using LB_VisionProcesses.Communicators;
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using RJCP.IO.Ports;
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using System.Text;
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namespace LB_VisionProcesses.Communicators.Tcom
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{
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public class UARTPort : BaseCommunicator
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{
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private RJCP.IO.Ports.SerialPortStream SerialPort = new RJCP.IO.Ports.SerialPortStream();
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// 构造函数
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public UARTPort(string name = "UART串口")
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{
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CommunicatorConnections.Add("地址", "COM1");
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CommunicatorConnections.Add("端口", "115200");
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CommunicatorBrand = CommunicatorBrand.UARTPort;
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CommunicatorName = name;
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}
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/// <summary>
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/// 配置串口参数
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/// </summary>
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/// <param name="portName"></param>
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/// <param name="baudRate"></param>
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/// <param name="parity"></param>
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/// <param name="dataBits"></param>
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/// <param name="stopBits"></param>
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public void SetConfigure(string portName, int baudRate = 115200, RJCP.IO.Ports.Parity parity = RJCP.IO.Ports.Parity.None,
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int dataBits = 8, RJCP.IO.Ports.StopBits stopBits = RJCP.IO.Ports.StopBits.One)
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{
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SerialPort.PortName = portName;
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SerialPort.BaudRate = baudRate;
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SerialPort.Parity = parity;
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SerialPort.DataBits = dataBits;
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SerialPort.StopBits = stopBits;
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SerialPort.NewLine = "\r\n"; // 设置行结束符
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SerialPort.ReadTimeout = 500; // 设置读取超时
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SerialPort.WriteTimeout = 500; // 设置写入超时
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}
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public override bool Connect()
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{
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try
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{
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Disconnect();
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//波特率
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int PORT = 0;
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if (!int.TryParse(this.CommunicatorConnections["端口"].ToString(), out PORT))
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{
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Msg = string.Format("端口未设置");
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return false;
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}
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if (!CommunicatorConnections.Contains("地址"))
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{
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Msg = string.Format("地址未设置");
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return false;
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}
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//串口号
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string IP = CommunicatorConnections["地址"].ToString();
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if (!SerialPort.IsOpen)
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{
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SerialPort = new SerialPortStream();
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SetConfigure(IP, PORT);
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SerialPort.Open();
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bConnected = true;
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SerialPort.DataReceived += SerialPort_DataReceived;
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// 启动心跳线程
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heartbeatThread = new Thread(SendHeartbeat);
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heartbeatThread.IsBackground = true;
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heartbeatThread.Start();
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bConnected = true;
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return true;
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}
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else
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{
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Msg = $"原串口关闭失败无法重新打开";
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return false;
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}
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}
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catch (Exception ex)
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{
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Msg = $"失败,串口已经启动: {ex.Message}";
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return false;
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}
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}
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public override bool Disconnect()
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{
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try
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{
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bConnected = false;
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if (SerialPort == null)
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{
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SerialPort = new SerialPortStream();
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return true;
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}
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if (SerialPort.IsOpen)
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{
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SerialPort.DataReceived -= SerialPort_DataReceived;
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SerialPort.Close(); // 关闭串口
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}
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SerialPort = new SerialPortStream();
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return true;
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}
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catch (Exception ex)
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{
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bConnected = false;
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Msg = $"断开串口时出错: {ex.Message}";
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return true;
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}
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}
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public override bool SendMessage(byte[] sBytes)
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{
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strReceiveMsg = string.Empty;
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bool bret = false;
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if (SerialPort == null || !SerialPort.IsOpen) return bret;
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try
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{
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// 清空缓冲区
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SerialPort.DiscardOutBuffer();
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//Thread.Sleep(50);
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SerialPort.Write(sBytes, 0, sBytes.Length);
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bret = true;
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}
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catch { }
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return bret;
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}
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public override bool SendMessage(string message)
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{
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strReceiveMsg = string.Empty;
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if (bConnected)
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{
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try
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{
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//空消息不发送
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if (string.IsNullOrEmpty(message) || message.Trim() == "")
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return true;
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//发送前清空接收消息
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strReceiveMsg = string.Empty;
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// 清空缓冲区
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SerialPort.DiscardOutBuffer();
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//Thread.Sleep(50);
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byte[] sBytes = BaseCommunicator.strToHexByte(message);
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if (sBytes.Length == 0)
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SerialPort.Write(message); // 发送消息
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else
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SerialPort.Write(sBytes, 0, sBytes.Length);
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return true;
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}
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catch (Exception ex)
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{
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Msg = $"发送消息时出错: {ex.Message}";
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return false;
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}
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}
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else
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{
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Msg = "串口未打开";
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return false;
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}
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}
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private readonly System.Collections.Concurrent.ConcurrentQueue<string> _messageQueue = new();
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private readonly object _timerLock = new object();
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private System.Threading.Timer _aggregateTimer;
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private readonly TimeSpan _aggregationInterval = TimeSpan.FromMilliseconds(50); // 50ms聚合窗口
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private void SerialPort_DataReceived(object? sender, RJCP.IO.Ports.SerialDataReceivedEventArgs e)
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{
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try
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{
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if (SerialPort == null || !SerialPort.IsOpen)
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return;
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if (SerialPort.BytesToRead > 0)
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{
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byte[] buffer = new byte[SerialPort.BytesToRead];
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int bytesRead = SerialPort.Read(buffer, 0, buffer.Length);
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string message = BitConverter.ToString(buffer, 0, bytesRead).Replace('-', ' ');
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if (!string.IsNullOrEmpty(message))
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{
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// 将消息加入队列
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_messageQueue.Enqueue(message);
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// 启动或重置聚合计时器
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lock (_timerLock)
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{
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_aggregateTimer?.Dispose();
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_aggregateTimer = new System.Threading.Timer(
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AggregateMessages,
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null,
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_aggregationInterval,
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Timeout.InfiniteTimeSpan
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);
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}
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}
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}
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}
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catch (Exception ex)
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{
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Msg = $"读取串口数据时出错: {ex.Message}";
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}
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}
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private void AggregateMessages(object state)
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{
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lock (_timerLock)
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{
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if (_messageQueue.IsEmpty)
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return;
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// 聚合队列中的所有消息
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StringBuilder aggregatedMessage = new StringBuilder();
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while (_messageQueue.TryDequeue(out string msg))
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{
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if (aggregatedMessage.Length > 0)
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aggregatedMessage.Append(" ");
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aggregatedMessage.Append(msg);
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}
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// 只触发一次回调
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strReceiveMsg = aggregatedMessage.ToString();
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if (!string.IsNullOrEmpty(strReceiveMsg))
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{
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MessageReceived?.Invoke(strReceiveMsg);
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TriggerRunMessageReceived?.Invoke(CommunicatorName, strReceiveMsg);
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}
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}
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}
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public override 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(50);
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else
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{
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lock (strReceiveMsg)
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{
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msg += strReceiveMsg;
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strReceiveMsg = string.Empty;
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}
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//串口数据需要使用累加方式
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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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}
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}
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