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

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Runtime.Remoting.Messaging;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Controls.Primitives;
using Team.FFFeederService.Enums;
using Team.FFFeederService.Interfaces;
using Team.FFFeederService.Models;

namespace Team.FFFeederService
{
    /// <summary>
    /// Feeder自动调整参数
    /// </summary>
    public class AutoAdjustmentParameter : IDisposable
    {
        /// <summary>
        /// 动作的编号
        /// </summary>
        public int ActionIndex { get; set; }

        // 声明一个委托字段，其签名与A中的GetDataFromA方法匹配
        private readonly Func<Tuple<bool, float, float>> dataFetchDelegate;

        public FeederModel FeederModel { get; set; }

        private IVoiceCoilMotorFeeder Feeder;

        public VibrationFrequencyDetector detector;

        /// <summary>
        /// 振动参数改变
        /// </summary>
        public event Action<SingleActionParam> OnVibrationParamChanged;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="actionParam">动作参数</param>
        /// <param name="rectangle">Feeder盘面的矩形</param>
        /// <param name="_dataFetchDelegate">回调函数，获取相机拍照后的结果</param>
        public AutoAdjustmentParameter(IVoiceCoilMotorFeeder feeder,int actionIndex,Func<Tuple<bool, float, float>> _dataFetchDelegate)
        {
            Feeder = feeder;
            ActionIndex= actionIndex;
            dataFetchDelegate = _dataFetchDelegate;
            FeederModel = Feeder.FeederModel;
            int feedermodel = 0;
            switch (Feeder.FeederModel)
            {
                case FeederModel.FF120:
                    feedermodel = 120;
                    break;
                case FeederModel.FF240:
                    feedermodel = 240;
                    break;
                case FeederModel.FF380:
                    feedermodel = 380;
                    break;
                case FeederModel.FF530:
                    feedermodel = 530;
                    break;
                case FeederModel.Unknown:
                    feedermodel = 380;
                    break;
                default:
                    break;
            }
            detector=new VibrationFrequencyDetector();
            detector.Initialize(feedermodel, ActionIndex);
            // 订阅事件
            detector.OnExecuteFeedervibration += data =>
            {
                //Feeder振动参数设置并执行动作
                int action = data.inFedAct;
                SingleActionParam actionp = new SingleActionParam
                {
                    Motor1 = new VoiceMotorParam
                    {
                        Amplitude = data.u16VoiMot0,
                        Frequency = data.u16VoiMot1,
                        Phase = data.u16VoiMot2,
                        WaveShape = (WaveShape)data.u16VoiMot3,
                    },
                    Motor2 = new VoiceMotorParam
                    {
                        Amplitude = data.u16VoiMot4,
                        Frequency = data.u16VoiMot5,
                        Phase = data.u16VoiMot6,
                        WaveShape = (WaveShape)data.u16VoiMot7,
                    },
                    Motor3 = new VoiceMotorParam
                    {
                        Amplitude = data.u16VoiMot8,
                        Frequency = data.u16VoiMot9,
                        Phase = data.u16VoiMotA,
                        WaveShape = (WaveShape)data.u16VoiMotB,
                    },
                    Motor4 = new VoiceMotorParam
                    {
                        Amplitude = data.u16VoiMotC,
                        Frequency = data.u16VoiMotD,
                        Phase = data.u16VoiMotE,
                        WaveShape = (WaveShape)data.u16VoiMotF,
                    },
                    DurationValue = data.u16DuartTim
                };
                OnVibrationParamChanged?.Invoke(actionp);
                ExecuteFeederVibration(action, actionp);
            };
            detector.OnExecutePhoto += () =>
            {
                /// 相机拍照获取物料位置
                return dataFetchDelegate?.Invoke();
            };
        }

        public async Task<bool> Execute(int amplitudeMax, int amplitudeMin, int frequencyMax, int frequencyMin,int duration, CancellationToken token,Action<int> callback)
        {
            
            float currentX = 0, currentY=0;
            float oldX = 0, oldY=0;
            int counter = 0;
            int amplitude = amplitudeMin;
            int frequency = frequencyMin;
            await Feeder.OpenLightAsync();


            detector.OnExecuteResult += status =>
            {
                callback?.Invoke(status);
            };
            while (!token.IsCancellationRequested)
            {
                detector.StartTask();
                await Task.Delay(100);
            }
            detector.Dispose();
            return false;
        }

        /// <summary>
        /// 执行振动
        /// </summary>
        /// <param name="action">动作索引</param>
        /// <returns></returns>
        public async Task ExecuteAction(int action,int time)
        {
            await Feeder.StartAction(action, time);
        }

        /// <summary>
        /// 写入震动参数
        /// </summary>
        /// <param name="action"></param>
        /// <param name="actionp"></param>
        /// <returns></returns>
        public async Task WriteActionParm(int action, SingleActionParam actionp)
        {
            await Feeder.SetShakeParametersAsync(action, actionp);
        }

        public void ExecuteFeederVibration(int action, SingleActionParam actionp)
        {
            Task.Run(async () =>
            {
                await WriteActionParm(action, actionp);
                await ExecuteAction(action, actionp.DurationValue);
                await Task.Delay(actionp.DurationValue+1000);
            }).GetAwaiter().GetResult();
        }

        /// <summary>
        /// 设置寻频返回值0:停止 1 ：启动 2：验证 3：结束
        /// </summary>
        /// <param name="state">0:停止 1 ：启动 2：验证 3：结束</param>
        public void SetState(int state)
        {
            detector.SetLogicState(state);
        }

        public void Dispose()
        {
            if (detector!=null)
            {
                detector.Dispose();
            }
        }
    }
}