public override void StationProcess()
{
WaitTimeDelay(10);
Leftdgv = Form_MidiParser.LeftDgv;
if (true == SystemMgr.GetInstance().GetRegBit((int)SysBitReg.LeftRobotReady) &&
true == SystemMgr.GetInstance().GetRegBit((int)SysBitReg.RightRobotReady))
{
RobotMove();
WaitTimeDelay(2000);
}
}
public override void StationInit()
{
ShowLog("打开左机器人网口");
m_tcpRobotCtl.Open();
Thread.Sleep(200);
if (m_tcpRobotCtl.IsOpen())
{
m_tcpRobotCtl.WriteLine("Home");
wait_recevie_cmd(m_tcpRobotCtl, "BackHomeOK", 20000, true, false);
}
else
{
throw new Exception("左机器人网口打开失败！");
}
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.LeftRobotReady, true);
}
/// <summary>
/// 机器人动作
/// </summary>
public void RobotMove()
{
if (Leftdgv != null)
{
try
{
int count = Leftdgv.Rows.Count - 2;
string ten_str = "";
int ten_count = 0;
m_tcpRobotCtl.WriteLine("Move"); //开始执行动作，返回Goon
WaitTimeDelay(int.Parse(Leftdgv.Rows[0].Cells[2].Value.ToString()) * Pos.minTickTime); //等第一个时间差
wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
for (int i = 0; i < count; i++)
{
CheckContinue();
int data1 = int.Parse(Leftdgv.Rows[i].Cells[6].Value.ToString()); //循环获取每一行的mid键位
int data2 = int.Parse(Leftdgv.Rows[i].Cells[7].Value.ToString()); //获取乐器类型
int time = int.Parse(Leftdgv.Rows[i + 1].Cells[2].Value.ToString()); //获取下一行的时间差（Dlt Ticks）
int key = KeyReplace(ChangeBlackKeyToWhite(data1)); //转换成机器人的点位
string note = Leftdgv.Rows[i].Cells[5].Value.ToString(); //获取note值
if (key == 0)
{
continue;
//throw new Exception("按键为0，不在范围之内。错误");
}
if (note == "NoteOn" || note == "noteon")
{
currentPos_L = key;
if (ConfirmSafe(StationLeftRobot.currentPos_L, StationRightRobot.currentPos_R))
{
//一次发送10组数
//wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
string str = string.Format("{0},{1},", key, DelayTimes(time));
ten_str = ten_str + str;
ten_count++;
if (ten_count % 10 == 0)
{
wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
m_tcpRobotCtl.WriteLine(ten_str + "\r\n");
//wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
ten_str = "";
}
else if (i == count - 1)
{
int m = ten_count % 10;
for (int k = 0; k < 10 - m; k++)
{
ten_str += "0,0,";
}
wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
m_tcpRobotCtl.WriteLine(ten_str + "\r\n");
//wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
}
//一次发送一点
//wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
//string strs = string.Format("{0},{1},{2}", key, DelayTimes(time), "\r\n");
//m_tcpRobotCtl.WriteLine(strs);
}
else
{
throw new Exception("位置错误，运动会碰撞！");
}
}
else if (note == "NoteOff" || note == "noteoff")
{
//正常情况不弹
WaitTimeDelay(time * Pos.minTickTime);
}
}
}
catch (Exception e)
{
throw e;
}
//歌曲演奏完毕，回原，等待另一只手结束
wait_recevie_cmd(m_tcpRobotCtl, "Goon", 20000, true, false);
m_tcpRobotCtl.WriteLine("Home");
currentPos_L = 0;
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.LeftHandlePlayOver, true);
while (true)
{
if (true == SystemMgr.GetInstance().GetRegBit((int)SysBitReg.RightHandlePlayOver))
{
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.RightHandlePlayOver, false);
break;
}
WaitTimeDelay(SystemMgr.GetInstance().ScanTime);
CheckContinue();
}
}
else
{
//单音轨时，回原，不操作
m_tcpRobotCtl.WriteLine("Home");
currentPos_L = 0;
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.LeftHandlePlayOver, true);
WaitTimeDelay(2000);
CheckContinue();
}
}
public override void InitSecurityState()
{
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.LeftRobotReady, false);
SystemMgr.GetInstance().WriteRegBit((int)SysBitReg.LeftHandlePlayOver, false);
}