private void HandleMessage(object sender, TransportMessageEventArgs args)
{
var buffer = args.Buffer;
var message = _messageSerializer.Deserialize(buffer.Span);
var remote = new SwimHost(args.RemoteEndpoint);
switch (message.Type)
{
case SwimMessageType.Ping:
OnPing?.Invoke(this, new TransportPingEventArgs(message as PingMessage, remote));
break;
case SwimMessageType.PingReq:
OnPingReq?.Invoke(this, new TransportPingReqEventArgs(message as PingReqMessage, remote));
break;
case SwimMessageType.Ack:
OnAck?.Invoke(this, new TransportAckEventArgs(message as AckMessage, remote));
break;
case SwimMessageType.Sync:
OnSync?.Invoke(this, new TransportSyncEventArgs(message as SyncMessage, remote));
break;
case SwimMessageType.Update:
OnUpdate?.Invoke(this, new TransportUpdateEventArgs(message as UpdateMessage, remote));
break;
default:
throw new ArgumentOutOfRangeException();
}
}
private void UpdateFromBuffer()
{
// The buffer is full
FastPoseFrame receivedFrame = new FastPoseFrame(this.MessageBuffer);
OnSync?.Invoke(this, new OnSyncEventArgs(receivedFrame));
this.UpdateID = receivedFrame.ID;
if (this.UpdateID == STOP_CODE_ID)
{
// We won't be getting more!
Disconnect();
}
}
protected async void Update()
{
while (true)
{
var status = Task.Run(() =>
{
eVulcanizeState newState = default(eVulcanizeState);
lock (_port)
{
byte[] result;
_port.Write(_serialize.Serialize(new ReadRandomCommand(eElementCode.M, 3 * 16)))
.Read(out result);
var res = _serialize.Deserialize <ReadRandomResult>(result);
if (ePlcResultCode.OK == res.Code)
{
newState = (eVulcanizeState)res.WordData;
//Sync
OnSync?.Invoke(this, newState);
}
_port.Write(_serialize.Serialize(new ReadRandomCommand(eElementCode.M, 4 * 16)))
.Read(out result);
res = _serialize.Deserialize <ReadRandomResult>(result);
if (ePlcResultCode.OK == res.Code)
{
try
{
newState |= (eVulcanizeState)((res.WordData << 16) & 0xFFFF0000);
//Sync
OnSync?.Invoke(this, newState);
}
catch (Exception ex) {
Logger.ErrorInfo("主同步副调用", ex);
}
}
}
Thread.Sleep(100);
return(newState);
});
Status = await status;
}
}
public IAGV <TState, TPosition> Goto(TPosition position, int mode = 0)
{
byte[] result = null;
try
{
lock (_port)
{
switch ((int)(eNodeNumber)System.Enum.ToObject(typeof(eNodeNumber), position))
{
case 1:
_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, eSpeed.Speed4, eLogicalDirection.LogicalGo, 2)));
Thread.Sleep(300);
_port.Read(out result, 0, 20);
break;
case 2:
_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, eSpeed.Speed1, eLogicalDirection.LogicalGo, 2)));
Thread.Sleep(300);
_port.Read(out result, 0, 20);
break;
case 3:
_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, eSpeed.Speed1, eLogicalDirection.LogicalGo, 2)));
Thread.Sleep(300);
_port.Read(out result, 0, 20);
break;
case 4:
_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, eSpeed.Speed3, eLogicalDirection.LogicalGo, 2)));
Thread.Sleep(300);
_port.Read(out result, 0, 20);
break;
case 5:
_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, eSpeed.Speed1, eLogicalDirection.LogicalGo, 2)));
Thread.Sleep(300);
_port.Read(out result, 0, 20);
break;
}
}
#if DEBUG
try
{
var pos = System.Enum.GetName(typeof(TPosition), position);
var res = BitConverter.ToString(result).Replace('-', ' ');
Logger.LogInfo($"AGV{_AGVNo}:goto {pos}@{mode}, res:{res}");
}
catch { }
#endif
}
catch (Exception ex)
{
Logger.ErrorInfo("Goto cmd", ex);
}
//_port.Write(_serialize.Serialize(new MotionControlCommand(_AGVNo, eMoveDirection.FrontPatrol, (eSpeed)System.Enum.ToObject(typeof(eSpeed), mode), eLogicalDirection.LogicalGo, 2)));
//Thread.Sleep(300);
//_port.Read(out result, 0, 20);
SyncU3D sync = null;
try
{
switch (_AGVNo)
{
case 3:
switch ((int)(eNodeNumber)System.Enum.ToObject(typeof(eNodeNumber), position))
{
case 1:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 0, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 2:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 0, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 3:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 0, Position = 2, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 4:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 0, Position = 3, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 5:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 0, Position = 4, Operate = true
};
OnSync?.Invoke(this, sync);
break;
}
break;
case 4:
switch ((int)(eNodeNumber)System.Enum.ToObject(typeof(eNodeNumber), position))
{
case 1:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 1, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 2:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 1, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 3:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 1, Position = 2, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 4:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 1, Position = 3, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 5:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 1, Position = 4, Operate = true
};
OnSync?.Invoke(this, sync);
break;
}
break;
case 6:
switch ((int)(eNodeNumber)System.Enum.ToObject(typeof(eNodeNumber), position))
{
case 1:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 2, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 2:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 2, Position = 1, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 3:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 2, Position = 2, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 4:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 2, Position = 3, Operate = true
};
OnSync?.Invoke(this, sync);
break;
case 5:
sync = new SyncU3D()
{
type = eSyncU3D.AGV, number = 2, Position = 4, Operate = true
};
OnSync?.Invoke(this, sync);
break;
}
break;
}
}
catch (Exception ex) {
Logger.ErrorInfo("Goto", ex);
}
//Thread.Sleep(300);
// _port.Read(out result, 0, 20 * 3);
return(this);
}
public async void Update()
{
while (true)
{
SyncU3D sync = null;
var status = Task.Run(() =>
{
if (Bit.Tst(_vulcanize.Status, eVulcanizeState.VulcanizationDoorUp))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 1, Operate = true
};
}
;
if (Bit.Tst(_vulcanize.Status, eVulcanizeState.VulcanizationDoorDown))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 2, Operate = true
};
}
;
if (Bit.Tst(_vulcanize.Status, eVulcanizeState.CoolerDoorUp))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 3, Operate = true
};
}
;
if (Bit.Tst(_vulcanize.Status, eVulcanizeState.CoolerDoorDown))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 4, Operate = true
};
}
;
if (Bit.Tst(_vulcanizeVice.Status, eVulcanizeViceState.CoolerDoorUpReady))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 5, Operate = true
};
}
;
if (Bit.Tst(_vulcanizeVice.Status, eVulcanizeViceState.CoolerDoorDownReady))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 6, Operate = true
};
}
;
if (Bit.Tst(_vulcanizeVice.Status, eVulcanizeViceState.VulcanizationDoorUpReady))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 7, Operate = true
};
}
;
if (Bit.Tst(_vulcanizeVice.Status, eVulcanizeViceState.VulcanizationDoorDownReady))
{
sync = new SyncU3D()
{
type = eSyncU3D.Vulcanize, number = 8, Operate = true
};
}
;
Thread.Sleep(1000);
return(sync);
});
sync = await status;
OnSync?.Invoke(this, sync);
Thread.Sleep(5000);
}
}