private void Client_OnPackageRecieved(object sender, string e)
{
var type = RobotCmdBase.GetCmdTypeFromString(e);
RobotCmdBase cmd = null;
switch (type)
{
case EnumRobotCmd.MOVEXYZ:
cmd = MoveToPosCmd;
break;
case EnumRobotCmd.ROTATE:
cmd = RotateCmd;
break;
case EnumRobotCmd.GETCURPOSXYZ:
cmd = GetCurPosCmd;
break;
default:
break;
}
if (cmd != null)
{
cmd.O_ReturnObj = e;
cmd.SetMessageState();
IsBusy = false;
}
;
}
private void OnMessageReceived(object sender, string Msg)
{
var type = RobotCmdBase.GetCmdTypeFromString(Msg);
RobotCmdBase cmd = null;
switch (type)
{
case EnumRobotCmd.Calibration:
cmd = CmdCalib;
break;
case EnumRobotCmd.MoveToPos:
cmd = CmdMoveToPos;
break;
case EnumRobotCmd.Rotate:
cmd = CmdRotate;
break;
case EnumRobotCmd.StopRobot:
cmd = CmdStop;
break;
default:
break;
}
if (cmd != null)
{
cmd.O_ReturnObj = Msg;
cmd.SetMessageState();
IsNotBusy = true;
}
}
private RobotCmdBase ExcuteCmd(RobotCmdBase cmd, int TimeOut)
{
try
{
byte[] RecvBuffer = new byte[256];
if (!Client.IsConnected)
{
Open(IP, Port);
}
if (Client.IsConnected)
{
cmd.ResetMessageState();
lock (TcpLock)
{
IsBusy = true;
Client.Send(cmd.ToByteArray());
}
RobotCmdBase cmdClone = cmd.GenEmptyCmd() as RobotCmdBase;
if (cmd.WaitCmdRecved(TimeOut))
{
if (cmd.O_ReturnObj != null)
{
cmdClone.FromString(cmd.O_ReturnObj.ToString());
}
else
{
throw new Exception($"Error Msg received:{cmd.I_Cmd.ToString()}");
}
}
else
{
throw new Exception($"Timeout for waiting for Message: {cmd}");
}
return(cmdClone);
}
return(null);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
return(null);
}
}
