Rs.DeweyTester/Rs.DeweyTester/Vision/OneGrabOneVision.cs

using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Vision
{
    public class OneGrabOneVision : BaseVision
    {
        string data=string.Empty;
        public override void VNozzleCalib_DataRecived(System.Net.Sockets.Socket arg1, byte[] arg2)
        {
            //所有的视觉数据以;作为结束符
            foreach (byte b in arg2)
            {
                if (b != 59)
                {
                    reciveBuffer.Add(b);
                }
                else
                {
                    data = Encoding.ASCII.GetString(reciveBuffer.ToArray());
                    MessageQueue.Instance.Insert(data);
                    if (data == "M,0")
                    {
                        MessageQueue.Instance.Insert("视觉收到拍照指令");
                    }
                    else
                    {

                        //result = new VisionResult();
                        ////解析拍照结果
                        //string[] results = data.Split(',');
                        //if (results[1] == "-1")
                        //{
                        //    result.Result = false;
                        //    if (results.Length>=5)
                        //    {
                        //        result.Result = true;
                        //        result.SN = VirtualBarCode.Code;
                        //        result.OffsetX = double.Parse(results[3]);
                        //        result.OffsetY = double.Parse(results[4]);
                        //    }
                        //}
                        //else
                        //{
                        //    result.Result = false;
                        //    if (results.Length >= 5)
                        //    {
                        //        result.Result = true;
                        //        result.SN = results[2];
                        //        result.OffsetX = double.Parse(results[3]);
                        //        result.OffsetY = double.Parse(results[4]);
                        //    }
                                
                        //}
                        NozzleCalibReciveEvent.Set();
                    }
                    reciveBuffer.Clear();
                }
            }
        }


        /// <summary>
        /// 一拍一
        /// </summary>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public string OneGrabOne(int timeout = 10000)
        {

            data = "";
            result = null;
            NozzleCalibReciveEvent.Reset();
            int len = vNozzleCalib.Send("M;");
            if (len > 0)
            {
                if (NozzleCalibReciveEvent.WaitOne(timeout))
                {
                    MessageQueue.Instance.Insert($"收到视觉结果:{data}");
                    return data;
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
    }
}