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 | 33 +++++++++++++++++++++++++--------
1 files changed, 25 insertions(+), 8 deletions(-)
diff --git a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
index 02691de..54a3600 100644
--- a/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
+++ b/src/Bro.Device.AuboRobot/AuboRobotDriver.cs
@@ -67,14 +67,13 @@
//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;
+ scanMsg = new RobotMsg();
+ scanMsg.Action = RobotMsgAction.IOQuery;
- //Task.Run(() =>
- //{
- // Monitor();
- //});
+ Task.Run(() =>
+ {
+ Monitor();
+ });
}
protected override void Stop()
@@ -309,7 +308,7 @@
if (errorCode != 0)
{
- var desc = IConfig.RobotWarnings.FirstOrDefault(u => u.WarningCode == errorCode);
+ 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)}");
}
@@ -508,6 +507,19 @@
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)
@@ -537,6 +549,11 @@
}
});
}
+
+ public virtual void ResetAlarm()
+ {
+ IConfig.WarningSetCollection.ForEach(u => u.CurrentStatus = !u.TriggerValue);
+ }
#endregion
}
}
--
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