/// <summary>
/// 请求执行任务
/// </summary>
/// <param name="type"></param>
/// <param name="value"></param>
public void Request(TaskActionType type, object value)
{
if (RunMode == RunModeType.Normal)
{
TaskQueueObject tqo = new TaskQueueObject();
tqo.ActionType = type;
tqo.Value = value;
TaskQueues.Enqueue(tqo);
}
else
{
try
{
if (MainService.MainUIObj.IsHandleCreated)
{
MainService.MainUIObj.Invoke(new MethodInvoker(delegate()
{
if (MainService.VoiceUIObj != null)
{
MainService.VoiceUIObj.ChatPanel.AddMachineMsg(SuperObject.Config.DebugModeHintText);
}
}));
}
}
catch (Exception ex)
{
System.Console.WriteLine(ex.ToString());
}
}
}
void _worker_DoWork(object sender, DoWorkEventArgs e)
{
while (!_scanWorker.CancellationPending)
{
try
{
if (RunMode == RunModeType.Normal)
{
lock (StaticActionList)
{
if (StaticActionList != null)
{
TaskQueueObject queueObj = null;
TaskQueues.TryDequeue(out queueObj);
if (queueObj != null)
{
foreach (Robot_Actions action in StaticActionList)
{
//检查是否符合条件
if (IsAcceptRun(queueObj, action))
{
//发送指令序列
RunAction(action, DBInstance.GetSteps(action.Id));
}
}
}
}
}
}
}
catch (Exception ex)
{
System.Console.WriteLine(ex.ToString());
}
try
{
Thread.Sleep(15);
}
catch (Exception ex) { }
}
}
/// <summary>
/// 检查是否同意运行
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool IsAcceptRun(TaskQueueObject queueObj, Robot_Actions action)
{
if (action != null && queueObj != null && queueObj.Value != null)
{
if (string.IsNullOrEmpty(action.Condition))
{
return(false);
}
else
{
bool result = false;
switch (queueObj.ActionType)
{
case TaskActionType.Voice:
if (action.Condition.StartsWith("语音="))
{
result = action.Condition.Replace("语音=", string.Empty).Equals(queueObj.Value.ToString());
}
break;
case TaskActionType.Angle:
if (action.Condition.StartsWith("角度="))
{
string angleRangeStr = action.Condition.Replace("角度=", string.Empty);
string[] temps = angleRangeStr.Split(',');
if (temps != null && temps.Length >= 2)
{
short min = 0;
short max = 0;
try
{
min = short.Parse(temps[0]);
}
catch (Exception ex) { }
try
{
max = short.Parse(temps[1]);
}
catch (Exception ex) { }
short angle = short.Parse(queueObj.Value.ToString());
result = angle >= min && angle <= max;
}
}
break;
case TaskActionType.Joy:
if (action.Condition.StartsWith("手柄="))
{
result = action.Condition.Replace("手柄=", string.Empty).Equals(queueObj.Value.ToString());
}
break;
}
return(result);
}
}
else
{
return(false);
}
}
