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update sdk

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This commit is contained in:
gil zhang
2023-04-30 17:02:25 +08:00
parent 9e57da1dab
commit 940a67002e
4 changed files with 68 additions and 65 deletions
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src/ElectronBot.Braincase/Helpers/ElectronBotHelper.cs
+3 -2
View File
@@ -124,7 +124,7 @@ public class ElectronBotHelper
}
var json = File.ReadAllText(path);
var json = await File.ReadAllTextAsync(path);
var actionList = JsonSerializer.Deserialize<List<ElectronBotAction>>(json);
@@ -373,8 +373,9 @@ public class ElectronBotHelper
/// 播放声音
/// </summary>
/// <param name="content"></param>
/// <param name="isOpenMediaEnded"></param>
/// <returns></returns>
public async Task MediaPlayerPlaySoundByTTSAsync(string content, bool isOpenMediaEnded = true)
public async Task MediaPlayerPlaySoundByTtsAsync(string content, bool isOpenMediaEnded = true)
{
_isOpenMediaEnded = isOpenMediaEnded;
if (!string.IsNullOrWhiteSpace(content))
src/ElectronBot.Braincase/Services/SpeechAndTTS/SpeechAndTTSService.cs
+1 -1
View File
@@ -296,7 +296,7 @@ public class SpeechAndTTSService : ISpeechAndTTSService
//isListening = false;
await ReleaseRecognizerAsync();
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTTSAsync(resultText, false);
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTtsAsync(resultText, false);
}
catch (Exception ex)
{
src/ElectronBot.Braincase/ViewModels/MainViewModel.cs
+2 -2
View File
@@ -243,7 +243,7 @@ public partial class MainViewModel : ObservableRecipient, INavigationAware
ToastHelper.SendToast(text, TimeSpan.FromSeconds(2));
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTTSAsync(text, true);
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTtsAsync(text, true);
}
else if (e == Constants.FingerHeart && _isBeginning == true)
{
@@ -341,7 +341,7 @@ public partial class MainViewModel : ObservableRecipient, INavigationAware
ToastHelper.SendToast(text, TimeSpan.FromSeconds(2));
});
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTTSAsync(text);
await ElectronBotHelper.Instance.MediaPlayerPlaySoundByTtsAsync(text);
//var stream = await _speechAndTTSService.TextToSpeechAsync(text);
src/ElectronBot.DotNet/ElectronLowLevel.cs
+62 -60
View File
@@ -10,36 +10,38 @@ namespace ElectronBot.DotNet;
/// </summary>
public class ElectronLowLevel : IElectronLowLevel
{
private readonly int vid = 0x1001;
private const int Vid = 0x1001;
private readonly int pid = 0x8023;
private const int Pid = 0x8023;
private bool isConnected = false;
private bool _isConnected = false;
private readonly List<byte[]> extraDataBufferTx = new()
private readonly List<byte[]> _extraDataBufferTx = new()
{
new byte[32],
new byte[32]
};
private readonly List<byte[]> frameBufferTx = new()
private readonly List<byte[]> _frameBufferTx = new()
{
new byte[240 * 240 * 3],
new byte[240 * 240 * 3]
};
private byte[] extraDataBufferRx = new byte[32];
private int pingPongWriteIndex = 0;
private readonly byte[] usbBuffer200 = new byte[224];
private byte[] _extraDataBufferRx = new byte[32];
private int _pingPongWriteIndex = 0;
private readonly byte[] _usbBuffer200 = new byte[224];
private UsbDevice? _usbDevice;
// open read endpoint 1.
private UsbEndpointReader? reader;
private UsbEndpointReader? _reader;
// open write endpoint 1.
private UsbEndpointWriter? writer;
private UsbEndpointWriter? _writer;
private IUsbDevice? wholeUsbDevice;
private IUsbDevice? _wholeUsbDevice;
private readonly ILogger<ElectronLowLevel> _logger;
@@ -48,18 +50,18 @@ public class ElectronLowLevel : IElectronLowLevel
_logger = logger;
}
public bool IsConnected => isConnected;
public bool IsConnected => _isConnected;
/// <summary>
/// 连接电子
/// </summary>
/// <param name="interfaceID">接口id 默认为0可不传</param>
/// <param name="interfaceId">接口id 默认为0可不传</param>
/// <returns>返回是否成功</returns>
public bool Connect(int interfaceID = 0)
public bool Connect(int interfaceId)
{
if (_usbDevice == null)
{
var usbFinder = new UsbDeviceFinder(vid, pid);
var usbFinder = new UsbDeviceFinder(Vid, Pid);
_usbDevice = UsbDevice.OpenUsbDevice(usbFinder);
@@ -78,19 +80,19 @@ public class ElectronLowLevel : IElectronLowLevel
_logger.LogInformation("usb device info is null");
}
wholeUsbDevice = _usbDevice as IUsbDevice;
_wholeUsbDevice = _usbDevice as IUsbDevice;
_logger.LogInformation("whole usb device");
if (wholeUsbDevice is not null)
if (_wholeUsbDevice is not null)
{
if (wholeUsbDevice.DriverMode == UsbDevice.DriverModeType.MonoLibUsb)
if (_wholeUsbDevice.DriverMode == UsbDevice.DriverModeType.MonoLibUsb)
{
_logger.LogInformation("MonoLibUsb DetachKernelDriver");
var retDetach = wholeUsbDevice.SetAutoDetachKernelDriver(true);
var retDetach = _wholeUsbDevice.SetAutoDetachKernelDriver(true);
_logger.LogInformation(retDetach.ToString());
}
@@ -99,13 +101,13 @@ public class ElectronLowLevel : IElectronLowLevel
// the desired configuration and interface must be selected.
// Select config #1
wholeUsbDevice.SetConfiguration(1);
_wholeUsbDevice.SetConfiguration(1);
_logger.LogInformation("DriverMode");
_logger.LogInformation(wholeUsbDevice.DriverMode.ToString());
_logger.LogInformation(_wholeUsbDevice.DriverMode.ToString());
// Claim interface #0.
var ret = wholeUsbDevice.ClaimInterface(interfaceID);
var ret = _wholeUsbDevice.ClaimInterface(interfaceId);
_logger.LogInformation("ClaimInterface status");
@@ -113,11 +115,11 @@ public class ElectronLowLevel : IElectronLowLevel
}
reader = _usbDevice.OpenEndpointReader(ReadEndpointID.Ep01);
_reader = _usbDevice.OpenEndpointReader(ReadEndpointID.Ep01);
writer = _usbDevice.OpenEndpointWriter(WriteEndpointID.Ep01);
_writer = _usbDevice.OpenEndpointWriter(WriteEndpointID.Ep01);
isConnected = _usbDevice.IsOpen;
_isConnected = _usbDevice.IsOpen;
return _usbDevice.IsOpen;
}
@@ -129,7 +131,7 @@ public class ElectronLowLevel : IElectronLowLevel
}
else
{
return isConnected;
return _isConnected;
}
}
@@ -141,16 +143,16 @@ public class ElectronLowLevel : IElectronLowLevel
{
if (_usbDevice != null && _usbDevice.IsOpen)
{
isConnected = false;
_isConnected = false;
writer?.Dispose();
_writer?.Dispose();
reader?.Dispose();
_reader?.Dispose();
if (wholeUsbDevice is not null)
if (_wholeUsbDevice is not null)
{
// Release interface #0.
wholeUsbDevice.ReleaseInterface(1);
_wholeUsbDevice.ReleaseInterface(1);
}
return _usbDevice.Close();
@@ -170,9 +172,9 @@ public class ElectronLowLevel : IElectronLowLevel
if (_usbDevice != null && _usbDevice.IsOpen)
{
if (wholeUsbDevice is not null)
if (_wholeUsbDevice is not null)
{
ret = wholeUsbDevice.ResetDevice();
ret = _wholeUsbDevice.ResetDevice();
}
}
return ret;
@@ -185,7 +187,7 @@ public class ElectronLowLevel : IElectronLowLevel
{
var data = new byte[32];
Array.Copy(extraDataBufferRx, 0, data, 0, 32);
Array.Copy(_extraDataBufferRx, 0, data, 0, 32);
return data;
}
@@ -203,7 +205,7 @@ public class ElectronLowLevel : IElectronLowLevel
for (var i = 0; i < 4; i++)
{
var temp = extraDataBufferRx[j * 4 + i + 1];
var temp = _extraDataBufferRx[j * 4 + i + 1];
buf.Add(temp);
}
@@ -223,7 +225,7 @@ public class ElectronLowLevel : IElectronLowLevel
public void SetExtraData(byte[] data, int len = 32)
{
Array.Copy(data, 0, extraDataBufferTx[pingPongWriteIndex], 0, len);
Array.Copy(data, 0, _extraDataBufferTx[_pingPongWriteIndex], 0, len);
}
/// <summary>
/// 设置图片数据
@@ -231,7 +233,7 @@ public class ElectronLowLevel : IElectronLowLevel
/// <param name="data">图片的字节数据</param>
public void SetImageSrc(byte[] data)
{
data.CopyTo(frameBufferTx[pingPongWriteIndex], 0);
data.CopyTo(_frameBufferTx[_pingPongWriteIndex], 0);
}
/// <summary>
/// 设置舵机角度
@@ -254,7 +256,7 @@ public class ElectronLowLevel : IElectronLowLevel
jointAngleSetPoints[4] = j5;
jointAngleSetPoints[5] = j6;
extraDataBufferTx[pingPongWriteIndex][0] = Convert.ToByte(enable ? 1 : 0);
_extraDataBufferTx[_pingPongWriteIndex][0] = Convert.ToByte(enable ? 1 : 0);
for (var j = 0; j < 6; j++)
{
@@ -262,7 +264,7 @@ public class ElectronLowLevel : IElectronLowLevel
for (var i = 0; i < 4; i++)
{
extraDataBufferTx[pingPongWriteIndex][j * 4 + i + 1] = buf[i];
_extraDataBufferTx[_pingPongWriteIndex][j * 4 + i + 1] = buf[i];
}
}
@@ -273,7 +275,7 @@ public class ElectronLowLevel : IElectronLowLevel
/// <returns>返回是否成功</returns>
public bool Sync()
{
if (isConnected)
if (_isConnected)
{
SyncTask();
@@ -287,7 +289,7 @@ public class ElectronLowLevel : IElectronLowLevel
stopwatch.Start();
var _packetCount = packetCount;
var pCount = packetCount;
try
{
@@ -298,15 +300,15 @@ public class ElectronLowLevel : IElectronLowLevel
{
var readBuffer = new byte[packetSize];
ec = reader!.Read(readBuffer, 5000, out _);
ec = _reader!.Read(readBuffer, 5000, out _);
extraDataBufferRx = readBuffer;
_extraDataBufferRx = readBuffer;
} while (ec != ErrorCode.Success);
_packetCount--;
pCount--;
} while (_packetCount > 0);
} while (pCount > 0);
stopwatch.Stop();
@@ -315,11 +317,11 @@ public class ElectronLowLevel : IElectronLowLevel
}
catch (Exception)
{
reader?.Dispose();
_reader?.Dispose();
// todo:异常处理
}
return _packetCount == 0;
return pCount == 0;
}
private bool TransmitPacket(byte[] buffer, int frameBufferOffset, int packetCount, int packetSize)
{
@@ -327,7 +329,7 @@ public class ElectronLowLevel : IElectronLowLevel
stopwatch.Start();
var _packetCount = packetCount;
var pCount = packetCount;
var dataOffset = 0;
@@ -338,20 +340,20 @@ public class ElectronLowLevel : IElectronLowLevel
ErrorCode ec;
do
{
ec = writer!.Write(buffer, frameBufferOffset + dataOffset, packetSize, 2000, out _);
ec = _writer!.Write(buffer, frameBufferOffset + dataOffset, packetSize, 2000, out _);
if (packetSize % 512 == 0)
{
ec = writer.Write(buffer, frameBufferOffset + dataOffset, 0, 2000, out _);
ec = _writer.Write(buffer, frameBufferOffset + dataOffset, 0, 2000, out _);
}
} while (ec != ErrorCode.None);
dataOffset += packetSize;
_packetCount--;
pCount--;
} while (_packetCount > 0);
} while (pCount > 0);
stopwatch.Stop();
@@ -359,19 +361,19 @@ public class ElectronLowLevel : IElectronLowLevel
}
catch (Exception)
{
writer?.Dispose();
_writer?.Dispose();
// todo:异常处理
}
return _packetCount == 0;
return pCount == 0;
}
private void SyncTask()
{
var frameBufferOffset = 0;
var index = pingPongWriteIndex;
var index = _pingPongWriteIndex;
pingPongWriteIndex = pingPongWriteIndex == 0 ? 1 : 0;
_pingPongWriteIndex = _pingPongWriteIndex == 0 ? 1 : 0;
for (var p = 0; p < 4; p++)
{
@@ -379,15 +381,15 @@ public class ElectronLowLevel : IElectronLowLevel
ReceivePacket(1, 32);
// Transmit buffer
TransmitPacket(frameBufferTx[index], frameBufferOffset, 84, 512);
TransmitPacket(_frameBufferTx[index], frameBufferOffset, 84, 512);
frameBufferOffset += 43008;
Array.Copy(frameBufferTx[index], frameBufferOffset, usbBuffer200, 0, 192);
Array.Copy(_frameBufferTx[index], frameBufferOffset, _usbBuffer200, 0, 192);
Array.Copy(extraDataBufferTx[index], 0, usbBuffer200, 192, 32);
Array.Copy(_extraDataBufferTx[index], 0, _usbBuffer200, 192, 32);
TransmitPacket(usbBuffer200, 0, 1, 224);
TransmitPacket(_usbBuffer200, 0, 1, 224);
frameBufferOffset += 192;
}