TeamAAS-VP-HeShuo/Team.FFFeederService/AfagFeeder.cs

using aflex_CSharp_Integration_Sample;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
//using System.Net.Sockets;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using Team.FFFeederService.Enums;
using Team.FFFeederService.Interfaces;
using Team.FFFeederService.Models;
using TouchSocket.Core;
using TouchSocket.Sockets;

namespace Team.FFFeederService
{
    public struct FeederParam
    {
        public double backLightIntensity;//光源强度
        public byte configNum;//震动模式
        public double degreeNum;//震动角度
        public double vibrationIntensity;//震动强度
        public double intervalNum;//间隔时间ms
    }

    public class AfagFeeder : IVoiceCoilMotorFeeder
    {
        public TcpClient TcpClient { get; }

        public int FeederPort { get; private set; }

        public string FeederIp { get; private set; }

        public FeederBrand FeederBrand { get => FeederBrand.AFAG; }

        public FeederModel FeederModel { get; private set; } = FeederModel.Unknown;

        public Guid Id { get; set; }

        public bool IsConnected => IsInit;

        public bool IsInit { get; set; }

        public event Action<Guid, ITcpClient, ConnectedEventArgs> FeederConnectedEvent;
        public event Action<Guid, ITcpClient, ClosedEventArgs> FeederDisconnectedEvent;

        private aflexCommunicationClass objaflex;

        Timer feedStepTimer;
        uint stepNum = 0;
        TimeSpan durationNum = new TimeSpan();

        /// <summary>
        /// 配置编号
        /// </summary>
        public int ConfigIndex
        {
            get
            {
                if (objaflex == null) return 0;
                else return objaflex.actual_ConfigNumber;
            }
        }

        /// <summary>
        /// 振动强度
        /// </summary>
        public double Intensity
        {
            get
            {
                if (objaflex == null) return 0;
                else return objaflex.actual_intensity;
            }
        }

        /// <summary>
        /// 方向
        /// </summary>
        public double Direction
        {
            get
            {
                if (objaflex == null) return 0;
                else return objaflex.actual_direction;
            }
        }


        public AfagFeeder(Guid id, string ip, int port)
        {
            Id = id;
            FeederIp = ip;
            FeederPort = port;
            objaflex = new aflexCommunicationClass();
            objaflex.aflexValueChanged += Objaflex_aflexValueChanged;
        }

        private void Objaflex_aflexValueChanged(object sender, EventArgs e)
        {

        }

        public void CloseLight()
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                objaflex.SetAuxPowerOut(0);
            }
            catch (Exception)
            {

            }

        }

        public Task CloseLightAsync()
        {
            try
            {
                if (!objaflex.actual_AutoMode) return Task.CompletedTask;
                objaflex.SetAuxPowerOut(0);
            }
            catch (Exception)
            {

            }
            return Task.CompletedTask;
        }

        public void Connect()
        {

            if (!IsInit)
            { //Connect
                //Check IP Textbox
                IPAddress IPValue;
                if (IPAddress.TryParse(FeederIp, out IPValue))
                {
                    if (/*IPValue.GetAddressBytes()[3] != 0 && */IPValue.GetAddressBytes()[3] != 255)
                    {
                        //Valid IP

                        //Check Port
                        int PortValue = FeederPort;

                        if (PortValue > 0)
                        {
                            //Valid Port

                            //Connect
                            bool flog = objaflex.Connect(IPValue, PortValue);
                            if (flog)
                            {
                                FeederConnectedEvent?.Invoke(Id, null, null);
                                GeneralRelease();
                            }
                            else
                            {
                                FeederDisconnectedEvent?.Invoke(Id, null, null);
                            }
                            IsInit = true;
                        }

                    }
                }
            }
            //else
            //{ //Disconnect
            //    objaflex.Disconnect();
            //}
        }

        public async Task ConnectAsync()
        {

            await Task.Run(async () =>
            {
                //Connect
                //Check IP Textbox
                IPAddress IPValue;
                bool resB = IPAddress.TryParse(FeederIp, out IPValue);
                int PortValue = FeederPort;
                try
                {
                    if (resB && IPValue.GetAddressBytes()[3] != 255)
                    {
                        if (PortValue > 0)
                        {
                            bool flog = objaflex.Connect(IPValue, PortValue);
                            if (flog)
                            {
                                FeederConnectedEvent?.Invoke(Id, null, null);
                                GeneralRelease();
                            }
                            else
                            {
                                FeederDisconnectedEvent?.Invoke(Id, null, null);
                            }
                            IsInit = true;
                        }
                    }
                }
                catch (Exception)
                {
                    IsInit = false;
                    while (!IsInit)
                    {
                        try
                        {
                            bool flog = objaflex.Connect(IPValue, PortValue);
                            if (flog)
                            {
                                FeederConnectedEvent?.Invoke(Id, null, null);
                                GeneralRelease();
                            }
                            else
                            {
                                FeederDisconnectedEvent?.Invoke(Id, null, null);
                            }
                            IsInit = true;
                        }
                        catch (Exception)
                        {
                            await Task.Delay(1000);
                        }
                    }
                }
            });
        }

        /// <summary>
        /// set release
        /// </summary>
        public void GeneralRelease()
        {
            if (!objaflex.actual_GeneralRelease)
            {
                objaflex.SetGeneralRelease(!objaflex.actual_GeneralRelease);
            }
        }

        /// <summary>
        /// 设置光源亮度
        /// </summary>
        /// <param name="brightnessNum">亮度范围0-100</param>
        public void SetBackLight(double brightnessNum)
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                if (IsInit)
                {
                    GeneralRelease();
                    if (brightnessNum >= 0 && brightnessNum <= 100)
                    {
                        objaflex.SetAuxPowerOut(brightnessNum);
                    }
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 设置震动强度
        /// </summary>
        /// <param name="IntensValue">强度范围0-100</param>
        public void SetIntensity(double IntensValue)
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                GeneralRelease();
                if (IntensValue >= 0 && IntensValue <= 100.0)
                {
                    objaflex.SetIntensity(IntensValue);
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 加载配置参数
        /// </summary>
        /// <param name="modeNum">范围1-49</param>
        public void LoadConfiguration(int modeNum)
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                Byte ConfigNumber;
                if (Byte.TryParse(modeNum.ToString(), out ConfigNumber))
                {
                    if (ConfigNumber > 0 && ConfigNumber < 50)
                    {
                        GeneralRelease();
                        objaflex.LoadConfiguration(ConfigNumber);
                    }
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 设置震动方向
        /// </summary>
        /// <param name="DirectionValue">范围0-360°</param>
        public void SetDirection(double DirectionValue)
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                if (DirectionValue >= 0 && DirectionValue <= 360.0)
                {
                    GeneralRelease();
                    objaflex.SetDirection(DirectionValue);
                }
            }
            catch (Exception)
            {

            }
        }

        public void StartShaking(double backLightIntensity, byte configNum, double degreeNum, double vibrationIntensity, double intervalNum)
        {
            FeederParam feed = new FeederParam();
            feed.backLightIntensity = backLightIntensity;
            feed.configNum = configNum;
            feed.degreeNum = degreeNum;
            feed.vibrationIntensity = vibrationIntensity;
            feed.intervalNum = intervalNum;
            stepNum = 1;
            feedStepTimer = new Timer(StepSequenceHandler, feed, 3, 3);
        }

        public void StepSequenceHandler(object param)
        {
            FeederParam feedParam = (FeederParam)param;
            switch (stepNum)
            {
                case 0:
                    feedStepTimer.Dispose();
                    break;
                case 1: //set general release
                    if (!objaflex.actual_GeneralRelease) objaflex.SetGeneralRelease(true);
                    stepNum = 2; //next step
                    break;
                case 2: //设置光源                  
                    objaflex.SetAuxPowerOut(feedParam.backLightIntensity);
                    stepNum = 3;
                    break;
                case 3://确认设置
                    if (Math.Abs(Math.Round(objaflex.actual_auxPowerOut, 2) - feedParam.backLightIntensity) < 0.1)
                    {
                        stepNum = 4; //next step
                    }
                    break;
                case 4://加载震动模式
                    objaflex.LoadConfiguration(feedParam.configNum); //move = ConfigNumber 2

                    stepNum = 5; //next step
                    break;
                case 5: //确认加载成功 
                    if (objaflex.actual_ConfigNumber == feedParam.configNum)
                    {
                        stepNum = 6; //next step
                    }
                    break;
                case 6: //设置震动方向和强度
                    objaflex.SetDirection(feedParam.degreeNum);
                    objaflex.SetIntensity(feedParam.vibrationIntensity);
                    durationNum = durationNum.Subtract(durationNum); //reset Timespan 
                    stepNum = 7; //next step
                    break;
                case 7: //确认设置成功                    
                    if ((Math.Abs(Math.Round(objaflex.actual_direction, 2) - feedParam.degreeNum) < 0.1) && (Math.Abs(Math.Round(objaflex.actual_intensity, 2) - feedParam.vibrationIntensity) < 0.1))
                    {
                        durationNum = durationNum.Add(new TimeSpan(0, 0, 0, 0, 3));
                    }
                    if (durationNum.Milliseconds > feedParam.intervalNum)
                    { //500ms move duration
                        stepNum = 8; //next step
                    }
                    break;
                case 8: //设置震动强度 0%                    
                    objaflex.SetIntensity(0);
                    stepNum = 9; //next step
                    break;
                case 9: //确认
                    if (objaflex.actual_intensity == 0)
                    {
                        stepNum = 0; //next step                       
                    }
                    break;
            }
        }

        public void Dispose()
        {
            throw new NotImplementedException();
        }

        public Task<ushort> GetBackLightFlashTimeAsync()
        {
            return Task.FromResult((ushort)0);
        }

        public int GetDuration(int id)
        {
            return 0;
        }

        public Task<int> GetDurationAsync(int id)
        {
            return Task.FromResult((int)0);
        }

        public Task<int> GetInputTrigger(int i)
        {
            return Task.FromResult((int)0);
        }

        public Task<ushort> GetLightBrightnessAsync()
        {
            return Task.FromResult((ushort)objaflex.actual_auxPowerOut);
        }

        public ushort GetLightTimeout()
        {
            return 0;
        }

        public Task<ushort> GetLightTimeoutAsync()
        {
            return Task.FromResult((ushort)0);
        }

        public bool GetOutputStatus()
        {
            return false;
        }

        public Task<bool> GetOutputStatusAsync()
        {
            return Task.FromResult(false);
        }

        public Task<ushort> GetPlatShakeTimeoutAsync()
        {
            return Task.FromResult((ushort)0);
        }

        public int GetSelectedSequence()
        {
            return Convert.ToInt16(objaflex.actual_ConfigNumber);
        }

        public Task<int> GetSelectedSequenceAsync()
        {
            return Task.FromResult((int)Convert.ToInt16(objaflex.actual_ConfigNumber));
        }

        public int GetSelectedShakeParam()
        {
            return 0;
        }

        public Task<int> GetSelectedShakeParamAsync()
        {
            return Task.FromResult(0);
        }

        public Task<SingleSequenceActionGroup> GetSequenceGroupAsync(int id)
        {
            return Task.FromResult<SingleSequenceActionGroup>(null);
        }

        public SingleActionParam GetShakeGroupValue(int index)
        {
            return null;
        }

        public Task<SingleActionParam> GetShakeGroupValueAsync(int index)
        {
            return Task.FromResult<SingleActionParam>(null);
        }

        public SingleActionParam GetShakeParameters(int selectedShakeMotion)
        {
            return null;
        }

        public Task<SingleActionParam> GetShakeParametersAsync(int selectedShakeMotion)
        {
            return Task.FromResult<SingleActionParam>(null);
        }

        public string GetSingleParamValue(int id)
        {
            return "";
        }

        public Task<string> GetSingleParamValueAsync(int id)
        {
            return Task.FromResult("");
        }

        public Task<ushort> GetUpperFeederShakeTimeoutAsync()
        {
            return Task.FromResult((ushort)0);
        }

        public Task<HopperFeederParam> GetUpperParamAsync(int selectedSequence)
        {
            return Task.FromResult<HopperFeederParam>(null);
        }

        public bool LoadShakeSet(int v)
        {
            return false;
        }

        public Task<bool> LoadShakeSetAsync(int v)
        {
            return Task.FromResult(false);
        }

        public void OpenLight()
        {
            try
            {
                if (!objaflex.actual_AutoMode) return;
                double DirectionValue = 100;
                if (DirectionValue >= 0 && DirectionValue <= 360.0)
                {
                    GeneralRelease();
                    objaflex.SetDirection(DirectionValue);
                }
            }
            catch (Exception)
            {

            }
        }

        public Task OpenLightAsync()
        {
            try
            {
                if (!objaflex.actual_AutoMode) return Task.CompletedTask;
                double DirectionValue = 100;
                if (DirectionValue >= 0 && DirectionValue <= 360.0)
                {
                    GeneralRelease();
                    objaflex.SetDirection(DirectionValue);
                }
            }
            catch (Exception)
            {

            }
            return Task.CompletedTask;
        }

        public int Output(int id, int? timespan = null)
        {
            return 0;
        }

        public Task<int> OutputAsync(int id, int? timespan = null)
        {
            return Task.FromResult((int)0);
        }

        public bool QueryLightState()
        {
            if (objaflex.actual_auxPowerOut > 0)
                return false;
            else return true;
        }

        public Task<bool> QueryLightStateAsync()
        {
            if (objaflex.actual_auxPowerOut > 0)
                return Task.FromResult(false);
            else return Task.FromResult(true);
        }

        public void Reset()
        {

        }

        public Task ResetAsync()
        {
            return Task.CompletedTask;
        }

        public Task<int> RunFromCommand(string command, int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToBottomAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToBottomLeftAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToBottomRightAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToFlipAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToInnerHorizonAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToInnerVerticalAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToLeftAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToRightAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToTopAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToTopLeftAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task<int> RunToTopRightAsync(int? timespan = null)
        {
            return Task.FromResult<int>(0);
        }

        public Task SaveAllSetAsync()
        {
            return Task.CompletedTask;
        }

        public Task SaveGlobalSetAsync()
        {
            return Task.CompletedTask;
        }

        public Task SaveSequenceAsync()
        {
            return Task.CompletedTask;
        }

        public Task SaveShakeSetAsync()
        {
            return Task.CompletedTask;
        }

        public void SelectShakeParam(int id)
        {

        }

        public Task SelectShakeParamAsync(int id)
        {
            return Task.CompletedTask;
        }

        public Task SetBackLightFlashTimeAsync(ushort backLightFlash)
        {
            return Task.CompletedTask;
        }

        public Task SetInputTrigger(int id, int value)
        {
            return Task.CompletedTask;
        }

        public void SetIpAddress(string ip, string subNetMask, int port)
        {

        }

        public Task SetIpAddressAsync(string ip, string subNetMask, int port)
        {
            return Task.CompletedTask;
        }

        public void SetLightTimeOut(ushort timeout)
        {

        }

        public Task SetLightTimeOutAsync(ushort timeout)
        {
            return Task.CompletedTask;
        }

        public Task SetLightValueAsync(ushort lightValue)
        {
            if (lightValue<0 || lightValue>100)
            {
                lightValue = 100;
            }
            try
            {
                objaflex.SetAuxPowerOut(lightValue);
            }
            catch (Exception)
            {

            }
            
            return Task.CompletedTask;
        }

        public Task SetLightValueToBufferAsync(ushort lightValue)
        {
            return Task.CompletedTask;
        }

        public Task SetPlatShakeTimeoutAsync(ushort upperFeederShakeTimeout)
        {
            return Task.CompletedTask;
        }

        public void SetSequence(int groupId, int actionId, SingleSequenceAction singleSequenceAction)
        {

        }

        public Task SetSequenceAsync(int groupId, int actionId, SingleSequenceAction singleSequenceAction)
        {
            return Task.CompletedTask;
        }

        public void SetShakeParameters(int selectedShakeMotion, int id, string value)
        {

        }

        public void SetShakeParameters(int selectedShakeMotion, string value)
        {

        }

        public void SetShakeParameters(int selectedShakeMotion, SingleActionParam value)
        {

        }

        public Task SetShakeParametersAsync(int selectedShakeMotion, int id, string value)
        {
            return Task.CompletedTask;
        }

        public Task SetShakeParametersAsync(int selectedShakeMotion, string value)
        {
            return Task.CompletedTask;
        }

        public Task SetShakeParametersAsync(int selectedShakeMotion, SingleActionParam value)
        {
            return Task.CompletedTask;
        }

        public Task SetUpperFeederShakeTimeoutAsync(ushort upperFeederShakeTimeout)
        {
            return Task.CompletedTask;
        }

        public int ShakeUp()
        {
            return 0;
        }

        public Task<int> ShakeUpAsync()
        {
            return Task.FromResult(0);
        }

        public Task<int> StartAction(int index, int? timespan = null)
        {
            return Task.FromResult(0);
        }

        public Task<int> StartOneSequenceAsync(int id)
        {
            return Task.FromResult(0);
        }

        public void Stop()
        {
            SetIntensity(0);
        }

        public Task StopAsync()
        {
            SetIntensity(0);
            return Task.CompletedTask;
        }

        public Task StopOneSequenceAsync()
        {
            return Task.CompletedTask;
        }

        public void StopOutput()
        {

        }

        public Task StopOutputAsync()
        {
            return Task.CompletedTask;
        }

        public Task WriteOutputParamAsync(int groupId, HopperFeederParam param)
        {
            return Task.CompletedTask;
        }
    }
}