.Common.Model.Helper;
+using Bro.Common.Model;
 using Newtonsoft.Json;
 using Newtonsoft.Json.Linq;
-using System;
 using System.Collections.Generic;
 using System.ComponentModel;
+using System.Drawing.Design;
 using System.Linq;
-using System.Net;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace Bro.Device.SeerAGV
 {
@@ -31,20 +27,90 @@
 
         [Category("鐩戝惉閰嶇疆")]
         [Description("鐩戝惉闂撮殧锛屽崟浣峬s")]
-        public int ScanInterval { get; set; } = 200;
+        public int ScanInterval { get; set; } = 500;
+
+        //[Category("鐩戝惉閰嶇疆")]
+        //[Description("鐩戝惉鐨処O淇℃伅閰嶇疆闆嗗悎")]
+        //[TypeConverter(typeof(CollectionCountConvert))]
+        //[Editor(typeof(ComplexCollectionEditor<IODefinition>), typeof(UITypeEditor))]
+        //public List<IODefinition> IOCollection { get; set; } = new List<IODefinition>();
+
+        [Category("鐩戝惉璁剧疆")]
+        [Description("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("鐩戝惉閰嶇疆")]
         [Description("鏄惁閲囩敤绠�鍗曠洃鍚ā寮忋�倀rue锛氱畝鍗曟ā寮忥紝鍙幏鍙栦换鍔＄姸鎬侊紱false锛氬叏閮ㄦā寮忥紝鑾峰彇浠诲姟鎵�鏈変俊鎭�")]
         public bool IsSimpleMonitor { get; set; } = true;
+
+        private float batteryLvlToCharge = 0.1f;
+        [Category("鍏呯數閰嶇疆")]
+        [Description("鍏呯數鐢垫睜瀹归噺锛岀數姹犲閲忎綆浜庤鍊兼椂闇�瑕佸厖鐢�")]
+        public float BatteryLvlToCharge
+        {
+            get => batteryLvlToCharge;
+            set
+            {
+                if (value >= 1 || value <= 0)
+                {
+                    value = 0.1f;
+                }
+                batteryLvlToCharge = value;
+            }
+        }
+
+        private float batteryLvlToCharge_Recommand = 0.3f;
+        [Category("鍏呯數閰嶇疆")]
+        [Description("鍏呯數鐢垫睜瀹归噺锛岀數姹犲閲忎綆浜庤鍊兼椂锛岃澶囩┖闂叉椂寤鸿鍏呯數")]
+        public float BatteryLvlToCharge_Recommand
+        {
+            get => batteryLvlToCharge_Recommand;
+            set
+            {
+                if (value >= 1 || value <= 0)
+                {
+                    value = 0.3f;
+                }
+                batteryLvlToCharge_Recommand = value;
+            }
+        }
+
+        private float batteryLvlChargeDone = 0.9f;
+        [Category("鍏呯數閰嶇疆")]
+        [Description("鍏呯數瀹屾垚鐢垫睜瀹归噺锛岀數姹犲閲忛珮浜庤鍊兼椂纭鍏呯數瀹屾垚")]
+        public float BatteryLvlChargeDone
+        {
+            get => batteryLvlChargeDone;
+            set
+            {
+                if (value >= 1 || value <= 0)
+                {
+                    value = 0.9f;
+                }
+                batteryLvlChargeDone = value;
+            }
+        }
+
+        [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; } = 5;
     }
 
     [Device("SeerAGV", "SeerAGV", EnumHelper.DeviceAttributeType.OperationConfig)]
     public class SeerAGVOperationConfig : OperationConfigBase
     {
+        [Category("瀵艰埅閰嶇疆")]
+        [Description("AGV琛岄┒鐩殑鍦�")]
+        public string Location { get; set; }
 
+        [Category("瀵艰埅閰嶇疆")]
+        [Description("鏄惁绛夊緟瀹屾垚淇″彿")]
+        public bool IsWaitFinished { get; set; } = true;
     }
 
-    public class SeerMessage
+    public class SeerMessage : IComplexDisplay
     {
         private byte[] frame = null;
         public byte[] Frame
@@ -62,7 +128,7 @@
         }
 
         public int SyncHead { get; set; } = 0x5A;
-        public int Version { get; set; }
+        public int Version { get; set; } = 0x01;
         public int SeqNum { get; set; }
         public int DataLength { get; set; }
         public int TypeCode { get; set; }
@@ -111,13 +177,18 @@
 
             if (data.Length < 16 + msg.DataLength)
             {
-                throw new ProcessException("鏁版嵁闀垮害閿欒", null);
+                throw new ProcessException("鏁版嵁闀垮害閿欒");
             }
 
             msg.JsonData = data.Skip(16).Take(msg.DataLength).ToArray();
             msg.JValues = JsonConvert.DeserializeObject<JObject>(System.Text.Encoding.ASCII.GetString(msg.JsonData));
 
             return msg;
+        }
+
+        public string GetDisplayText()
+        {
+            return "";
         }
     }
 
@@ -134,10 +205,13 @@
     {
         QueryPosition = 0x03EC,
         QueryTaskStatus = 0x03FC,
+        QueryIO = 0x03F5,
 
         CancelTask = 0x0BBB,
         PauseTask = 0x0BB9,
         TaskOrder = 0x0BEB,
+
+        QueryBattery = 0x03EF,
     }
 
     public enum AGVTaskStatus

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