From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/Bro.Device.AuboRobot/AuboRobotConfig.cs | 234 +++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 181 insertions(+), 53 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
index 190ee8b..cfa159d 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotConfig.cs
@@ -1,13 +1,16 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
-using System;
+using Bro.Common.Model;
+using Bro.Common.Model.Interface;
using System.Collections.Generic;
using System.ComponentModel;
+using System.Drawing.Design;
+using System.Linq;
namespace Bro.Device.AuboRobot
{
[Device("AuboRobot", "濂ュ崥鏈哄櫒浜�", EnumHelper.DeviceAttributeType.InitialConfig)]
- public class AuboRobotInitialConfig : InitialConfigBase
+ public class AuboRobotInitialConfig : InitialMonitorConfigBase
{
[Category("鏈哄櫒浜鸿缃�")]
[Description("鏈哄櫒浜洪�氫俊IP")]
@@ -22,17 +25,68 @@
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("閫氫俊鎶ヨ閰嶇疆")]
+ [Description("閫氫俊杩囩▼涓弽棣堟姤璀︿唬鐮侀厤缃�")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor<RobotReplyWarningCode>), typeof(UITypeEditor))]
+ public List<RobotReplyWarningCode> RobotReplyWarnings { get; set; } = new List<RobotReplyWarningCode>();
+ }
+
+ public class RobotReplyWarningCode : IComplexDisplay
+ {
+ [Category("鍙嶉鎶ヨ閰嶇疆")]
+ [Description("鎶ヨ浠ｇ爜")]
+ public int WarningCode { get; set; }
+
+ [Category("鍙嶉鎶ヨ閰嶇疆")]
+ [Description("鎶ヨ浠ｇ爜鎻忚堪")]
+ public string WarningDescription { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"{WarningCode}-{WarningDescription}";
+ }
}
[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
@@ -43,29 +97,65 @@
public RobotMsgAction Action { get; set; } = RobotMsgAction.Move;
- public RobotMsgParas Para1 { get; set; } = RobotMsgParas.None;
+ public int Para1 { get; set; }
- public List<string> Paras { get; set; } = new List<string>();
+ public int Para2 { get; set; } = 0;
- public byte[] GetMsgBytes(string seperator, string endChar)
+ public RobotPoint Point { get; set; } = new RobotPoint();
+
+ public byte[] GetMsgBytes(string seperator, string endChar, out string msg)
{
- List<string> list = new List<string>() { Type.ToString(), ID.ToString() };
+ List<string> list = new List<string>() { ((int)Type).ToString("D2"), ID.ToString("D2") };
if (Type == RobotMsgType.Send)
{
- list.Add(Action.ToString());
+ list.Add(((int)Action).ToString("D2"));
- if (Para1 != RobotMsgParas.None)
- {
- list.Add(Para1.ToString());
- }
+ list.Add(Para1.ToString("D2"));
+ list.Add(Para2.ToString("D2"));
- list.AddRange(Paras);
+ 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)
@@ -74,31 +164,29 @@
RobotMsg msg = new RobotMsg();
- msg.Type = (RobotMsgType)Enum.Parse(typeof(RobotMsgType), datas[0]);
+ msg.Type = (RobotMsgType)int.Parse(datas[0]);
msg.ID = int.Parse(datas[1]);
if (msg.Type == RobotMsgType.Send)
{
- msg.Action = (RobotMsgAction)Enum.Parse(typeof(RobotMsgAction), datas[2]);
+ msg.Action = (RobotMsgAction)int.Parse(datas[2]);
- if (int.TryParse(datas[3], out int para1))
+ msg.Para1 = int.Parse(datas[3]);
+ msg.Para2 = int.Parse(datas[4]);
+
+ msg.Point = new RobotPoint()
{
- msg.Para1 = RobotMsgParas.None;
-
- for (int i = 3; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
- else
- {
- msg.Para1 = (RobotMsgParas)Enum.Parse(typeof(RobotMsgParas), datas[3]);
-
- for (int i = 4; i < datas.Length; i++)
- {
- msg.Paras.Add(datas[i]);
- }
- }
+ 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;
@@ -106,38 +194,78 @@
public string GetDisplayText()
{
- string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}{(Paras.Count > 0 ? ("_" + string.Join(",", Paras)) : "")}";
+ string msg = $"搴忓彿锛歿ID},{Action.ToString()}_{Para1.ToString()}_{Para2.ToString()}_{Point.GetDisplayText()}";
return msg;
}
}
public enum RobotMsgType
{
- Send,
- Rec
+ Send = 1,
+ Rec = 2,
}
public enum RobotMsgAction
{
- Move,
- State,
- Adjust,
- IO,
+ Move = 1,
+ Unload = 2,
+ Load = 3,
+ 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,
- LineSnap,
- Line,
- Robot,
- LoadEmptyTraySnap,
- LoadEmptyTrayDone,
- LoadFullTraySnap,
- LoadFullTrayDone,
- EmptyTrayReady,
- EmptyTrayEmpty,
- FullTrayFull,
- Query,
+ [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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