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fixed track control

main
jkpete 4 weeks ago
parent
23c61600de
commit
2395698807
1 changed files with 0 additions and 255 deletions
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  1. 255
      Script/Model/ModelTrackControl.cs

255
Script/Model/ModelTrackControl.cs
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@ -4,23 +4,8 @@ using Tmds.Linux; @@ -4,23 +4,8 @@ using Tmds.Linux;
public class ModelTrackControl : EGModule, IEGFramework
{
public const int SlaveID = 3;
public bool IsInitTrack { set; get; } = false;
public bool IsScanning { set; get; } = false;
public string PortName { set; get; } = "";
public Vector3 CurrentColorRGB { set; get; } = new Vector3();
public Vector3 CurrentColorHSV { set; get; } = new Vector3();
private IUnRegister ColorSensorEvent { set; get; }
public int CurrentPosition { set; get; } = 0;
public int TargetPosition { set; get; } = 0;
public StatusTrack MoveStatus { set; get; } = StatusTrack.Stop;
private ushort LowSpeed { set; get; }
private ushort Speed { set; get; }
@ -35,108 +20,6 @@ public class ModelTrackControl : EGModule, IEGFramework @@ -35,108 +20,6 @@ public class ModelTrackControl : EGModule, IEGFramework
ResetTarget();
}
public void EnableTrack()
{
this.EGSendMessage(new RequestTrackEnabled(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
IsInitTrack = true;
}
public void StartTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackSpeed(Speed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackMove(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void StartSlowTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackSpeed(LowSpeed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackMove(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void BackTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackSpeed(Speed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackBack(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void BackSlowTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackSpeed(LowSpeed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackBack(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void StopTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackSpeed(0), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackStop(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void BreakTrack()
{
if (!IsInitTrack)
{
EnableTrack();
}
this.EGSendMessage(new RequestTrackBreak(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
this.EGSendMessage(new RequestTrackSpeed(0), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
}
public void MoveToPosition(int position)
{
if (this.CurrentPosition == position)
{
EG.Print("Position is same.Nothing need to move!");
return;
}
if (this.MoveStatus != StatusTrack.Stop)
{
EG.Print("Machine should be stop first!");
return;
}
if (!this.GetModule<ModelParamSetting>().Setting.ColorMapping.ContainsKey(position))
{
EG.Print("Position invalid!Please add color first!");
return;
}
TargetPosition = position;
if (this.CurrentPosition > position)
{
this.StartScanColor();
this.StartTrack();
this.MoveStatus = StatusTrack.Start;
}
if (this.CurrentPosition < position)
{
this.StartScanColor();
this.BackTrack();
this.MoveStatus = StatusTrack.Back;
}
}
public void StartTarget()
{
if (CurrentRotation != 90)
@ -166,144 +49,6 @@ public class ModelTrackControl : EGModule, IEGFramework @@ -166,144 +49,6 @@ public class ModelTrackControl : EGModule, IEGFramework
}
}
public void StartScanColor()
{
this.EGSendMessage(new RequestColorStartScan(), this.GetModule<ModelSerialTest>().ColorSerialPort, ProtocolType.SerialPort);
ColorSensorEvent = this.EGRegisterMessageEvent<ResponseColorSensor>(OnColorScanned);
IsScanning = true;
}
public void StopScanColor()
{
this.EGSendMessage(new RequestColorStopScan(), this.GetModule<ModelSerialTest>().ColorSerialPort, ProtocolType.SerialPort);
//null exception
ColorSensorEvent.UnRegister();
IsScanning = false;
}
public void ResetTrack()
{
this.CurrentPosition = 0;
this.StartScanColor();
this.StartTrack();
this.MoveStatus = StatusTrack.Reset;
}
private float HueCache { set; get; }
public void OnColorScanned(ResponseColorSensor color, string sender, ProtocolType type)
{
if (type == ProtocolType.SerialPort)
{
this.CurrentColorHSV = color.ColorHSV;
this.CurrentColorRGB = color.ColorRGB;
if (this.MoveStatus == StatusTrack.Start)
{
float currentHue = CurrentColorHSV.X;
if (MathF.Abs(HueCache - currentHue) > this.GetModule<ModelParamSetting>().Setting.ColorOffset)
{
HueCache = currentHue;
return;
}
float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[TargetPosition].X;
bool compareResult = this.CompareHue(currentHue, targetHue);
if (compareResult)
{
this.StartSlowTrack();
this.MoveStatus = StatusTrack.StartSlow;
BroadCastMoveStatus();
}
}
if (this.MoveStatus == StatusTrack.Back)
{
float currentHue = CurrentColorHSV.X;
if (MathF.Abs(HueCache - currentHue) > this.GetModule<ModelParamSetting>().Setting.ColorOffset)
{
HueCache = currentHue;
return;
}
float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[TargetPosition].X;
bool compareResult = this.CompareHue(currentHue, targetHue);
if (compareResult)
{
this.BackSlowTrack();
this.MoveStatus = StatusTrack.BackSlow;
BroadCastMoveStatus();
}
}
if (this.MoveStatus == StatusTrack.BackSlow || this.MoveStatus == StatusTrack.StartSlow)
{
float currentHue = CurrentColorHSV.X;
float targetHue = 4.0f;
bool compareResult = this.CompareHue(currentHue, targetHue);
if (compareResult)
{
this.BreakTrack();
this.MoveStatus = StatusTrack.Stop;
this.StopScanColor();
this.CurrentPosition = this.TargetPosition;
BroadCastMoveStatus();
}
}
if(this.MoveStatus == StatusTrack.Reset)
{
float currentHue = CurrentColorHSV.X;
float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[0].X;
bool compareResult = this.CompareHue(currentHue, targetHue);
if (compareResult)
{
this.BreakTrack();
this.MoveStatus = StatusTrack.Stop;
this.StopScanColor();
this.CurrentPosition = 0;
BroadCastMoveStatus();
}
}
HueCache = CurrentColorHSV.X;
}
}
public bool CompareHue(float hue1,float hue2)
{
if (hue1 > hue2 - this.GetModule<ModelParamSetting>().Setting.ColorOffset &&
hue1 < hue2 + this.GetModule<ModelParamSetting>().Setting.ColorOffset)
{
return true;
}
else
{
return false;
}
}
public Vector3 GetColor()
{
return CurrentColorRGB;
}
public Vector3 GetColorHSV()
{
return CurrentColorHSV;
}
public void BroadCastMoveStatus()
{
if (this.EGTCPServer().LinkedIPs.ContainsKey(6557))
{
foreach (string sender in this.EGTCPServer().LinkedIPs[6557])
{
this.EGSendMessage<RequestControlMoveStatus>(new RequestControlMoveStatus()
{
TargetID = this.GetModule<ModelParamSetting>().Setting.DeviceID,
FunctionCode = 301,
Position = this.GetModule<ModelTrackControl>().CurrentPosition,
Status = MoveStatus
}, sender, ProtocolType.TCPServer);
}
}
}
}
public enum StatusTrack

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