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108 lines
3.7 KiB
108 lines
3.7 KiB
4 weeks ago
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using EGFramework;
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/// <summary>
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/// 检测串口对应的空轨驱动器，或是颜色传感器，检测后记录到串口列表中
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/// </summary>
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public class ModelSerialTest : EGModule,IEGFramework
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{
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public const int BAUD_RATE_ENGINE = 9600;
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public const int BAUD_RATE_COLOR = 38400;
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public const string PORT_LINUX_0 = "/dev/ttyUSB0";
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public const string PORT_LINUX_1 = "/dev/ttyUSB1";
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public const string PORT_WIN_0 = "COM2";
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public const string PORT_WIN_1 = "COM5";
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public bool IsLinux = true;
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public string TestPort0 { set; get; } = PORT_LINUX_0;
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public string TestPort1 { set; get; } = PORT_LINUX_1;
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public string ColorSerialPort { set; get; } = "";
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public string EngineSerialPort { set; get; } = "";
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public IUnRegister ColorSensorInitEvent { set; get; }
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public IUnRegister EngineInitEvent{ set; get; }
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public override void Init()
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{
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ColorSensorInitEvent = this.EGRegisterMessageEvent<ResponseColorSensor>(OnColorSensorInit);
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this.EGOnMessage<ResponseColorSensor>();
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this.EGOnMessage<ResponseTrack>();
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if (!IsLinux)
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{
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TestPort0 = PORT_WIN_0;
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TestPort1 = PORT_WIN_1;
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}
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InitSerialPort();
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// throw new NotImplementedException();
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}
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public async void InitSerialPort()
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{
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this.EGSerialPort().Open(TestPort0, 38400);
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this.EGSendMessage(new RequestColorSingleRead(), TestPort0, ProtocolType.SerialPort);
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await Task.Delay(2000);
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if(ColorSerialPort == "")
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{
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this.EGSerialPort().Close(TestPort0);
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this.EGSerialPort().Open(TestPort1, 38400);
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this.EGSendMessage(new RequestColorSingleRead(), TestPort1, ProtocolType.SerialPort);
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await Task.Delay(2000);
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if(ColorSerialPort == "")
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{
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this.EGSerialPort().Close(TestPort1);
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EG.Print("Color sensor init failed,Time out.");
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}
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else
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{
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EG.Print("_"+this.EGSerialPort().SerialPortDevices.ContainsKey(TestPort0));
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this.EGSerialPort().Open(TestPort0, 9600);
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this.EGSendMessage(new RequestTrackReadEnabled(), TestPort0, ProtocolType.SerialPort);
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EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
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await Task.Delay(2000);
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if(EngineSerialPort == "")
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{
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this.EGSerialPort().Close(TestPort0);
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EG.Print("Engine init failed USB0,Time out.");
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}
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}
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}
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else
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{
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this.EGSerialPort().Open(TestPort1, 9600);
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this.EGSendMessage(new RequestTrackReadEnabled(), TestPort1, ProtocolType.SerialPort);
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EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
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await Task.Delay(2000);
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if(EngineSerialPort == "")
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{
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this.EGSerialPort().Close(TestPort1);
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EG.Print("Engine init failed USB1,Time out.");
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}
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}
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}
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public void OnColorSensorInit(ResponseColorSensor res, string sender, ProtocolType type)
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{
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if (type == ProtocolType.SerialPort)
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{
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ColorSensorInitEvent.UnRegister();
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this.ColorSerialPort = sender;
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EG.Print("Color sensor init success!");
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}
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}
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public void OnEngineInit(ResponseTrack res,string sender,ProtocolType type)
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{
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if (type == ProtocolType.SerialPort)
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{
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EngineInitEvent.UnRegister();
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this.EngineSerialPort = sender;
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EG.Print("Engine sensor init success!");
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this.GetModule<ModelTrackControl>().ResetTrack();
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}
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}
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}
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