protected virtual void DisposeSelf()
{
/* [d20210220]
* 沒人參考它時, 有機率被釋放
* 但其參考的 Task, 其實還沒完工
* 1. 若此 Task 只是沒人參考, 不應強制Dispose
* 2. 若此 Task 是應用程式結束時, 應被強制關閉
* 原生Task選擇不關閉, 應自主結束
* 但這邊考量的是應正確釋放資源
*
* 或許原生才是對的, 你不應強制關閉Task,
* (1) 該Task要有自主判斷停止的功能,
* (2) 應用程式強制關閉時, 其實Task也會被關閉
* 所以, 若你要用一個不受控的Task, 那不如用原生的
*
* 結論: 其實原生Task 你也沒辦法強制關閉它, 你也只能直接Try/Catch起來
*/
if (this.Task != null)
{
//只增加Cancel的呼叫, 剩的用父類別的
if (this.Status < TaskStatus.RanToCompletion)
{
this.CancelTokenSource.Cancel();
}
//統一Dispose的方法, 有例外仍舊扔出, 確保在預期內
MvaUtil.DisposeTask(this.Task);
this.Task = null;
}
}
public HalRobotMotion Clone()
{
var buffer = MvaUtil.SerializeBinary(this);
var rtn = MvaUtil.DeserializeBinary <HalRobotMotion>(buffer);
return(rtn);
}
public Dictionary <EnumMacHalPlcVariable, Object> ReadMulti(IEnumerable <EnumMacHalPlcVariable> varNames)
{
var names = varNames.Select(x => x.ToString()).ToArray();
var table = this.PlcLdd.ReadMulti(names);
var rtn = new Dictionary <EnumMacHalPlcVariable, Object>();
foreach (DictionaryEntry kv in table)
{
var key = MvaUtil.EnumParse <EnumMacHalPlcVariable>(kv.Key as String);
rtn[key] = kv.Value;
}
return(rtn);
}
public void TestRobotPathSerialize()
{
var robotPath = new HalRobotPath()
{
Name = "Test",
Remark = "Test",
};
var robotMotion = new HalRobotMotion()
{
X = 1.1f,
Y = 2.2f,
Z = 3.3f,
W = 4.4f,
P = 5.5f,
R = 6.6f,
E1 = 7.7f,
UserFrame = 1,
UserTool = 1,
Speed = 60,
MotionType = HalRobotEnumMotionType.Position,
};
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
robotMotion = robotMotion.Clone();
robotMotion.X += 1;
robotPath.Motions.Add(robotMotion);
MvaUtil.SaveXmlToFile(robotPath, robotPath.Name + ".xml");
var loadPath = MvaUtil.LoadFromXmlFile <HalRobotPath>(robotPath.Name + ".xml");
var loadMotion = loadPath.Motions.LastOrDefault();
Assert.AreEqual(robotMotion.X, loadMotion.X);
Assert.AreEqual(robotMotion.Z, loadMotion.Z);
Assert.AreEqual(robotMotion.Y, loadMotion.Y);
Assert.AreEqual(robotMotion.W, loadMotion.W);
Assert.AreEqual(robotMotion.P, loadMotion.P);
Assert.AreEqual(robotMotion.R, loadMotion.R);
Assert.AreEqual(robotMotion.E1, loadMotion.E1);
Assert.AreEqual(robotMotion.J1, loadMotion.J1);
Assert.AreEqual(robotMotion.J2, loadMotion.J2);
Assert.AreEqual(robotMotion.J3, loadMotion.J3);
Assert.AreEqual(robotMotion.J4, loadMotion.J4);
Assert.AreEqual(robotMotion.J5, loadMotion.J5);
Assert.AreEqual(robotMotion.J6, loadMotion.J6);
Assert.AreEqual(robotMotion.J7, loadMotion.J7);
Assert.AreEqual(robotMotion.UserFrame, loadMotion.UserFrame);
Assert.AreEqual(robotMotion.UserTool, loadMotion.UserTool);
Assert.AreEqual(robotMotion.Speed, loadMotion.Speed);
}
public T GetDevConnStrEnum <T>(string key)
{
return(MvaUtil.EnumParse <T>(this.DevSettings[key] as string));
}
/// <summary>
/// serialize (序列化) manifest object, and save as xml file
/// </summary>
/// <param name="manifest">MachineManifest object</param>
/// <param name="filePath">xml file path for saving</param>
public static void SaveToXmlFile(MacManifestCfg manifest, string filePath)
{
MvaUtil.SaveXmlToFile(manifest, filePath);
}
/// <summary>
/// deserialize (反序列化) MachineManifest object from xml file
/// </summary>
/// <param name="filePath">xml file path for loading</param>
/// <returns></returns>
public static MacManifestCfg LoadFromXmlFile(string filePath)
{
return(MvaUtil.LoadFromXmlFile <MacManifestCfg>(filePath));
}
public void SaveToXmlFile(string fn)
{
MvaUtil.SaveXmlToFile(this, fn);
}
public T GetDevConnSettingEnum <T>(string key)
{
return(MvaUtil.EnumParse <T>(this.GetDevConnSetting(key)));
}
