From ff18fa3c007656bd37cad91fac9a9cb03f4070b8 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期日, 20 十月 2019 14:13:16 +0800
Subject: [PATCH] 1. 修改SeerAGV驱动通信代码 2. 修改机器人通信部分代码 3. 取消原有流程任务队列模式，使用即时方法调用。
---
src/Bro.Device.AuboRobot/AuboRobotDriver.cs | 216 +++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 180 insertions(+), 36 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 26e7324..d2ae516 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -1,6 +1,8 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
+using Bro.Common.Model;
+using Bro.Common.Model.Interface;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -12,9 +14,9 @@
namespace Bro.Device.AuboRobot
{
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.Device)]
- public class AuboRobotDriver : DeviceBase
+ public class AuboRobotDriver : DeviceBase, IMonitor
{
- public Action<RobotMsg> OnMsgReceived { get; set; }
+ public Action<DateTime, AuboRobotDriver, RobotMsg> OnMsgReceived { get; set; }
AuboRobotInitialConfig IConfig
{
@@ -32,6 +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);
@@ -52,15 +56,28 @@
{
}
+ RobotMsg scanMsg = new RobotMsg();
protected override void Start()
{
//Query Robot IOs
//SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());
+
+ scanMsg = new RobotMsg();
+ scanMsg.Action = RobotMsgAction.IO;
+ scanMsg.Para1 = RobotMsgParas.Query;
+
+ Task.Run(() =>
+ {
+ Monitor();
+ });
}
protected override void Stop()
{
- client.Close();
+ if (client != null && client.Connected)
+ {
+ client.Close();
+ }
}
#endregion
@@ -78,30 +95,41 @@
{
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)
{
- int dataLength = client.GetStream().EndRead(ar);
-
- if (dataLength > 0)
+ try
{
- byte[] data = buffer.Take(dataLength).ToArray();
+ int dataLength = client.GetStream().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();
+ AnalyzeData(dataStr);
+
+ client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, 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()}");
}
}
@@ -152,8 +180,24 @@
}
else
{
- SendMsg(RobotMsgType.Rec, msg.ID, false);
- OnMsgReceived?.Invoke(msg);
+ canMonitor = true;
+
+ if (msg.Action == RobotMsgAction.IO && msg.Para1 == RobotMsgParas.Query)
+ {
+ string resultStr = msg.Datas[0];
+ newValues = new List<int>();
+
+ for (int i = resultStr.Length - 1; i >= 0; i--)
+ {
+ newValues.Add(int.Parse(resultStr[i].ToString()));
+ }
+
+ monitorHandle.Set();
+ }
+ else
+ {
+ OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
+ }
}
});
});
@@ -164,7 +208,7 @@
{
get
{
- if (sid > 999)
+ if (sid > 99)
{
sid = 1;
}
@@ -176,27 +220,33 @@
List<int> replyHandleList = new List<int>();
Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();
- public void SendMsg(RobotMsgType type, int replyId, bool isWaitReply = true, RobotMsgAction action = RobotMsgAction.Move, RobotMsgParas para1 = RobotMsgParas.None, List<string> paras = null)
+ public void SendMsg(RobotMsgAction action, RobotMsgParas para1, int para2, List<float> paras = null)
+ {
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = action;
+ msg.Para1 = para1;
+ msg.Para2 = para2;
+
+ msg.Datas = new List<string>((paras ?? new List<float>()).ConvertAll(i => i.ToString()));
+
+ SendMsg(msg, true);
+ }
+
+ public void SendReplyMsg(int replyId)
{
RobotMsg msg = new RobotMsg();
- msg.Type = type;
- if (msg.Type == RobotMsgType.Send)
- {
- msg.ID = SID;
- }
- else
- {
- msg.ID = replyId;
- }
+ msg.Type = RobotMsgType.Rec;
+ msg.ID = replyId;
- msg.Para1 = para1;
- msg.Paras = new List<string>(paras ?? new List<string>());
-
- SendMsg(msg, isWaitReply);
+ SendMsg(msg, false);
}
- public void SendMsg(RobotMsg msg, bool isWaitReply = true)
+ bool canMonitor = true;
+ public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
{
if (isWaitReply)
{
@@ -205,7 +255,19 @@
}
byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
- client.GetStream().Write(bytes, 0, bytes.Length);
+
+ if (!isMonitorMsg)
+ {
+ canMonitor = false;
+ }
+
+ if (isMonitorMsg && !canMonitor)
+ return;
+
+ //lock (this)
+ {
+ client.GetStream().Write(bytes, 0, bytes.Length);
+ }
if (isWaitReply)
{
@@ -217,5 +279,87 @@
}
}
}
+
+ #region IMonitor
+ public event OnMonitorInvokeDelegate OnMonitorInvoke;
+ public event OnMonitorAlarmDelegate OnMonitorAlarm;
+
+ protected List<int> oldValues = new List<int>();
+ List<int> newValues = new List<int>();
+ AutoResetEvent monitorHandle = new AutoResetEvent(false);
+ public List<int> GetMonitorValues(int startAddress, int length)
+ {
+ scanMsg.ID = SID;
+ SendMsg(scanMsg, true, true);
+ monitorHandle.WaitOne(IConfig.ReplyTimeout);
+
+ return newValues;
+ }
+
+ public virtual void Monitor()
+ {
+ while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
+ {
+ try
+ {
+ List<int> newValues = GetMonitorValues(0, 0);
+
+ if (newValues == null || newValues.Count == 0)
+ continue;
+
+ if (oldValues.Count == 0)
+ {
+ oldValues = newValues.ConvertAll(s => -1).ToList();
+ }
+
+ if (oldValues.Count == newValues.Count)
+ {
+ var tempNew = new List<int>(newValues);
+ var tempOld = new List<int>(oldValues);
+ MonitorCheckAndInvoke(tempNew, tempOld);
+ }
+ oldValues = new List<int>(newValues);
+
+ Thread.Sleep(IConfig.ScanInterval);
+ }
+ catch (Exception ex)
+ {
+ OnLog?.Invoke(DateTime.Now, this, $"{Name}鐩戝惉寮傚父:{ex.GetExceptionMessage()}");
+ }
+ }
+ }
+
+ protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
+ {
+ IConfig.MonitorSetCollection.ForEach(m =>
+ {
+ if (m.TriggerIndex < 0 || m.TriggerIndex >= tempNew.Count)
+ {
+ return;
+ }
+
+ int newValue = tempNew[m.TriggerIndex];
+ int oldValue = tempOld[m.TriggerIndex];
+
+ if (newValue != oldValue)
+ {
+ if (m.TriggerValue == -999 || newValue == m.TriggerValue)
+ {
+ if (m.OpConfig == null)
+ {
+ m.OpConfig = new OperationConfigBase();
+ }
+
+ m.OpConfig.InputPara = m.InputDataIndex.ConvertAll(index =>
+ {
+ return tempNew[index];
+ }).ToList();
+
+ OnMonitorInvoke?.BeginInvoke(DateTime.Now, this, m, null, null);
+ }
+ }
+ });
+ }
+ #endregion
}
}
--
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