STATION_COLLECT/Common/RS485.cs

using System.IO.Ports;

namespace AmrControl.Common
{
    public delegate void DltReceiveCarStateCmd(CarStateCmd carState);

    public class RS485 
    {
        SerialPort serial;
        string portName = "COM4";
        int baudRate = 38400;
        int dataBits = 8;
        StopBits stopBits = StopBits.One;
        Parity parity = Parity.None;
        byte[] buf;
        int len;
        int start = 0, end = 0;
        bool IsStart = false;

        ushort head; //两字节的帧头、帧尾

        //车的定时更新状态事件
        public event DltReceiveCarStateCmd ReceiveCarStateCmdEvent;
        //车的到达目标地址的事件
        public event DltReceiveCarStateCmd CarArrivedEvent;
        //车上线的事件
        public event DltReceiveCarStateCmd CarConnectedEvent;
        //车离线的事件
        public event DltReceiveCarStateCmd CarDisconnectedEvent;

        public int CarCount
        {
            get
            {
                if(cars == null)
                {
                    return 0;
                }
                else
                {
                    return cars.Count;
                }
            }
        }

        private object lockobj = new object();
        //所有的车
        Dictionary<ushort, CarStateCmd> cars;

        public RS485()
        {
            buf = new byte[10240];
            len = 0;
            start = -1;
            end = 0;
            cars = new Dictionary<ushort, CarStateCmd>();
            portName = AppHelper.ReadAppSettings("zigbee", "Com");
            baudRate = Int32.Parse(AppHelper.ReadAppSettings("zigbee", "baudRate"));
        }

        private void Serial_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            //报文的首尾都是0x7e,判断思路是当发现有两个7e时候，结合长度位判断是否是一条报文
            //如果是则提取报文并把剩余数据前移到索引0，如果不是则把第2个7e之前的数据抛弃掉
            int size = serial.BytesToRead;

            //正常情况下，不应该出现超出缓冲的报文，如果出现则可能是出错了，直接把索引置0
            if (len + size > buf.Length)
            {
                //以缓存大小为主
                size = buf.Length - len;
            }

            serial.Read(buf, len, size);
            int olen = len;
            len += size;
            for (int i = olen; i < len; i++)
            {
                head = (ushort)(((head << 8) & 0xff00) + buf[i]);
                //这里要求不能连续出现三个0x7e
                if(head == 0x7e7e)
                {
                    start  = i - 1;
                }
                else if (head == 0x0d0a)
                {
                    end = i;
                    if((start >=0) &&((end - start + 1 )== buf[start + 2]))
                    {
                        //帧长度正确
                        byte[] datas = new byte[end - start + 1];
                        Array.Copy(buf, start, datas, 0, datas.Length);
                        HandleReceive(datas);
                        //移动剩余数据到0；
                        for (int j = end + 1; j < len; j++)
                        {
                            buf[j - end - 1] = buf[j];
                        }
                        len = len - end - 1; //重新调整长度
                        i = -1;//下一个循环从0开始
                        start = -1;//第2个7前移动到0
                        end = 0;
                    }
                    else
                    {
                        start = -1;
                        end = 0;
                    }
                    
                }
            }

            //如果处理完了缓存依然是满的，则抛弃数据，重新归零
            if (len >= buf.Length)
            {
                //相当于初始化缓冲
                len = 0;
                start = -1;
                end = 0;
            }
        }

        //处理接收到的报文，先转义再校验
        bool HandleReceive(byte[] datas)
        {
            //长度不是正常报文的长度
            if (datas == null || datas.Length < 8 || IsStart == false || AmrManager.ProcessExit)
                return false;

            ushort carid = (ushort)(datas[4] + ((datas[5] << 8) & 0xff00));
            //命令码
            switch (datas[3])
            {
                case 0x01:
                    //不存在则创建
                    CarStateCmd cmd = null;
                    bool ok = false;
                    //保留最新的
                    lock (lockobj)
                    {
                        if (cars.ContainsKey((ushort)carid))
                        {
                            cmd = (CarStateCmd)cars[carid];
                            cmd.sendTime = DateTime.Now;
                            ok = true;
                        }
                        else
                        {
                            cmd = new CarStateCmd();
                            cmd.iCarID = carid;
                            cmd.carId = "0x" + carid.ToString("X2");
                            cmd.sendTime = DateTime.Now;
                            cars.Add(carid, cmd);
                        }
                    }

                    //这里的写和心跳里面的读不能同时执行
                    HandleCarStateMsg(cmd, datas);

                    if (ok == false)
                    {
                        //车辆上线是一个事件，需要对外抛出事件
                        if (CarConnectedEvent != null)
                        {
                            Task.Run(() => {
                                cmd.msgType = MessageType.MSG_TYPE_CAR_Connected;
                                CarConnectedEvent(cmd);
                            });
                        }
                    }
                    break;
                case 0x04:
                    CarStateCmd cmd2 = new CarStateCmd();
                    cmd2.carId = "0x" + carid.ToString("X2");
                    cmd2.iCarID = carid;
                    HandleCarArrivedMsg(cmd2, datas);
                    //车辆到位是一个事件，需要对外抛出事件
                    if(CarArrivedEvent != null)
                    {
                        Task.Run(() => {
                            CarArrivedEvent(cmd2);
                        });
                    }
                    break;
                default:
                    break;
            }
           
            //获取锁，移除旧信息

            //如果长度值匹配得上，就是正常的包
            return true;
        }

        //处理车的心跳消息,更新到车的对象中
        void HandleCarStateMsg(CarStateCmd cmd , byte[] datas)
        {
            cmd.msgType = MessageType.MSG_TYPE_CAR_REPORT;
            cmd.powerLevel = datas[8].ToString();
            cmd.speed = (datas[21] * 0.1).ToString("0.00");
            cmd.state = (datas[22] > 0) ? CarState.Moving : CarState.Stoped; //根据要求，未完整，还有是否故障，是否中断，是否到达等
            cmd.loading = datas[23] > 0 ? true : false;
            cmd.isEnable = datas[24] > 0? true : false;
            int x, y, z, yaw;
            x = (int)(datas[9] + ((datas[10] << 8) & 0xff00));
            y = (int)(datas[11] + ((datas[12] << 8) & 0xff00));
            z = (int)(datas[13] + ((datas[14] << 8) & 0xff00));
            cmd.curPos = new Position(x,y,z, (z * 0.01).ToString("0.00"));
            x = (int)(datas[15] + ((datas[16] << 8) & 0xff00));
            y = (int)(datas[17] + ((datas[18] << 8) & 0xff00));
            z = (int)(datas[19] + ((datas[20] << 8) & 0xff00));
            cmd.destPos = new Position(x,y,z, (z * 0.01).ToString("0.00"));
            if(datas[27] == 0)
            {
                cmd.type = CarType.AMR;
            }
            else
            {
                cmd.type = CarType.AGV;
            }
            //几下更新数据的时间，更新数据与发送数据到mqtt总线上的时间不一样
            cmd.sendTime = DateTime.Now;
            //此次z和yaw赋值一样
            //需要z和yaw分开，要和老蔡商量
        }

        //心跳和车到达消息都存在车的属性缓存消息结构中，只是中间产生了车到达的事件
        void HandleCarArrivedMsg(CarStateCmd cmd , byte[] datas)
        {
            cmd.state = CarState.Arrived; //小车到达的消息，需要和老马确认
            cmd.msgType = MessageType.MSG_TYPE_CAR_Arrived;
            int x, y, z, yaw;
            x = (int)(datas[8] + ((datas[9] << 8) & 0xff00));
            y = (int)(datas[10] + ((datas[11] << 8) & 0xff00));
            z = (int)(datas[12] + ((datas[13] << 8) & 0xff00));
            cmd.curPos = new Position(x, y, z, (z*0.01).ToString("0.00"));
            x = (int)(datas[14] + ((datas[15] << 8) & 0xff00));
            y = (int)(datas[16] + ((datas[17] << 8) & 0xff00));
            z = (int)(datas[18] + ((datas[19] << 8) & 0xff00));
            cmd.destPos = new Position(x, y, z, (z * 0.01).ToString("0.00"));
            //此次z和yaw赋值一样
            if (datas[27] == 0)
            {
                cmd.type = CarType.AMR;
            }
            else
            {
                cmd.type = CarType.AGV;
            }
            //几下更新数据的时间，更新数据与发送数据到mqtt总线上的时间不一样
            cmd.sendTime = DateTime.Now;

        }

        //串口对外发送
        public bool Send(byte[] buffer)
        {
            if (buffer == null)
                return false;

            if (serial == null || serial.IsOpen == false)
                Start();

            if (serial != null && serial.IsOpen)
            {
                lock (this)
                {
                    serial.Write(buffer, 0, buffer.Length);
                }

            }
            return true;

        }

        //串口启动后的定期执行事件，如果有内容，则对外发送定时消息
        private void CreateHeartBeat()
        {
           // return;

            List<CarStateCmd> offlinecars = new List<CarStateCmd>();
            List<CarStateCmd> onlinecars = new List<CarStateCmd>();

            Task.Run(() => {
                while (true)
                {
                    if (IsStart == false  ||  AmrManager.ProcessExit)
                        break;

                    Thread.Sleep(350);
                    //保留最新的,lock内的内容要尽快结束，并且不要出错，另一个线程会把最新的车状态替换到cars里面。
                    lock (lockobj)
                    {
                        offlinecars.Clear();
                        onlinecars.Clear();
                        List<CarStateCmd> carstates = cars.Values.ToList();
                        foreach (var item in carstates)
                        {
                            //首先移除超时的消息，正常是每辆车100ms都有数据上来
                            if ((DateTime.Now - item.sendTime).TotalMilliseconds > 2000)
                            {
                                //超时，认为掉线
                                offlinecars.Add(item);
                                //移除
                                cars.Remove((ushort)item.iCarID);
                            }
                            else
                            {
                                onlinecars.Add(item);
                            }
                        }
                    }

                    //对offlinecars，产生离线消息
                    //车辆上线是一个事件，需要对外抛出事件
                    if (CarDisconnectedEvent != null)
                    {
                        foreach (var item in offlinecars)
                        {
                            item.msgType = MessageType.MSG_TYPE_CAR_Disconnected;
                            CarDisconnectedEvent(item);
                        }
                    }
                    //对onlinecars，产生状态变更消息
                    if (ReceiveCarStateCmdEvent != null)
                    {
                        foreach (var item in onlinecars)
                        {
                            ReceiveCarStateCmdEvent(item);
                        }
                    }
                }
            });
        }

        public bool Start()
        {
            if (serial != null)
                serial.Close();

            serial = new SerialPort();
            serial.PortName = portName;
            serial.BaudRate = baudRate;
            serial.DataBits = dataBits;
            serial.StopBits = stopBits;
            serial.Parity = parity;
            serial.ReceivedBytesThreshold = 1;
            len = 0;
            start = 0;
            end = 0;
            serial.DataReceived += Serial_DataReceived;
            try
            {
                serial.Open();
                IsStart = true;
                //创建定时程序
                CreateHeartBeat();
            }
            catch (Exception)
            {
                //串口线被拔掉时会有异常
            }

            return serial.IsOpen;
        }

        public bool Stop()
        {
            if (serial != null)
            {
                serial.Close();
                serial = null;
                IsStart = false;
                len = 0;
                start = -1;
                end = 0;
            }
            return true;
        }

        public void Dispose()
        {
            try
            {
                Stop();
            }
            catch (Exception)
            {
            }
        }

        //对车发送命令
        public bool SendCarCmd(CallCarCmd cmd)
        {
            byte[] datas = new byte[36];
            datas[0] = 0xfd; //zigbee帧头
            datas[1] = 32;   //数据长度
            ushort id = Convert.ToUInt16(cmd.carId, 16);
            datas[2] = (byte)(id & 0xff);
            datas[3] = (byte)((id >> 8) & 0xff);
            datas[4] = 0x7e;
            datas[4 + 1] = 0x7e;
            datas[4 + 2] = 32;
            datas[4 + 3] = 0x02; //命令
            datas[4 + 6] = (byte)(id & 0xff);
            datas[4 + 7] = (byte)((id >> 8) & 0xff);
            datas[4 + 8] = (byte)(cmd.destPos.x & 0xff);
            datas[4 + 9] = (byte)((cmd.destPos.x >> 8) & 0xff);
            datas[4 + 10] = (byte)(cmd.destPos.y & 0xff);
            datas[4 + 11] = (byte)((cmd.destPos.y >> 8) & 0xff);
            datas[4 + 12] = (byte)(cmd.destPos.z & 0xff);
            datas[4 + 13] = (byte)((cmd.destPos.z >> 8) & 0xff);
            if(id != 0xfe04)
            {
                datas[4 + 27] = (byte)CarType.AMR;
            }
            else
            {
                datas[4 + 27] = (byte)CarType.AGV;
            }

            datas[4 + 30] = 0x0d;
            datas[4 + 31] = 0x0a;

            return Send(datas);
        }

        //让车停
        public bool SendCarStop(StopCarCmd cmd)
        {
            byte[] datas = new byte[36];
            datas[0] = 0xfd; //zigbee帧头
            datas[1] = 32;   //数据长度
            ushort id = Convert.ToUInt16(cmd.carId, 16);
            datas[2] = (byte)(id & 0xff);
            datas[3] = (byte)((id >> 8) & 0xff);
            datas[4] = 0x7e;
            datas[4 + 1] = 0x7e;
            datas[4 + 2] = 32;
            datas[4 + 3] = 0x03; //命令
            datas[4 + 6] = (byte)(id & 0xff);  //目的ID
            datas[4 + 7] = (byte)((id >> 8) & 0xff);
            if (id != 0xfe04)
            {
                datas[4 + 27] = (byte)CarType.AMR;
            }
            else
            {
                datas[4 + 27] = (byte)CarType.AGV;
            }

            datas[4 + 30] = 0x0d;
            datas[4 + 31] = 0x0a;

            return Send(datas);
        }

        //对车使能
        public bool SendCarEnable(EnableCarCmd cmd)
        {
            byte[] datas = new byte[36];
            datas[0] = 0xfd; //zigbee帧头
            datas[1] = 32;   //数据长度
            ushort id = Convert.ToUInt16(cmd.carId, 16);
            datas[2] = (byte)(id & 0xff);
            datas[3] = (byte)((id >> 8) & 0xff);
            datas[4] = 0x7e;
            datas[4 + 1] = 0x7e;
            datas[4 + 2] = 32;
            datas[4 + 3] = 0x05; //命令
            datas[4 + 6] = (byte)(id & 0xff);  //目的ID
            datas[4 + 7] = (byte)((id >> 8) & 0xff);
            if (id != 0xfe04)
            {
                datas[4 + 27] = (byte)CarType.AMR;
            }
            else
            {
                datas[4 + 27] = (byte)CarType.AGV;
            }

            datas[4 + 30] = 0x0d;
            datas[4 + 31] = 0x0a;

            return Send(datas);
        }

        //停止车使能
        public bool SendCarDisable(DisableCarCmd cmd)
        {
            byte[] datas = new byte[36];
            datas[0] = 0xfd; //zigbee帧头
            datas[1] = 32;   //数据长度
            ushort id = Convert.ToUInt16(cmd.carId, 16);
            datas[2] = (byte)(id & 0xff);
            datas[3] = (byte)((id >> 8) & 0xff);
            datas[4] = 0x7e;
            datas[4 + 1] = 0x7e;
            datas[4 + 2] = 32;
            datas[4 + 3] = 0x06; //命令
            datas[4 + 6] = (byte)(id & 0xff); //目的ID
            datas[4 + 7] = (byte)((id >> 8) & 0xff);
            if (id != 0xfe04)
            {
                datas[4 + 27] = (byte)CarType.AMR;
            }
            else
            {
                datas[4 + 27] = (byte)CarType.AGV;
            }

            datas[4 + 30] = 0x0d;
            datas[4 + 31] = 0x0a;

            return Send(datas);
        }

        public bool SendCarShowImage(CarShowCmd cmd)
        {
            byte[] datas = new byte[36];
            datas[0] = 0xfd; //zigbee帧头
            datas[1] = 32;   //数据长度
            ushort id = Convert.ToUInt16(cmd.carId, 16);
            datas[2] = (byte)(id & 0xff);
            datas[3] = (byte)((id >> 8) & 0xff);
            datas[4] = 0x7e;
            datas[4 + 1] = 0x7e;
            datas[4 + 2] = 32;
            datas[4 + 3] = 0x07; //命令
            datas[4 + 6] = (byte)(id & 0xff); //目的ID
            datas[4 + 7] = (byte)((id >> 8) & 0xff);
            //为了解析简单，数组必须是2
            if(cmd.channelIds != null && cmd.picCodes != null && cmd.picCodes.Length > 1 && cmd.channelIds.Length > 1)
            {
                datas[8] = cmd.picCodes[0];
                datas[9] = cmd.picCodes[1];
            }
            //else
            //{
            //    //否则索引号为0，默认不显示
            //}
            if (id != 0xfe04)
            {
                datas[4 + 27] = (byte)CarType.AMR;
            }
            else
            {
                datas[4 + 27] = (byte)CarType.AGV;
            }

            datas[4 + 30] = 0x0d;
            datas[4 + 31] = 0x0a;

            return Send(datas);
        }
    }
}