2021-10-20 V1.07

“寧々” · “寧々” · commit 0c1af6171fe8 · 2021-10-20T10:28:01.000+08:00
diff --git a/MiniCarLib/Properties/AssemblyInfo.cs b/MiniCarLib/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.6.0.0")]
-[assembly: AssemblyFileVersion("1.6.0.0")]
+[assembly: AssemblyVersion("1.7.0.0")]
+[assembly: AssemblyFileVersion("1.7.0.0")]
diff --git a/MiniCarLib/QianCar.cs b/MiniCarLib/QianCar.cs
@@ -14,7 +14,7 @@ public class QianCar : ICar
         public byte CarVersion { get; set; }
         public string CarName { get; set; }
         public CarState State { get; set; }
-        public int Speed { get; set; }
+        public int CarSpeed { get; set; }
         public IComClient ComClient { get; set; }
         public CarErrorState ErrorState { get; set; }
         public object ErrorInfo { get; set; }
@@ -25,5 +25,7 @@ public class QianCar : ICar
         public virtual byte Direction { get; set; }
 
         public ushort RouteRemain { get; set; }
+        public byte Battery { get; set; }
+        public byte MoterSpeed { get; set; }
     }
 }
diff --git a/MiniCarLib/QianCarAPI.cs b/MiniCarLib/QianCarAPI.cs
@@ -12,6 +12,10 @@ namespace MiniCarLib
     public delegate void OnCarLeaveConfirmedHandler(QianCar car);
     public delegate void OnCarUnregisterHandler(QianCar car);
     public delegate void OnCarErrorReportedHandler(QianCar car, CarErrorState errcode, byte[] errinfo);
+    public delegate void OnCarMotorSpeedSetHandler(QianCar car, byte speed);
+    //public delegate void OnCarPausedHandler(QianCar car);
+    public delegate void OnCarResumingHandler(QianCar car,ReportCarStateData data);
+
     public static class QianCarAPI
     {
         static QianCarController controller;
@@ -31,12 +35,25 @@ public static class QianCarAPI
         public static event OnCarUnregisterHandler OnCarUnregisterRequest;
         public static event OnCarUnregisterHandler OnCarUnregisterResponse;
         public static event OnCarErrorReportedHandler OnCarErrorReported;
+        public static event OnCarMotorSpeedSetHandler OnCarMotorSpeedSet;
+        //public static event OnCarPausedHandler OnCarPaused;
+        public static event OnCarResumingHandler OnCarResuming;
 
         private static void InitEvents()
         {
             controller.OnCustomData += OnCustomData;
             controller.AfterRegistered += (car, data) => { if (car != null) OnCarRegistered?.Invoke((QianCar)car); };
-            controller.AfterReportState += (car, data) => OnCarStateReported?.Invoke((QianCar)car,((ReportCarStateData)data).IsACK);
+            controller.AfterReportState += (car, data) =>
+            {
+                OnCarStateReported?.Invoke((QianCar)car, ((ReportCarStateData)data).IsACK);
+            };
+            controller.BeforeReportState += (car,data) =>
+             {
+                 QianCar c = (QianCar)car;
+                 ReportCarStateData dt = (ReportCarStateData)data;
+                 if (c.State == CarState.EmergencyStop && dt.State != CarState.EmergencyStop)
+                     OnCarResuming?.Invoke(c, dt);
+             };
             controller.OnApplyForEnter += (car, data) => OnCarApplyForEnter?.Invoke(
                 (QianCar)car, 
                 controller.Map[((ApplyForEnterData)data).PointID]
@@ -57,6 +74,7 @@ private static void InitEvents()
                 var obj = (ErrorReportData)data;
                 OnCarErrorReported?.Invoke((QianCar)car, obj.ErrorCode, obj.ErrorData);
             };
+            controller.OnMotorSpeedSet += (car, data) => OnCarMotorSpeedSet((QianCar)car, ((SetMotorSpeedData)data).MotorSpeed);
         }
 
 
@@ -109,7 +127,10 @@ public static void Init(QianCarController ct, string mapfile, byte[] password =
         public static void CallCarLeave(QianCar car, bool allow) => controller.CallCarLeave(car, allow);
         public static void UnregisterCar(QianCar car) => controller.UnregisterCar(car);
         public static void ConfirmUnregteration(QianCar car, bool allow, bool removecar = true) => controller.ConfirmUnregteration(car, allow, removecar);
-        public static void EmergencyStopCar(QianCar car) => controller.EmergencyStopCar(car, 0x00);
+        //public static void EmergencyStopCar(QianCar car) => controller.EmergencyStopCar(car, 0x00);
+        public static void PauseCar(QianCar car, byte code = 0x00) => controller.EmergencyStopCar(car, true, code);
+        public static void ResumeCar(QianCar car, byte code = 0x00) => controller.EmergencyStopCar(car, false, code);
+        public static void SetMotroSpeed(QianCar car, byte speed) => controller.SetMotorSpeed(car, speed);
         public static void SendCustomData(QianCar car,byte[] data)=> controller.SendCustomData(car, new CustomData() { UserData = data });
 
     }
diff --git a/MiniCarLib/QianCarController.cs b/MiniCarLib/QianCarController.cs
@@ -37,6 +37,7 @@ public class QianCarController
         public event OnCarEventHandler OnUnregisterRequest;
         public event OnCarEventHandler OnUnregisterResponse;
         public event OnCarEventHandler OnErrorReport;
+        public event OnCarEventHandler OnMotorSpeedSet;
         public event OnCustomDataEventHandler OnCustomData;
 
         protected void _init(ushort serverid)
@@ -156,11 +157,19 @@ public virtual void ConfirmUnregteration(QianCar car,bool allow,bool removecar=t
             SendCarDataPack(car, res);
         }
 
-        public virtual void EmergencyStopCar(QianCar car,byte code)
+        public virtual void EmergencyStopCar(QianCar car,bool flag,byte code)
         {
             var data = (EmergencyStopData)QianComDataFactory.CreateInstance(DataFunctionType.EmergencyStop);
             data.EmergencyCode = code;
-            car.State = CarState.EmergencyStop;
+            if(flag)
+                car.State = CarState.EmergencyStop;
+            SendCarDataPack(car, data);
+        }
+
+        public virtual void SetMotorSpeed(QianCar car, byte speed)
+        {
+            var data = (SetMotorSpeedData)QianComDataFactory.CreateInstance(DataFunctionType.SetMotorSpeed);
+            data.MotorSpeed = speed;
             SendCarDataPack(car, data);
         }
 
@@ -213,12 +222,21 @@ protected virtual void Server_OnCarDataReceived(IComClient client, QianComHeader
                     ErrorReportHandler(car, (ErrorReportData)data);
                     OnErrorReport?.Invoke(car, data);
                     break;
+                case DataFunctionType.SetMotorSpeed:
+                    MotorSpeedSetHandler(car, (SetMotorSpeedData)data);
+                    OnMotorSpeedSet?.Invoke(car, data);
+                    break;
                 default:
                     OnCustomData?.Invoke(car, header, data);
                     break;
             }
         }
 
+        public virtual void MotorSpeedSetHandler(QianCar car, SetMotorSpeedData data)
+        {
+            car.MoterSpeed = data.MotorSpeed;
+        }
+
         public virtual void ErrorReportHandler(QianCar car,ErrorReportData data)
         {
             car.State = CarState.Error;
@@ -277,13 +295,12 @@ public virtual ICar RegisrationHandler(IComClient client, QianComHeader header,
 
         public virtual void QueryDataHandler(QianCar car, ReportCarStateData data)
         {           
-            car.Speed = data.Speed;
+            car.CarSpeed = data.Speed;
             car.State = data.State;
             car.CurrentPoint = Map[data.PointID];
             car.Direction = data.Direction;
             car.RouteRemain = data.RouteRemain;
-          
-            
+            car.Battery = data.Battery;            
         }
 
         
diff --git a/MiniCarLib/QianCarData.cs b/MiniCarLib/QianCarData.cs
@@ -50,7 +50,7 @@ public enum DataFunctionType : byte
         UnregisterRequest = 0x0C,
         UnregisterResponse = 0x0D,
         EmergencyStop = 0x0E,
-        
+        SetMotorSpeed = 0x0F,
 
         CustomData = 0xFF,
     }
@@ -237,8 +237,9 @@ public class ReportCarStateData : QianComData
         public string PointID { get; set; }
         public ushort Speed { get; set; }
         public ushort RouteRemain { get; set; }
+        public byte Battery { get; set; }
 
-        public override byte DataLen => (byte)(PointIDLen + 8);
+        public override byte DataLen => (byte)(PointIDLen + 9);
 
         public override DataFunctionType FuncType => DataFunctionType.ReportCarState;
 
@@ -253,6 +254,7 @@ public override void FillByteData(byte[] data, int offset)
                 dw.WriteString(PointID, Encoding.ASCII);
             dw.WriteHalfWord(Speed);
             dw.WriteHalfWord(RouteRemain);
+            dw.WriteByte(Battery);
         }
 
         public override void ParseByteData(byte[] data, int offset)
@@ -265,6 +267,7 @@ public override void ParseByteData(byte[] data, int offset)
                 PointID = dr.ReadString(len, Encoding.ASCII);
             Speed = dr.ReadHalfWord();
             RouteRemain = dr.ReadHalfWord();
+            Battery = dr.ReadByte();
         }
     }
 
@@ -500,18 +503,21 @@ public override void ParseByteData(byte[] data, int offset)
 
     public class EmergencyStopData : QianComData
     {
+        public bool Flag { get; set; }
         public byte EmergencyCode { get; set; }
-        public override byte DataLen => 1;
+        public override byte DataLen => 2;
 
         public override DataFunctionType FuncType => DataFunctionType.EmergencyStop;
 
         public override void FillByteData(byte[] data, int offset)
         {
+            data[offset++] = (byte)(Flag ? 1 : 0);
             data[offset] = EmergencyCode;
         }
 
         public override void ParseByteData(byte[] data, int offset)
         {
+            Flag = data[offset++] == 0 ? false : true;
             EmergencyCode = data[offset];
         }
     }
@@ -546,4 +552,25 @@ public override void ParseByteData(byte[] data, int offset)
         }
     }
 
+    public class SetMotorSpeedData : QianComData
+    {
+        public override byte DataLen => 1;
+
+        public override DataFunctionType FuncType => DataFunctionType.SetMotorSpeed;
+
+        public byte MotorSpeed { get; set; }
+
+        public override void FillByteData(byte[] data, int offset)
+        {
+            ComDataWriter dw = new ComDataWriter(data, offset);
+            dw.WriteByte(MotorSpeed);
+        }
+
+        public override void ParseByteData(byte[] data, int offset)
+        {
+            ComDataReader dr = new ComDataReader(data, offset);
+            MotorSpeed = dr.ReadByte();
+        }
+    }
+
 }

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ public enum DataFunctionType : byte`
`50`	`50`	`UnregisterRequest = 0x0C,`
`51`	`51`	`UnregisterResponse = 0x0D,`
`52`	`52`	`EmergencyStop = 0x0E,`
`53`		`-`
	`53`	`+ SetMotorSpeed = 0x0F,`
`54`	`54`
`55`	`55`	`CustomData = 0xFF,`
`56`	`56`	`}`
`@@ -237,8 +237,9 @@ public class ReportCarStateData : QianComData`
`237`	`237`	`public string PointID { get; set; }`
`238`	`238`	`public ushort Speed { get; set; }`
`239`	`239`	`public ushort RouteRemain { get; set; }`
	`240`	`+ public byte Battery { get; set; }`
`240`	`241`
`241`		`- public override byte DataLen => (byte)(PointIDLen + 8);`
	`242`	`+ public override byte DataLen => (byte)(PointIDLen + 9);`
`242`	`243`
`243`	`244`	`public override DataFunctionType FuncType => DataFunctionType.ReportCarState;`
`244`	`245`
`@@ -253,6 +254,7 @@ public override void FillByteData(byte[] data, int offset)`
`253`	`254`	`dw.WriteString(PointID, Encoding.ASCII);`
`254`	`255`	`dw.WriteHalfWord(Speed);`
`255`	`256`	`dw.WriteHalfWord(RouteRemain);`
	`257`	`+ dw.WriteByte(Battery);`
`256`	`258`	`}`
`257`	`259`
`258`	`260`	`public override void ParseByteData(byte[] data, int offset)`
`@@ -265,6 +267,7 @@ public override void ParseByteData(byte[] data, int offset)`
`265`	`267`	`PointID = dr.ReadString(len, Encoding.ASCII);`
`266`	`268`	`Speed = dr.ReadHalfWord();`
`267`	`269`	`RouteRemain = dr.ReadHalfWord();`
	`270`	`+ Battery = dr.ReadByte();`
`268`	`271`	`}`
`269`	`272`	`}`
`270`	`273`
`@@ -500,18 +503,21 @@ public override void ParseByteData(byte[] data, int offset)`
`500`	`503`
`501`	`504`	`public class EmergencyStopData : QianComData`
`502`	`505`	`{`
	`506`	`+ public bool Flag { get; set; }`
`503`	`507`	`public byte EmergencyCode { get; set; }`
`504`		`- public override byte DataLen => 1;`
	`508`	`+ public override byte DataLen => 2;`
`505`	`509`
`506`	`510`	`public override DataFunctionType FuncType => DataFunctionType.EmergencyStop;`
`507`	`511`
`508`	`512`	`public override void FillByteData(byte[] data, int offset)`
`509`	`513`	`{`
	`514`	`+ data[offset++] = (byte)(Flag ? 1 : 0);`
`510`	`515`	`data[offset] = EmergencyCode;`
`511`	`516`	`}`
`512`	`517`
`513`	`518`	`public override void ParseByteData(byte[] data, int offset)`
`514`	`519`	`{`
	`520`	`+ Flag = data[offset++] == 0 ? false : true;`
`515`	`521`	`EmergencyCode = data[offset];`
`516`	`522`	`}`
`517`	`523`	`}`
`@@ -546,4 +552,25 @@ public override void ParseByteData(byte[] data, int offset)`
`546`	`552`	`}`
`547`	`553`	`}`
`548`	`554`
	`555`	`+ public class SetMotorSpeedData : QianComData`
	`556`	`+ {`
	`557`	`+ public override byte DataLen => 1;`
	`558`	`+`
	`559`	`+ public override DataFunctionType FuncType => DataFunctionType.SetMotorSpeed;`
	`560`	`+`
	`561`	`+ public byte MotorSpeed { get; set; }`
	`562`	`+`
	`563`	`+ public override void FillByteData(byte[] data, int offset)`
	`564`	`+ {`
	`565`	`+ ComDataWriter dw = new ComDataWriter(data, offset);`
	`566`	`+ dw.WriteByte(MotorSpeed);`
	`567`	`+ }`
	`568`	`+`
	`569`	`+ public override void ParseByteData(byte[] data, int offset)`
	`570`	`+ {`
	`571`	`+ ComDataReader dr = new ComDataReader(data, offset);`
	`572`	`+ MotorSpeed = dr.ReadByte();`
	`573`	`+ }`
	`574`	`+ }`
	`575`	`+`
`549`	`576`	`}`