TargetService/Script/Model/ModelSerialTest.cs

using EGFramework;

/// <summary>
/// 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
/// </summary>
public class ModelSerialTest : EGModule,IEGFramework
{
    public const int BAUD_RATE_ENGINE = 9600;
    public const int BAUD_RATE_COLOR = 38400;

    public const string PORT_LINUX_0 = "/dev/ttyUSB0";
    public const string PORT_LINUX_1 = "/dev/ttyUSB1";

    public const string PORT_WIN_0 = "COM2";
    public const string PORT_WIN_1 = "COM5";

    public bool IsLinux = true;

    public string TestPort0 { set; get; } = PORT_LINUX_0;
    public string TestPort1 { set; get; } = PORT_LINUX_1;

    public string ColorSerialPort { set; get; } = "";
    public string EngineSerialPort { set; get; } = "";

    public IUnRegister ColorSensorInitEvent { set; get; }

    public IUnRegister EngineInitEvent{ set; get; }

    public override void Init()
    {
        ColorSensorInitEvent = this.EGRegisterMessageEvent<ResponseColorSensor>(OnColorSensorInit);
        this.EGOnMessage<ResponseColorSensor>();
        this.EGOnMessage<ResponseTrack>();
        if (!IsLinux)
        {
            TestPort0 = PORT_WIN_0;
            TestPort1 = PORT_WIN_1;
        }
        InitSerialPort();
        // throw new NotImplementedException();
    }

    public async void InitSerialPort()
    {
        this.EGSerialPort().Open(TestPort0, 38400);
        this.EGSendMessage(new RequestColorSingleRead(), TestPort0, ProtocolType.SerialPort);
        await Task.Delay(2000);
        if(ColorSerialPort == "")
        {
            this.EGSerialPort().Close(TestPort0);
            this.EGSerialPort().Open(TestPort1, 38400);
            this.EGSendMessage(new RequestColorSingleRead(), TestPort1, ProtocolType.SerialPort);
            await Task.Delay(2000);
            if(ColorSerialPort == "")
            {
                this.EGSerialPort().Close(TestPort1);
                EG.Print("Color sensor init failed,Time out.");
            }
            else
            {
                EG.Print("_"+this.EGSerialPort().SerialPortDevices.ContainsKey(TestPort0));
                this.EGSerialPort().Open(TestPort0, 9600);
                this.EGSendMessage(new RequestTrackReadEnabled(), TestPort0, ProtocolType.SerialPort);
                EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
                await Task.Delay(2000);
                if(EngineSerialPort == "")
                {
                    this.EGSerialPort().Close(TestPort0);
                    EG.Print("Engine init failed USB0,Time out.");
                }
            }
        }
        else
        {
            this.EGSerialPort().Open(TestPort1, 9600);
            this.EGSendMessage(new RequestTrackReadEnabled(), TestPort1, ProtocolType.SerialPort);
            EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
            await Task.Delay(2000);
            if(EngineSerialPort == "")
            {
                this.EGSerialPort().Close(TestPort1);
                EG.Print("Engine init failed USB1,Time out.");
            }
        }
    }

    public void OnColorSensorInit(ResponseColorSensor res, string sender, ProtocolType type)
    {
        if (type == ProtocolType.SerialPort)
        {
            ColorSensorInitEvent.UnRegister();
            this.ColorSerialPort = sender;
            EG.Print("Color sensor init success!");
        }
    }
    
    public void OnEngineInit(ResponseTrack res,string sender,ProtocolType type)
    {
        if (type == ProtocolType.SerialPort)
        {
            EngineInitEvent.UnRegister();
            this.EngineSerialPort = sender;
            EG.Print("Engine sensor init success!");
            this.GetModule<ModelTrackControl>().ResetTrack();
        }
    }

}