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/AuboRobotDriver.cs | 412 +++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 317 insertions(+), 95 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 7007dc8..54a3600 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -10,6 +10,7 @@
using System.Net.Sockets;
using System.Threading;
using System.Threading.Tasks;
+using static Bro.Common.Helper.EnumHelper;
namespace Bro.Device.AuboRobot
{
@@ -34,9 +35,11 @@
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);
+ 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�");
}
client = new TcpClient();
@@ -44,6 +47,10 @@
client.Client.Blocking = true;
client.NoDelay = true;
client.BeginConnect(IPAddress.Parse(IConfig.RobotIP), IConfig.RobotPort, OnConnect, null);
+
+ replyHandleDict = new Dictionary<int, AutoResetEvent>();
+ replyErrorCodeDict = new Dictionary<int, int>();
+ taskHandleDict = new Dictionary<int, ManualResetEvent>();
}
protected override void Pause()
@@ -61,8 +68,7 @@
//SendMsg(RobotMsgType.Send, 0, true, RobotMsgAction.IO, RobotMsgParas.Query, new List<string>());
scanMsg = new RobotMsg();
- scanMsg.Action = RobotMsgAction.IO;
- scanMsg.Para1 = RobotMsgParas.Query;
+ scanMsg.Action = RobotMsgAction.IOQuery;
Task.Run(() =>
{
@@ -72,11 +78,21 @@
protected override void Stop()
{
- client.Close();
+ replyHandleDict.Values.ToList().ForEach(h => h.Set());
+ replyHandleDict.Clear();
+
+ taskHandleDict.Values.ToList().ForEach(h => h.Set());
+ taskHandleDict.Clear();
+
+ 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)
@@ -84,41 +100,56 @@
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());
+ //OnLog?.Invoke(DateTime.Now, this, ex.GetExceptionMessage());
+ LogAsync(DateTime.Now, "杩炴帴寮傚父", 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();
-
- string dataStr = System.Text.Encoding.ASCII.GetString(data).Trim();
- AnalyzeData(dataStr);
-
- client.GetStream().BeginRead(buffer, 0, buffer.Length, OnDateReceived, null);
- }
- else
- {
- if (!client.Connected)
+ int dataLength = stream.EndRead(ar);
+ 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);
+
+ 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");
+ LogAsync(DateTime.Now, "杩炴帴涓柇", "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}锛歿ex.GetExceptionMessage()}");
+ LogAsync(DateTime.Now, "鏁版嵁鎺ユ敹寮傚父", ex.GetExceptionMessage());
}
}
string msg = "";
- static object analyzeLock = new object();
+ object analyzeLock = new object();
private async void AnalyzeData(string data)
{
await Task.Run(() =>
@@ -149,41 +180,58 @@
await Task.Run(() =>
{
Array.ForEach(datas, data =>
- {
- RobotMsg msg = RobotMsg.GetRobotMsg(data, IConfig.Seperator);
+ {
+ RobotMsg msg = RobotMsg.GetRobotMsg(data, IConfig.Seperator);
- if (msg.Type == RobotMsgType.Rec)
- {
- if (replyHandleDict.ContainsKey(msg.ID))
- {
- replyHandleList.Remove(msg.ID);
+ if (msg.Type == RobotMsgType.Rec)
+ {
+ replyErrorCodeDict[msg.ID] = msg.Para1;
+ if (replyHandleDict.ContainsKey(msg.ID))
+ {
+ replyHandleDict[msg.ID].Set();
+ }
+ }
+ else
+ {
+ if (msg.Action == RobotMsgAction.IOQuery)
+ {
+ newValues = new List<int>();
- replyHandleDict[msg.ID].Set();
- replyHandleDict.Remove(msg.ID);
- }
- }
- else
- {
- canMonitor = true;
+ for (int i = msg.Para1.ToString().Length - 1; i >= 0; i--)
+ {
+ newValues.Add((msg.Para1 >> i) & 1);
+ }
- if (msg.Action == RobotMsgAction.IO && msg.Para1 == RobotMsgParas.Query)
- {
- string resultStr = msg.Datas[0];
- newValues = new List<int>();
+ MonitorHandle.Set();
+ }
+ else
+ {
+ canMonitor = true;
+ switch (msg.Action)
+ {
+ case RobotMsgAction.Move:
+ CurrentPoint = msg.Point;
+ break;
+ //case RobotMsgAction.Load:
+ // //SlotIndex = msg.Para1;
+ // break;
+ case RobotMsgAction.GetPosition:
+ CurrentPoint = msg.Point;
+ break;
+ default:
+ break;
+ }
- for (int i = resultStr.Length - 1; i >= 0; i--)
- {
- newValues.Add(resultStr[i]);
- }
+ if (taskHandleDict.ContainsKey(msg.ID))
+ {
+ taskHandleDict[msg.ID].Set();
+ }
- monitorHandle.Set();
- }
- else
- {
- OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
- }
- }
- });
+ LogAsync(DateTime.Now, "鎸囦护鍙嶉", msg.GetDisplayText());
+ OnMsgReceived?.BeginInvoke(DateTime.Now, this, msg, null, null);
+ }
+ }
+ });
});
}
@@ -201,23 +249,9 @@
}
}
- List<int> replyHandleList = new List<int>();
Dictionary<int, AutoResetEvent> replyHandleDict = new Dictionary<int, AutoResetEvent>();
-
- 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);
- }
+ Dictionary<int, int> replyErrorCodeDict = new Dictionary<int, int>();
+ Dictionary<int, ManualResetEvent> taskHandleDict = new Dictionary<int, ManualResetEvent>();
public void SendReplyMsg(int replyId)
{
@@ -230,35 +264,186 @@
}
bool canMonitor = true;
+ object monitorLock = new object();
public void SendMsg(RobotMsg msg, bool isWaitReply = true, bool isMonitorMsg = false)
{
+ replyErrorCodeDict[msg.ID] = 0;
+
if (isWaitReply)
{
- replyHandleList.Add(msg.ID);
replyHandleDict[msg.ID] = new AutoResetEvent(false);
}
- byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar);
-
+ byte[] bytes = msg.GetMsgBytes(IConfig.Seperator, IConfig.EndChar, out string dataStr);
if (!isMonitorMsg)
{
- canMonitor = false;
+ LogAsync(DateTime.Now, "鎸囦护鍙戦��", dataStr);
}
- if (isMonitorMsg && !canMonitor)
- return;
-
- lock (this)
+ bool isNotTimeout = true;
+ int reTryTime = IConfig.TimeoutRetryTimes;
+ do
{
- client.GetStream().Write(bytes, 0, bytes.Length);
+ lock (monitorLock)
+ {
+ if (!isMonitorMsg)
+ {
+ canMonitor = false;
+ }
+
+ if (isMonitorMsg && !canMonitor)
+ return;
+
+ stream.Write(bytes, 0, bytes.Length);
+
+ if (!isMonitorMsg)
+ {
+ LogAsync(DateTime.Now, "鏁版嵁鍙戦��", BitConverter.ToString(bytes));
+ }
+ }
+
if (isWaitReply)
{
- replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
+ int errorCode = replyErrorCodeDict[msg.ID];
- if (replyHandleList.Contains(msg.ID))
+ if (errorCode != 0)
{
- throw new ProcessException("鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText(), null);
+ var desc = IConfig.RobotReplyWarnings.FirstOrDefault(u => u.WarningCode == errorCode);
+ throw new ProcessException($"{Name}{msg.ID}浠诲姟鍙嶉寮傚父{errorCode},寮傚父鎻忚堪锛歿(desc == null ? "鏃�" : desc.WarningDescription)}");
}
+
+ isNotTimeout = replyHandleDict[msg.ID].WaitOne(IConfig.ReplyTimeout);
+
+ if (!isNotTimeout)
+ {
+ reTryTime--;
+ }
+ }
+ } while (reTryTime > 0 && !isNotTimeout);
+
+ if (isWaitReply)
+ {
+ replyHandleDict.Remove(msg.ID);
+ }
+
+ if (!isNotTimeout)
+ {
+ throw new ProcessException($"{Name}鍙嶉鏁版嵁瓒呮椂\r\n" + msg.GetDisplayText());
+ }
+ }
+
+ #region 鎵ц缁撴灉灞炴��
+ public RobotPoint CurrentPoint { get; set; } = null;
+ //public int SlotIndex { get; set; } = 0;
+ #endregion
+
+ public void Move(RobotPoint point, MoveType isAbs, bool isWaitFinished)
+ {
+ CurrentPoint = null;
+
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.Move;
+ msg.Para1 = (int)isAbs;
+
+ msg.Point = point ?? new RobotPoint();
+
+ SendMsg(msg, true);
+
+ TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}{(isAbs.GetEnumDescription())}鑷硔point.GetDisplayText()}鍔ㄤ綔瓒呮椂");
+ }
+
+ public void Load(RobotPoint point, TrayType trayType, bool isWaitFinished)
+ {
+ //SlotIndex = 0;
+
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.Load;
+ msg.Para1 = (int)trayType;
+ msg.Point = point;
+
+ SendMsg(msg, true);
+
+ TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}鍙杮trayType.ToString()}{point.GetDisplayText()}鍔ㄤ綔瓒呮椂");
+
+ //if (isWaitFinished && SlotIndex <= 0)
+ //{
+ // throw new ProcessException($"{Name}娌℃湁鍙敤鐨勭┖鐧芥牸浣�,鏃犳硶鏀剧疆鍗峰畻");
+ //}
+ }
+
+ public void UnLoad(RobotPoint point, TrayType trayType, bool isWaitFinished)
+ {
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.Unload;
+ msg.Para1 = (int)trayType;
+ msg.Point = point;
+
+ SendMsg(msg, true);
+
+ TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}鍗竰trayType.ToString()}{point.GetDisplayText()}鍔ㄤ綔瓒呮椂");
+ }
+
+ public void GetPosition(bool isWaitFinished)
+ {
+ CurrentPoint = null;
+
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.GetPosition;
+
+ SendMsg(msg, true);
+
+ TaskTimeoutCheck(isWaitFinished, msg.ID, $"{Name}鑾峰彇褰撳墠鍧愭爣瓒呮椂");
+ }
+
+ public void SetBasePoint()
+ {
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.BasePoint;
+
+ SendMsg(msg, true);
+ }
+
+ public void SetIO(int outputIndex, bool isOn)
+ {
+ RobotMsg msg = new RobotMsg();
+ msg.Type = RobotMsgType.Send;
+ msg.ID = SID;
+
+ msg.Action = RobotMsgAction.IOSet;
+ msg.Para1 = outputIndex;
+ msg.Para2 = isOn ? 1 : 0;
+
+ SendMsg(msg, true);
+ }
+
+ private void TaskTimeoutCheck(bool isWaitFinished, int msgId, string errorMsg)
+ {
+ if (isWaitFinished)
+ {
+ taskHandleDict[msgId] = new ManualResetEvent(false);
+ taskHandleDict[msgId].Reset();
+ bool isNotTimeout = taskHandleDict[msgId].WaitOne((int)(IConfig.OperationTimeout * 60 * 1000));
+
+ taskHandleDict.Remove(msgId);
+
+ if (!isNotTimeout)
+ {
+ throw new ProcessException(errorMsg);
}
}
}
@@ -269,11 +454,17 @@
protected List<int> oldValues = new List<int>();
List<int> newValues = new List<int>();
- AutoResetEvent monitorHandle = new AutoResetEvent(false);
- public List<int> GetMonitorValues(int startAddress, int length)
+ public ManualResetEvent MonitorHandle { get; set; } = new ManualResetEvent(false);
+ public List<int> GetIOValues()
{
+ MonitorHandle.Reset();
+ scanMsg.ID = SID;
SendMsg(scanMsg, true, true);
- monitorHandle.WaitOne();
+
+ var isNotTimeout = MonitorHandle.WaitOne(IConfig.ReplyTimeout * 3);
+
+ if (!isNotTimeout)
+ throw new ProcessException($"{Name}鐩戝惉鎿嶄綔瓒呮椂");
return newValues;
}
@@ -284,32 +475,58 @@
{
try
{
- List<int> newValues = GetMonitorValues(0, 0);
-
- if (newValues == null || newValues.Count == 0)
- continue;
-
- if (oldValues.Count == newValues.Count)
+ if (IConfig.IsEnableMonitor)
{
- var tempNew = new List<int>(newValues);
- var tempOld = new List<int>(oldValues);
- MonitorCheckAndInvoke(tempNew, tempOld);
+ List<int> newValues = GetIOValues();
+
+ 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);
}
- 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()}");
+ LogAsync(DateTime.Now, "鐩戝惉寮傚父", ex.GetExceptionMessage());
}
}
}
protected virtual void MonitorCheckAndInvoke(List<int> tempNew, List<int> tempOld)
{
+ IConfig.WarningSetCollection.ForEach(w =>
+ {
+ if (w.WarningIndex_Word < 0 || w.WarningIndex_Word >= tempNew.Count)
+ return;
+
+ bool isOn = tempNew[w.WarningIndex_Word] == 1;
+ if (w.CurrentStatus != isOn)
+ {
+ w.CurrentStatus = isOn;
+ OnMonitorAlarm?.BeginInvoke(DateTime.Now, this, w, null, null);
+ }
+ });
+
IConfig.MonitorSetCollection.ForEach(m =>
{
+ if (m.TriggerIndex < 0 || m.TriggerIndex >= tempNew.Count)
+ {
+ return;
+ }
+
int newValue = tempNew[m.TriggerIndex];
int oldValue = tempOld[m.TriggerIndex];
@@ -332,6 +549,11 @@
}
});
}
+
+ public virtual void ResetAlarm()
+ {
+ IConfig.WarningSetCollection.ForEach(u => u.CurrentStatus = !u.TriggerValue);
+ }
#endregion
}
}
--
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