using Newtonsoft.Json;
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namespace LB_VisionProcesses.Communicators
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{
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[JsonObject(MemberSerialization.OptOut)]
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public abstract class BaseCommunicator : ICommunicator
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{
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/// <summary>
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/// 子类名称
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/// </summary>
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public string ClassName { get; set; } = string.Empty;
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/// <summary>
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/// 通讯名称
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/// </summary>
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public string CommunicatorName { get; set; } = string.Empty;
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/// <summary>
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/// 通讯类名
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/// </summary>
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public CommunicatorBrand CommunicatorBrand { get; set; } = CommunicatorBrand.UARTPort;
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/// <summary>
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/// 是否连接
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/// </summary>
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public bool bConnected = true;
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/// <summary>
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/// 是否有心跳
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/// </summary>
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protected bool bHeart = true;
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/// <summary>
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/// 连接参数
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/// </summary>
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public CommunicatorCollections<object> CommunicatorConnections = new CommunicatorCollections<object>();
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/// <summary>
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/// 运行日志
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/// </summary>
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public string Msg = string.Empty;
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/// <summary>
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/// 接受到的消息
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/// </summary>
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public string strReceiveMsg = string.Empty;
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/// <summary>
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/// 发送的消息
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/// </summary>
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public string strSendMsg = string.Empty;
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/// <summary>
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/// 获取消息回调
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/// </summary>
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[JsonIgnore]
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public Action<string> MessageReceived;
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/// <summary>
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/// 获取消息回调
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/// </summary>
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[JsonIgnore]
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public Action<string, string> TriggerRunMessageReceived;
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/// <summary>
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/// 心跳信号
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/// </summary>
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public string strHeartbeat = "\0";
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/// <summary>
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/// 心跳间隔
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/// </summary>
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private const int HeartbeatInterval = 2; // 心跳间隔（2秒）
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/// <summary>
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/// 心跳发送线程
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/// </summary>
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[JsonIgnore]
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public Thread heartbeatThread;
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public BaseCommunicator(string name = "")
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{
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CommunicatorName = name;
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}
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public virtual void SendHeartbeat()
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{
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while (true)
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{
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Thread.Sleep(50);
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if (!bConnected)
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return;
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try
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{
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// 发送失败则重连
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if (!SendMessage(strHeartbeat) || !bHeart)
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{
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bHeart = false;
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Connect();
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}
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else
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bHeart = true;
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// 为避免心跳延时导致关闭软件延时采用for循环,过程中判断是否连接已断开
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for (int i = 0; i < HeartbeatInterval; i++)
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{
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Thread.Sleep(1000);
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if (!bConnected)
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return;
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}
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}
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catch (Exception ex)
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{
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Msg = $"心跳丢失+{ex.Message}";
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return;
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}
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}
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}
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public abstract bool Connect();
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public abstract bool Disconnect();
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public virtual string ReceiveMsg()
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{
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string msg = string.Empty;
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for (int i = 0; i <= 3; i++)
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{
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if (string.IsNullOrEmpty(strReceiveMsg))
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Thread.Sleep(25);
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else
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{
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msg = strReceiveMsg;
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strReceiveMsg = string.Empty;
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return msg;
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}
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}
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return msg;
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}
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public abstract bool SendMessage(string message);
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// 清空缓冲区
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public void ClearMessage()
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{
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strReceiveMsg = string.Empty;
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}
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public virtual void Dispose()
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{
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Disconnect();
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}
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public static ushort[] CRC_TABLE = new ushort[]{
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0x0000,0x1021,0x2042,0x3063,0x4084,0x50A5,0x60C6,0x70E7,
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0x8108,0x9129,0xA14A,0xB16B,0xC18C,0xD1AD,0xE1CE,0xF1EF
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};
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public static ushort CRC16Calculate(byte[] data, int length)
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{
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ushort uwCRC = 0xFFFF;
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byte ucTemp;
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for (int index = 0; index < length; index++)
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{
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ucTemp = (byte)(uwCRC >> 0x0C); // 提取CRC的高4位
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uwCRC <<= 4; // CRC左移4位
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uwCRC ^= CRC_TABLE[ucTemp ^ data[index] >> 0x04]; // 高4位数据与CRC表进行异或
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ucTemp = (byte)(uwCRC >> 0x0C); // 再次提取CRC的高4位
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uwCRC <<= 4; // CRC再次左移4位
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uwCRC ^= CRC_TABLE[ucTemp ^ data[index] & 0x0F]; // 低4位数据与CRC表进行异或
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}
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return uwCRC;
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}
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public static byte[] strToHexByte(string hexString)
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{
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try
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{
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hexString = hexString.Replace(" ", "");
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if (hexString.Length % 2 != 0)
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hexString += " ";
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byte[] returnBytes = new byte[hexString.Length / 2];
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for (int i = 0; i < returnBytes.Length; i++)
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returnBytes[i] = Convert.ToByte(hexString.Substring(i * 2, 2), 16);
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return returnBytes;
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}
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catch { return new byte[] { }; }
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}
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}
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}
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