feat: 完成前后端旋转编码器的数字孪生
This commit is contained in:
243
server/src/Hubs/RotaryEncoderHub.cs
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243
server/src/Hubs/RotaryEncoderHub.cs
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@@ -0,0 +1,243 @@
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using Microsoft.AspNetCore.Authorization;
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using System.Security.Claims;
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using Microsoft.AspNetCore.SignalR;
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using Microsoft.AspNetCore.Cors;
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using TypedSignalR.Client;
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using DotNext;
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using Peripherals.RotaryEncoderClient;
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using System.Collections.Concurrent;
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#pragma warning disable 1998
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namespace server.Hubs;
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[Hub]
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public interface IRotaryEncoderHub
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{
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Task<bool> SetEnable(bool enable);
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Task<bool> RotateEncoderOnce(int num, RotaryEncoderDirection direction);
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Task<bool> EnableCycleRotateEncoder(int num, RotaryEncoderDirection direction, int freq);
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Task<bool> DisableCycleRotateEncoder();
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}
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[Receiver]
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public interface IRotaryEncoderReceiver
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{
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Task OnReceiveRotate(int num, RotaryEncoderDirection direction);
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}
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public class CycleTaskInfo
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{
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public Task? CycleTask { get; set; }
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public RotaryEncoderCtrl EncoderClient { get; set; }
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public CancellationTokenSource CTS { get; set; } = new();
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public int Freq { get; set; }
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public int Num { get; set; }
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public RotaryEncoderDirection Direction { get; set; }
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public CycleTaskInfo(
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RotaryEncoderCtrl client,
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int num, int freq,
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RotaryEncoderDirection direction)
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{
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EncoderClient = client;
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Num = num;
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Direction = direction;
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Freq = freq;
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}
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}
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[Authorize]
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[EnableCors("SignalR")]
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public class RotaryEncoderHub : Hub<IRotaryEncoderReceiver>, IRotaryEncoderHub
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{
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private static NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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private readonly IHubContext<RotaryEncoderHub, IRotaryEncoderReceiver> _hubContext;
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private readonly Database.UserManager _userManager = new();
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private ConcurrentDictionary<(string, string), CycleTaskInfo> _cycleTasks = new();
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public RotaryEncoderHub(IHubContext<RotaryEncoderHub, IRotaryEncoderReceiver> hubContext)
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{
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_hubContext = hubContext;
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}
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private Optional<Database.Board> TryGetBoard()
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{
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var userName = Context.User?.FindFirstValue(ClaimTypes.Name);
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if (string.IsNullOrEmpty(userName))
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{
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logger.Error("User name is null or empty");
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return null;
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}
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var userRet = _userManager.GetUserByName(userName);
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if (!userRet.IsSuccessful || !userRet.Value.HasValue)
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{
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logger.Error($"User '{userName}' not found");
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return null;
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}
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var user = userRet.Value.Value;
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var boardRet = _userManager.GetBoardByID(user.BoardID);
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if (!boardRet.IsSuccessful || !boardRet.Value.HasValue)
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{
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logger.Error($"Board not found");
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return null;
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}
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return boardRet.Value.Value;
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}
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public async Task<bool> SetEnable(bool enable)
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{
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try
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{
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var board = TryGetBoard().OrThrow(() => new Exception("Board not found"));
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var encoderCtrl = new RotaryEncoderCtrl(board.IpAddr, board.Port, 0);
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var result = await encoderCtrl.SetEnable(enable);
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if (!result.IsSuccessful)
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{
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logger.Error(result.Error, "SetEnable failed");
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return false;
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}
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return result.Value;
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}
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catch (Exception ex)
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{
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logger.Error(ex, "Failed to set enable");
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return false;
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}
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}
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public async Task<bool> RotateEncoderOnce(int num, RotaryEncoderDirection direction)
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{
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try
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{
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if (num <= 0 || num > 4)
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throw new ArgumentException($"RotaryEncoder num should be 1~3, instead of {num}");
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var board = TryGetBoard().OrThrow(() => new Exception("Board not found"));
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var encoderCtrl = new RotaryEncoderCtrl(board.IpAddr, board.Port, 0);
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var result = await encoderCtrl.RotateEncoderOnce(num, direction);
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if (!result.IsSuccessful)
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{
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logger.Error(result.Error, $"RotateEncoderOnce({num}, {direction}) failed");
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return false;
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}
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return result.Value;
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}
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catch (Exception ex)
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{
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logger.Error(ex, "Failed to rotate encoder once");
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return false;
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}
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}
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public async Task<bool> EnableCycleRotateEncoder(int num, RotaryEncoderDirection direction, int freq)
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{
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try
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{
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if (num <= 0 || num > 4) throw new ArgumentException(
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$"RotaryEncoder num should be 1~3, instead of {num}");
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if (freq <= 0 || freq > 1000) throw new ArgumentException(
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$"Frequency should be between 1 and 1000, instead of {freq}");
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var board = TryGetBoard().OrThrow(() => new Exception("Board not found"));
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var key = (board.ID.ToString(), Context.ConnectionId);
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if (_cycleTasks.TryGetValue(key, out var existing))
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await DisableCycleRotateEncoder();
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var cts = new CancellationTokenSource();
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var encoderCtrl = new RotaryEncoderCtrl(board.IpAddr, board.Port, 0);
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var cycleTaskInfo = new CycleTaskInfo(encoderCtrl, num, freq, direction);
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cycleTaskInfo.CycleTask = CycleRotate(cycleTaskInfo, Context.ConnectionId, board.ID.ToString());
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_cycleTasks[key] = cycleTaskInfo;
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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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logger.Error(ex, "Failed to enable cycle rotate encoder");
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return false;
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}
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}
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public async Task<bool> DisableCycleRotateEncoder()
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{
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try
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{
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var board = TryGetBoard().OrThrow(() => new Exception("Board not found"));
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var key = (board.ID.ToString(), Context.ConnectionId);
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if (_cycleTasks.TryRemove(key, out var taskInfo))
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{
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taskInfo.CTS.Cancel();
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if (taskInfo.CycleTask != null)
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await taskInfo.CycleTask;
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taskInfo.CTS.Dispose();
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}
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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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logger.Error(ex, "Failed to disable cycle rotate encoder");
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return false;
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}
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}
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private Task CycleRotate(CycleTaskInfo taskInfo, string clientId, string boardId)
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{
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var ctrl = taskInfo.EncoderClient;
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var token = taskInfo.CTS.Token;
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return Task.Run(async () =>
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{
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var cntError = 0;
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while (!token.IsCancellationRequested)
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{
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var ret = await ctrl.RotateEncoderOnce(taskInfo.Num, taskInfo.Direction);
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if (!ret.IsSuccessful)
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{
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logger.Error(
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$"Failed to rotate encoder {taskInfo.Num} on board {boardId}: {ret.Error}");
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cntError++;
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if (cntError >= 3)
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{
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logger.Error(
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$"Too many errors occurred while rotating encoder {taskInfo.Num} on board {boardId}");
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break;
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}
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}
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if (!ret.Value)
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{
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logger.Warn(
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$"Encoder {taskInfo.Num} on board {boardId} is not responding");
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continue;
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}
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await _hubContext.Clients
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.Client(clientId)
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.OnReceiveRotate(taskInfo.Num, taskInfo.Direction);
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await Task.Delay(1000 / taskInfo.Freq, token);
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}
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}, token)
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.ContinueWith((task) =>
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{
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if (task.IsFaulted)
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{
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logger.Error($"Rotary encoder cycle operation failed: {task.Exception}");
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}
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else if (task.IsCanceled)
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{
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logger.Info($"Rotary encoder cycle operation cancelled for board {boardId}");
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}
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else
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{
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logger.Info($"Rotary encoder cycle completed for board {boardId}");
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}
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});
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}
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}
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69
server/src/Peripherals/RotaryEncoderClient.cs
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69
server/src/Peripherals/RotaryEncoderClient.cs
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@@ -0,0 +1,69 @@
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using System.Net;
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using DotNext;
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using Tapper;
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namespace Peripherals.RotaryEncoderClient;
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class RotaryEncoderCtrlAddr
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{
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public const UInt32 BASE = 0xB0_00_00_20;
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public const UInt32 ENABLE = BASE;
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}
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[TranspilationSource]
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public enum RotaryEncoderDirection : uint
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{
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CounterClockwise = 0,
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Clockwise = 1,
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}
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public class RotaryEncoderCtrl
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 500;
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readonly int taskID;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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public RotaryEncoderCtrl(string address, int port, int taskID, int timeout = 500)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.taskID = taskID;
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this.timeout = timeout;
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}
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public async ValueTask<Result<bool>> SetEnable(bool enable)
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{
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if (MsgBus.IsRunning)
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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else return new(new Exception("Message Bus not work!"));
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, RotaryEncoderCtrlAddr.ENABLE, enable ? 0x1U : 0x0U, this.timeout);
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if (!ret.IsSuccessful) return new(ret.Error);
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return ret.Value;
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}
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public async ValueTask<Result<bool>> RotateEncoderOnce(int num, RotaryEncoderDirection direction)
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{
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if (MsgBus.IsRunning)
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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else return new(new Exception("Message Bus not work!"));
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, RotaryEncoderCtrlAddr.BASE + (UInt32)num, (UInt32)direction, this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Set Rotary Encoder {num} {direction.ToString()} failed: {ret.Error}");
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return new(ret.Error);
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}
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return ret.Value;
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}
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}
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@@ -1,4 +1,3 @@
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using System.Collections;
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using System.Net;
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using DotNext;
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@@ -11,9 +10,6 @@ class SwitchCtrlAddr
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public const UInt32 ENABLE = BASE;
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}
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/// <summary>
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/// 矩阵键盘外设类，用于控制和管理矩阵键盘的功能。
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/// </summary>
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public class SwitchCtrl
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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