BPASmartClient/BPASmartClient.MorkCL/Server/RobotServer.cs

using BPASmartClient.MorkCL.Model.Control;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkCL.Server
{
    /// <summary>
    /// 机器人服务类
    /// </summary>
    internal class RobotServer : RobotSet, IModbus
    {

        public RobotServer()
        {
            //MyModbus = new ModbusTcp();
        }
        public void Init(string IP = "", int Port = 502, string PortName = "")
        {
            //MyModbus = new ModbusTcp();
            CommHelper.CreateModbusTcp(IP, Port).OnSuccess(S =>
            {
                MyModbus = S.Content;
                TaskManage.GetInstance.StartLong(new Action(() =>
                {
                    MyModbus.ReadCoil("GM600".ToModbusAdd(), 9).OnSuccess(s =>
                    {
                        for (byte i = 0; i < 3; i++)
                        {
                            MaterialPouringRequest[i] = s.Content[i * 3];
                            MaterialPouringComplete[i] = s.Content[i * 3 + 1];
                            DiningOutRequest[i] = s.Content[i * 3 + 2];
                        }
                    });
                    Thread.Sleep(20);

                    MyModbus.ReadCoil("GM620".ToModbusAdd()).OnSuccess((b) => { Home = b.Content; });
                    Thread.Sleep(20);

                    MyModbus.ReadCoil("GM630".ToModbusAdd(), 12).OnSuccess(s =>
                    {
                        for (byte i = 0; i < s.Content.Length; i++)
                            WarehousingComplete[i] = s.Content[i];
                    });
                    Thread.Sleep(20);

                    MyModbus.ReadHoldRegister<ushort>("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s.Content; });

                    IsIdle = (TaskFeedback == RobotMainTask.无任务 && Home);
                    Thread.Sleep(20);

                    MyModbus.ReadCoil("GM130".ToModbusAdd()).OnSuccess((b) => { RemoteMode = b.Content; });
                    Thread.Sleep(20);

                    MyModbus.ReadCoil("GM650".ToModbusAdd()).OnSuccess((b) => { AtCleanLoc = b.Content; });
                    Thread.Sleep(20);

                }), $"机器人服务-{IP}", true);
            });
            //MyModbus.WithModbusTcp(IP, Port).UseConnected(() =>
            //{
            //    ((ModbusTcp)MyModbus).master.Transport.ReadTimeout = 3000;
            //    ((ModbusTcp)MyModbus).master.Transport.WriteTimeout = 3000;

            //    TaskManage.GetInstance.StartLong(new Action(() =>
            //    {
            //        MyModbus.Read<bool[]>("GM600".ToModbusAdd(), 9).OnSuccess(s =>
            //        {
            //            for (byte i = 0; i < 3; i++)
            //            {
            //                MaterialPouringRequest[i] = s[i * 3];
            //                MaterialPouringComplete[i] = s[i * 3 + 1];
            //                DiningOutRequest[i] = s[i * 3 + 2];
            //            }
            //        });
            //        Thread.Sleep(20);

            //        MyModbus.Read<bool>("GM620".ToModbusAdd()).OnSuccess((b) => { Home = b; });
            //        Thread.Sleep(20);

            //        MyModbus.Read<bool[]>("GM630".ToModbusAdd(), 12).OnSuccess(s =>
            //        {
            //            for (byte i = 0; i < s.Length; i++)
            //                WarehousingComplete[i] = s[i];
            //        });
            //        Thread.Sleep(20);

            //        MyModbus.Read<ushort>("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s; });

            //        IsIdle = (TaskFeedback == RobotMainTask.无任务 && Home);
            //        Thread.Sleep(20);

            //        MyModbus.Read<bool>("GM130".ToModbusAdd(), 1).OnSuccess((b) => { RemoteMode = b; });
            //        Thread.Sleep(20);

            //        MyModbus.Read<bool>("GM650".ToModbusAdd(), 1).OnSuccess((b) => { AtCleanLoc = b; });
            //        Thread.Sleep(20);

            //    }), $"机器人服务-{IP}", true);
            //});
        }

        public void WriteValue<T>(string address, T value)
        {
            throw new NotImplementedException();
        }

        private void RobotInit()
        {
            if (EnableState && ProgramRuning) return;
            //if (!CR_Data.Home)
            //{
            //    Noticer.GetInstance.Show("煮面机器人初始化失败，机器人不在原点");
            //    return;
            //}

            while (!EnableState || !ProgramRuning)
            {
                //复位
                RobotReset = true;
                Thread.Sleep(1000);
                RobotReset = false;
                Thread.Sleep(500);

                if (!EnableState)
                {
                    //上使能
                    RobotEnable = true;
                    Thread.Sleep(1000);
                    RobotEnable = false;
                    Thread.Sleep(500);
                }

                //启动
                RobotStart = true;
                Thread.Sleep(1000);
                RobotStart = false;

                Thread.Sleep(1000);
            }
        }

        public bool InitVariable()
        {
            if (MyModbus is not null && MyModbus.IsConnected())
            {
                try
                {
                    MyModbus.WriteHoldRegister<ushort>("GI0".ToModbusAdd(), 0);
                    MyModbus.WriteHoldRegister<ushort>("GI1".ToModbusAdd(), 0);
                    for (int i = 0; i <= 8; i++)
                    {
                        MyModbus.WriteCoil(("GM" + (500 + i).ToString()).ToModbusAdd(), false);
                    }
                    return true;
                }
                catch (Exception)
                {

                    return false;
                }

            }
            else
                return false;
        }
    }
}