BPASmartClient/BPASmartClient.Lebai/LebaiRobot.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using Lebai.SDK;
using Lebai.SDK.Dtos;
using Robotc;

using BPA.Helper;
using TaskStatus = Lebai.SDK.Dtos.TaskStatus;
using BPASmartClient.Peripheral;


using BPASmartClient.Model;
using BPASmartClient.LebaiRobot;
using BPASmartClient.Model.乐白机器人;
using static BPA.Helper.EventBus;

namespace BPASmartClient.Lebai
{
    public class LebaiRobot : BasePeripheral
    {

        /// <summary>
        /// 抓手上传感器输入位索引
        /// </summary>
        public int HandSensor { get; set; }
        /// <summary>
        /// 输出信号量索引
        /// </summary>
        public int OutputSingalValue { get; set; }

        protected override void InitStatus()
        {
            status["Connected"] = false;
            status["HandSensor"] = 0;
            status["OutputSingalValue"] = 0;
        }

        public override void Start()
        {
            LebaiHelper.GetInstance.Connect(communicationPar.IPAddress);
            TaskManage.GetInstance.StartLong(() => { LebaiHelper.GetInstance.Reconnect(communicationPar.IPAddress); Thread.Sleep(5000); }, "机器人重连检测");
            TaskManage.GetInstance.StartLong(() =>
            {
                IsConnected = LebaiHelper.GetInstance.IsConnected;
                status["RobotIsConnected"] = LebaiHelper.GetInstance.IsConnected;
                status["RobotOK"] = LebaiHelper.GetInstance.GetValueAsync().Ok;
                status["RobotValue"] = LebaiHelper.GetInstance.GetValueAsync().Value;
                if (LebaiHelper.GetInstance.robotData != null) status["RobotMode"] = (ELebaiRModel)LebaiHelper.GetInstance.robotData.RobotMode.Mode;
                status["RobotValue1"] = LebaiHelper.GetInstance.GetValueAsync(1).Value;
                status["LeibaiGetTcpInput"] = LebaiHelper.GetInstance.GetTcpInput(0);
                status["LeibaiGetInput1"] = LebaiHelper.GetInstance.GetInput(0);
                status["LeibaiGetInput2"] = LebaiHelper.GetInstance.GetInput(1);
                status["LeibaiGetInput3"] = LebaiHelper.GetInstance.GetInput(2);
                status["LeibaiGetInput4"] = LebaiHelper.GetInstance.GetInput(3);
                if (LebaiHelper.GetInstance.robotData != null) status["RobotMode"] = LebaiHelper.GetInstance.robotData.RobotMode.Mode;
                LebaiHelper.GetInstance.GetRobotModeStatus();
                Thread.Sleep(10);
            }, "获取乐白机器人数据");
        }

        public override void Stop()
        {

        }

        public override void Init()
        {
            EventBus.GetInstance.Subscribe<Demo_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {

            });
            //获取机器人信号
            EventBus.GetInstance.Subscribe<LebaiRobot_GetInputEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_GetInputEvent getInput)
                {
                    callBack.Invoke(LebaiHelper.GetInstance.GetInput(getInput.Pin));
                }
            });
            //获取Tcp信号
            EventBus.GetInstance.Subscribe<LebaiRobot_GetTCPInputEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_GetTCPInputEvent getTCPInput)
                {
                    callBack?.Invoke(LebaiHelper.GetInstance.GetTcpInput(getTCPInput.Pin));
                }
            });
            //机器人输入信号
            EventBus.GetInstance.Subscribe<LebaiRobot_SetValueEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_SetValueEvent SetValueEvent)
                {
                    callBack?.Invoke(LebaiHelper.GetInstance.SetValue(SetValueEvent.RobotSetValue));
                }
            });
            //控制机器人
            EventBus.GetInstance.Subscribe<LebaiRobot_LebaiControlEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_LebaiControlEvent lebaiControlEvent)
                {
                    switch (lebaiControlEvent.LebaiControl)
                    {
                        case "启动":
                            LebaiHelper.GetInstance.StartRobot();
                            break;
                        case "启动示教":
                            LebaiHelper.GetInstance.StartTeachMode();
                            break;
                        case "停止示教":
                            LebaiHelper.GetInstance.EndtTeachMode();
                            break;
                        case "急停":
                            LebaiHelper.GetInstance.EStopRobot();
                            break;
                        case "暂停":
                            LebaiHelper.GetInstance.pauseMode();
                            break;
                        case "恢复":
                            LebaiHelper.GetInstance.resumeMode();
                            break;
                        default:
                            break;
                    }

                }
            });
            //选择机器人场景
            EventBus.GetInstance.Subscribe<LebaiRobot_LebaiSenceEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_LebaiSenceEvent lebaiSenceEvent)
                {
                    LebaiHelper.GetInstance.Scene(lebaiSenceEvent.LebaiSence);
                }
            });

            EventBus.GetInstance.Subscribe<LebaiRobot_SetOutPutEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is LebaiRobot_SetOutPutEvent lebaiOutputEvent)
                {
                    LebaiHelper.GetInstance.SetOutput(lebaiOutputEvent.Value, lebaiOutputEvent.Pin);
                }
            });

            InitStatus();
            Start();
            MessageLog.GetInstance.Show("乐白机器人初始化完成");
        }

        public override void WriteData(string address, object value)
        {

        }

    }
}