/// <summary>
/// 读取数据
/// </summary>
/// <param name="e"></param>
void dataCommunication_DataRecieved(DataRecievedArgs e)
{
var buffer = e.Buffer.GetBytes(0xFA, 9);
while (buffer != null)
{
ResponsePackage responsePackage = null;
//判断数据类型
int dataType = buffer[1];
switch (dataType)
{
case ResponseCodes.BendStretchData:
responsePackage = GetBendStretchData(buffer, 2);
break;
case ResponseCodes.RotationData:
responsePackage = GetRotationData(buffer, 2);
break;
case ResponseCodes.OtherData:
responsePackage = GetOtherData(buffer, 2);
break;
case ResponseCodes.Alarm:
responsePackage = GetAlarm(buffer, 2);
break;
case ResponseCodes.Version:
responsePackage = GetVersion(buffer, 2);
break;
}
if (responsePackage != null)
{
if (DataPackRecieved != null)
{
DataPackReceivedEventArgs args = new DataPackReceivedEventArgs();
args.ResponsePackageData = responsePackage;
myThreadPool.QueueUserWorkItem((x) => { DataPackRecieved(args); }, null);
}
}
buffer = e.Buffer.GetBytes(0xFA, 9);
}
}
/// <summary>
/// 传输数据
/// </summary>
/// <param name="args"></param>
void DataCommunication_Move(DataPackReceivedEventArgs args)
{
GameRunInfo tinfo = new GameRunInfo();
if (args.ResponsePackageData.Code == ReciveModel)//屈伸
{
ThreadPool.QueueUserWorkItem((x) =>
{
if (ReciveModel == ResponseCodes.BendStretchData)
{
tinfo.RunVlue = args.ResponsePackageData.BendStretchAngle;
}
else
{
tinfo.RunVlue = args.ResponsePackageData.RotationAngle;
}
string runMetaData = JsonConvert.SerializeObject(tinfo);
LumbarRobot.ModulesCommon.GlobalVar.SendCommand(runMetaData, LumbarRobot.ModulesCommon.CommandType.GameRunCommand);
});
}
//else if (args.ResponsePackageData.Code == ReciveModel)//旋转
//{
// ThreadPool.QueueUserWorkItem((x) =>
// {
// List<string> list = new List<string>();
// list.Add(args.ResponsePackageData.RotationAngle.ToString());
// list.Add(GetJson());
// osc.SendMessageToClient<string>("ULTClient", "address/folder", list);
// });
//}
}
void controlCommand_DataPackRecieved(DataPackReceivedEventArgs args)
{
if (args.ResponsePackageData != null)
{
lastReceiveTime = DateTime.Now.Ticks;
IsConnected = true;
if (args.ResponsePackageData.Code == ResponseCodes.BendStretchData)
{
CurrentBendStretchAngle = args.ResponsePackageData.BendStretchAngle;
if (Move != null && currentControl != null)
{
//if (currentControl.IsReady)
//{
if (!LumbarRobotController.RobotController.IsStop
&& !LumbarRobotController.RobotController.IsPause
&& RealLine != null)
{
Move(new PositionArgs(args.ResponsePackageData));
if (LumbarRobotController.RobotController.currentControl != null
&& (LumbarRobotController.RobotController.currentControl.Action == ActionEnum.Bend
|| LumbarRobotController.RobotController.currentControl.Action == ActionEnum.Protrusive
|| LumbarRobotController.RobotController.currentControl.Action == ActionEnum.ProtrusiveOrBend))
{
realLine.Add(args.ResponsePackageData.BendStretchAngle);
if (args.ResponsePackageData.BendStretchAngle < actionMinAngle)
{
actionMinAngle = args.ResponsePackageData.BendStretchAngle;
}
else if (args.ResponsePackageData.BendStretchAngle > actionMaxAngle)
{
actionMaxAngle = args.ResponsePackageData.BendStretchAngle;
}
if (args.ResponsePackageData.BendStretchAngle < groupActionMinAngle)
{
groupActionMinAngle = args.ResponsePackageData.BendStretchAngle;
}
else if (args.ResponsePackageData.BendStretchAngle > groupActionMaxAngle)
{
groupActionMaxAngle = args.ResponsePackageData.BendStretchAngle;
}
if (args.ResponsePackageData.BendStretchForce > maxForce)
{
maxForce = args.ResponsePackageData.BendStretchForce;
}
sumForce += args.ResponsePackageData.BendStretchForce;
sumForceNum++;
forceLine.Add(args.ResponsePackageData.BendStretchForce * -1);
}
}
//}
}
}
else if (args.ResponsePackageData.Code == ResponseCodes.RotationData)
{
CurrentRotateAngle = args.ResponsePackageData.RotationAngle;
if (Move != null && currentControl != null)
{
//if (currentControl.IsReady)
//{
if (LumbarRobotController.RobotController.currentControl != null
&& LumbarRobotController.RobotController.currentControl.Action == ActionEnum.Rotation)
{
if (!LumbarRobotController.RobotController.IsStop
&& !LumbarRobotController.RobotController.IsPause
&& RealLine != null)
{
Move(new PositionArgs(args.ResponsePackageData));
realLine.Add(args.ResponsePackageData.RotationAngle);
if (args.ResponsePackageData.RotationAngle < actionMinAngle)
{
actionMinAngle = args.ResponsePackageData.RotationAngle;
}
else if (args.ResponsePackageData.RotationAngle > actionMaxAngle)
{
actionMaxAngle = args.ResponsePackageData.RotationAngle;
}
if (args.ResponsePackageData.RotationAngle < groupActionMinAngle)
{
groupActionMinAngle = args.ResponsePackageData.RotationAngle;
}
else if (args.ResponsePackageData.RotationAngle > groupActionMaxAngle)
{
groupActionMaxAngle = args.ResponsePackageData.RotationAngle;
}
if (args.ResponsePackageData.RotationForce > maxForce)
{
maxForce = args.ResponsePackageData.RotationForce;
}
sumForce += args.ResponsePackageData.RotationForce;
sumForceNum++;
forceLine.Add(args.ResponsePackageData.RotationForce);
}
}
//}
}
}
else if (args.ResponsePackageData.Code == ResponseCodes.OtherData)
{
HomingAngle = args.ResponsePackageData.HomingAngle;
PushRodAngle = args.ResponsePackageData.PushRodAngle;
LimitSwitchValue = args.ResponsePackageData.LimitSwitch;
}
else if (args.ResponsePackageData.Code == ResponseCodes.Alarm)
{
//报警
AlarmCode = args.ResponsePackageData.Alarm;
}
else if (args.ResponsePackageData.Code == ResponseCodes.Version)
{
}
if (currentControl != null && !IsStop && !IsPause)
{
currentControl.Control(args.ResponsePackageData);
}
}
}
