BPASmartClient/BPASmartClient.SCChip/ICChipMachine.cs

using BPA.Helper;

using BPASmartClient.Model;
using BPASmartClient.Model.单片机;
using BPASmartClient.Model.单片机.Enum;
using BPASmartClient.Peripheral;
using BPASmartClient.SerialPort;
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System.Threading;
using static BPA.Helper.EventBus;

namespace BPASmartClient.SCChip
{
    public class ICChipMachine : BasePeripheral
    {
        //通讯代理
        SerialPortClient commProxy = null;
        //数据仓库
        private DataStorage<byte> dataStorage = new DataStorage<byte>();
        //单片机基础协议
        private ICChipPackage package = new ICChipPackage();
        //串口COM口
        public string PortName { get; set; }
        //串口波特率
        public string BaudRate { get; set; }
        //心跳时间
        private DateTime lastRefreshTime = DateTime.MinValue;
        /// <summary>
        /// 是否在线
        /// </summary>
        public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }

        #region 无需上传的数据
        /// <summary>
        /// 1号舵机打开完成
        /// </summary>
        public bool CompletedOpen_SE_1 { get; set; }
        /// <summary>
        /// 2号舵机打开完成
        /// </summary>
        public bool CompletedOpen_SE_2 { get; set; }
        /// <summary>
        /// 3号舵机打开完成
        /// </summary>
        public bool CompletedOpen_SE_3 { get; set; }
        /// <summary>
        /// 1号舵机关闭完成
        /// </summary>
        public bool CompletedClose_SE_1 { get; set; }
        /// <summary>
        /// 2号舵机关闭完成
        /// </summary>
        public bool CompletedClose_SE_2 { get; set; }
        /// <summary>
        /// 3号舵机关闭完成
        /// </summary>
        public bool CompletedClose_SE_3 { get; set; }
        /// <summary>
        /// 是否存在物品
        /// </summary>
        public bool ArticleExits { get; set; }
        /// <summary>
        /// 物品距离
        /// </summary>
        public byte ArticleDist { get; set; }
        #endregion



        public ICChipMachine()
        {

        }

        /// <summary>
        /// 主线程开始运行
        /// </summary>
        public override void Start()
        {
            try
            {
                commProxy.Start();
                IsConnected = true;
                MainLoop();
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
            }

        }

        /// <summary>
        /// 停止运行
        /// </summary>
        public override void Stop()
        {
            try
            {
                commProxy.Stop();
                IsConnected = false;
            }
            catch (Exception ex)
            {
                MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
            }
        }

        /// <summary>
        /// 主循环，循环询问状态
        /// </summary>
        private void MainLoop()
        {
            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                ResolveMsg();
            }), "单片机解析线程");
        }

        private void ResolveMsg()
        {
            List<byte> temp = new List<byte>();
            //一系列解包
            while (dataStorage.GetSize() > 0)
            {
                byte item = dataStorage.GetData();
                if (item == 0xAA)
                {
                    temp.Add(item);
                    while (dataStorage.GetSize() < 4) { Thread.Sleep(5); }
                    while (temp.Count < 5)
                    {
                        temp.Add(dataStorage.GetData());
                    }
                    if (temp[4] == 0xBB)
                    {
                        var package = ByteToStructure(temp.ToArray());
                        ProcessMsg(package);
                    }
                    temp.Clear();
                }
                continue;
            }
            Thread.Sleep(10);
        }

        /// <summary>  
        /// 由byte数组转换为结构体  
        /// </summary>  
        private ICChipPackage ByteToStructure(byte[] dataBuffer)
        {
            ICChipPackage structure = new ICChipPackage();
            int size = Marshal.SizeOf(typeof(ICChipPackage));
            IntPtr allocIntPtr = Marshal.AllocHGlobal(size);
            try
            {
                Marshal.Copy(dataBuffer, 0, allocIntPtr, size);
                structure = (ICChipPackage)Marshal.PtrToStructure(allocIntPtr, typeof(ICChipPackage));
            }
            finally
            {
                Marshal.FreeHGlobal(allocIntPtr);
            }
            return structure;
        }

        private byte[] StructureToByte(ICChipPackage structure)
        {
            structure.Header = 0xAA;
            structure.Sender = IC_SENDER.CONSOLE;
            structure.End = 0xBB;

            int size = Marshal.SizeOf(typeof(ICChipPackage));
            byte[] buffer = new byte[size];
            IntPtr bufferIntPtr = Marshal.AllocHGlobal(size);
            try
            {
                Marshal.StructureToPtr(structure, bufferIntPtr, true);
                Marshal.Copy(bufferIntPtr, buffer, 0, size);
            }
            finally
            {
                Marshal.FreeHGlobal(bufferIntPtr);
            }
            return buffer;
        }

        public void ProcessMsg(ICChipPackage data)
        {
            try
            {
                switch (data.Cmd)
                {
                    case IC_CMD.HEART_BEAT:
                        lastRefreshTime = DateTime.Now;
                        status["SCChipIsConnect"] = OnLine;
                        break;
                    case IC_CMD.TAKE_CUP:
                        switch ((IC_CUP)data.Value)
                        {
                            case IC_CUP.CUP_COFFEE:
                                status["CompletedTake_CPU_CUP_COFFEE"] = true;
                                break;
                            case IC_CUP.CUP_ICECREAM:
                                status["CompletedTake_CPU_CUP_ICECREAM"] = true;
                                break;
                        }
                        break;
                    case IC_CMD.OPEN_SE:
                        switch ((IC_SE)data.Value)
                        {
                            case IC_SE.SE_1:
                                CompletedOpen_SE_1 = true;
                                break;
                            case IC_SE.SE_2:
                                CompletedOpen_SE_2 = true;
                                break;
                            case IC_SE.SE_3:
                                CompletedOpen_SE_3 = true;
                                break;
                        }
                        break;
                    case IC_CMD.CLOSE_SE:
                        switch ((IC_SE)data.Value)
                        {
                            case IC_SE.SE_1:
                                CompletedClose_SE_1 = true;
                                break;
                            case IC_SE.SE_2:
                                CompletedClose_SE_2 = true;
                                break;
                            case IC_SE.SE_3:
                                CompletedClose_SE_3 = true;
                                break;
                        }
                        break;
                }
                if (!OnLine) IsWork = false;
                else IsWork = true;
            }
            catch (Exception ex)
            {

            }
        }

        protected override void InitStatus()
        {
            status["CompletedTake_CPU_CUP_ICECREAM"] = false;
            status["CompletedTake_CPU_CUP_COFFEE"] = false;
            //status["CompletedOpen_SE_1"] = false;
            //status["CompletedOpen_SE_2"] = false;
            //status["CompletedOpen_SE_3"] = false;
            //status["CompletedClose_SE_1"] = false;
            //status["CompletedClose_SE_2"] = false;
            //status["CompletedClose_SE_3"] = false;
        }

        public override void Init()
        {
            commProxy = new SerialPortClient(communicationPar.SerialPort, (BaudRates)communicationPar.BaudRate);
            commProxy.SetDataStorage(dataStorage);

            //STM32F103RCT6单片机下杯
            EventBus.GetInstance().Subscribe<SCChip_TakeCupEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 try
                 {
                     switch ((@event as SCChip_TakeCupEvent).Cup)
                     {
                         case IC_CUP.CUP_ICECREAM:
                             status["CompletedTake_CPU_CUP_ICECREAM"] = false;
                             break;
                         case IC_CUP.CUP_COFFEE:
                             status["CompletedTake_CPU_CUP_COFFEE"] = false;
                             break;
                     }
                     package.Cmd = IC_CMD.TAKE_CUP;
                     package.Value = (byte)(@event as SCChip_TakeCupEvent).Cup;
                     commProxy.SendData(StructureToByte(package));
                     MessageLog.GetInstance.Show($"发送落杯指令--{(@event as SCChip_TakeCupEvent).Cup}");
                     bool wait = true;
                     var waitTimeout = DateTime.Now.AddSeconds(3);
                     while (wait)
                     {
                         wait = DateTime.Now < waitTimeout;
                         if (wait)
                         {
                             switch ((@event as SCChip_TakeCupEvent).Cup)
                             {
                                 case IC_CUP.CUP_ICECREAM:
                                     wait = !(bool)status["CompletedTake_CPU_CUP_ICECREAM"];
                                     break;
                                 case IC_CUP.CUP_COFFEE:
                                     wait = !(bool)status["CompletedTake_CPU_CUP_COFFEE"];
                                     break;
                             }
                         }
                         Thread.Sleep(10);
                     }
                 }
                 catch (Exception ex)
                 {
                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
                 }
             });

            //STM32F103RCT6单片机舵机打料
            EventBus.GetInstance().Subscribe<SCChip_MakeIceCreamEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                try
                {
                    switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                    {
                        case IC_SE.SE_1:
                            CompletedOpen_SE_1 = false;
                            break;
                        case IC_SE.SE_2:
                            CompletedOpen_SE_2 = false;
                            break;
                        case IC_SE.SE_3:
                            CompletedOpen_SE_3 = false;
                            break;
                    }
                    package.Cmd = IC_CMD.OPEN_SE;
                    package.Value = (byte)(@event as SCChip_MakeIceCreamEvent).SteeringEngine;
                    commProxy.SendData(StructureToByte(package));

                    bool wait = true;
                    DateTime waitTimeout = DateTime.Now.AddSeconds(3);
                    while (wait)
                    {
                        wait = DateTime.Now < waitTimeout;
                        if (wait)
                        {
                            switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                            {
                                case IC_SE.SE_1:
                                    wait = !CompletedOpen_SE_1;
                                    break;
                                case IC_SE.SE_2:
                                    wait = !CompletedOpen_SE_2;
                                    break;
                                case IC_SE.SE_3:
                                    wait = !CompletedOpen_SE_3;
                                    break;
                            }
                        }
                        Thread.Sleep(10);
                    }
                    Thread.Sleep(1800);
                    switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                    {
                        case IC_SE.SE_1:
                            CompletedClose_SE_1 = false;
                            break;
                        case IC_SE.SE_2:
                            CompletedClose_SE_2 = false;
                            break;
                        case IC_SE.SE_3:
                            CompletedClose_SE_3 = false;
                            break;
                    }
                    package.Cmd = IC_CMD.CLOSE_SE;
                    package.Value = (byte)(@event as SCChip_MakeIceCreamEvent).SteeringEngine;
                    commProxy.SendData(StructureToByte(package));

                    wait = true;
                    waitTimeout = DateTime.Now.AddSeconds(3);
                    while (wait)
                    {
                        wait = DateTime.Now < waitTimeout;
                        if (wait)
                        {
                            switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                            {
                                case IC_SE.SE_1:
                                    wait = !CompletedClose_SE_1;
                                    break;
                                case IC_SE.SE_2:
                                    wait = !CompletedClose_SE_2;
                                    break;
                                case IC_SE.SE_3:
                                    wait = !CompletedClose_SE_3;
                                    break;
                            }
                        }
                        Thread.Sleep(10);
                    }
                }
                catch (Exception ex)
                {
                    MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
                }
            });

            //STM32F103RCT6单片机舵机打开或者关闭
            EventBus.GetInstance().Subscribe<SCChip_SESwitchCreamEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 try
                 {
                     package.Cmd = (@event as SCChip_SESwitchCreamEvent).IsOpen ? IC_CMD.OPEN_SE : IC_CMD.CLOSE_SE;
                     package.Value = (byte)(@event as SCChip_SESwitchCreamEvent).SteeringEngine;
                     commProxy.SendData(StructureToByte(package));
                 }
                 catch (Exception ex)
                 {
                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
                 }
             });

            //STM32F103RCT6单片机控制冰淇淋机器转
            EventBus.GetInstance().Subscribe<SCChip_RotorSwitchEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 try
                 {
                     package.Cmd = IC_CMD.ROTOR;
                     package.Value = (@event as SCChip_RotorSwitchEvent).TurnOn ? (byte)IC_ROTOR.OPEN_ROTOR : (byte)IC_ROTOR.CLOSE_ROTOR;
                     commProxy.SendData(StructureToByte(package));
                 }
                 catch (Exception ex)
                 {
                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
                 }
             });
            InitStatus();
            //测试
            Start();
        }

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

}