CsGo C#并发流程控制框架、运动控制框架，适用于工业自动化运动控制、机器视觉流程开发。
相对于传统多线程模型、状态机模型、类PLC模型，逻辑结构紧凑清晰，开发效率极高，易于维护升级；
在golang语言的编程模式上设计开发，且进行必要的功能扩展；.
自定义单/多线程调度，亦可主UI线程调度，方便逻辑与UI的交互；
自带高精度定时器、调度优先级、逻辑停止、逻辑暂停功能；
树形多任务调度，提高逻辑的可靠性；
单线程调度每秒100万次以上，从容应对千级IO点数；
已在多个项目中使用，稳定可靠。
static shared_strand strand;
static void Log(string msg)
{
Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")} {msg}");
}
static async Task Worker(string name, int time = 1000)
{
await generator.sleep(time);
Log(name);
}
//1 A、B、C依次串行
//A->B->C
static async Task Worker1()
{
await Worker("A");
await Worker("B");
await Worker("C");
}
//2 A、B、C全部并行，且依赖同一个strand(隐含参数，所有依赖同一个strand的任务都是线程安全的)
//A
//B
//C
static async Task Worker2()
{
generator.children children = new generator.children();
children.go(() => Worker("A"));
children.go(() => Worker("B"));
children.go(() => Worker("C"));
await children.wait_all();
}
//3 A执行完后，B、C再并行
// -->B
// |
//A->
// |
// -->C
static async Task Worker3()
{
await Worker("A");
generator.children children = new generator.children();
children.go(() => Worker("B"));
children.go(() => Worker("C"));
await children.wait_all();
}
//4 B、C都并行执行完后，再执行A
//B--
// |
// -->A
// |
//C--
static async Task Worker4()
{
generator.children children = new generator.children();
children.go(() => Worker("B"));
children.go(() => Worker("C"));
await children.wait_all();
await Worker("A");
}
//5 B、C任意一个执行完后，再执行A
//B--
// |
// >-->A
// |
//C--
static async Task Worker5()
{
generator.children children = new generator.children();
var B = children.tgo(() => Worker("B", 1000));
var C = children.tgo(() => Worker("C", 2000));
var task = await children.wait_any();
if (task == B)
{
Log("B成功");
}
else
{
Log("C成功");
}
await Worker("A");
}
//6 等待一个特定任务
static async Task Worker6()
{
generator.children children = new generator.children();
var A = children.tgo(() => Worker("A"));
var B = children.tgo(() => Worker("B"));
await children.wait(A);
}
//7 超时等待一个特定任务，然后中止所有任务
static async Task Worker7()
{
generator.children children = new generator.children();
var A = children.tgo(() => Worker("A", 1000));
var B = children.tgo(() => Worker("B", 2000));
if (await children.timed_wait(1500, A))
{
Log("成功");
}
else
{
Log("超时");
}
await children.stop();
}
//8 超时等待一组任务，然后中止所有任务
static async Task Worker8()
{
generator.children children = new generator.children();
children.go(() => Worker("A", 1000));
children.go(() => Worker("B", 2000));
var tasks = await children.timed_wait_all(1500);
await children.stop();
Log($"成功{tasks.Count}个");
}
//9 超时等待一组任务，然后中止所有任务，且在中止任务中就地善后处理
static async Task Worker9()
{
generator.children children = new generator.children();
children.go(() => Worker("A", 1000));
children.go(async delegate ()
{
try
{
await Worker("B", 2000);
}
catch (generator.stop_exception)
{
Log("B被中止");
await generator.sleep(500);
throw;
}
catch (System.Exception)
{
}
});
var task = await children.timed_wait_all(1500);
await children.stop();
Log($"成功{task.Count}个");
}
//10 嵌套任务
static async Task Worker10()
{
generator.children children = new generator.children();
children.go(async delegate ()
{
generator.children children1 = new generator.children();
children1.go(() => Worker("A"));
children1.go(() => Worker("B"));
await children1.wait_all();
});
children.go(async delegate ()
{
generator.children children1 = new generator.children();
children1.go(() => Worker("C"));
children1.go(() => Worker("D"));
await children1.wait_all();
});
await children.wait_all();
}
//13 串行执行耗时算法，耗时算法必需放在线程池中执行，否则依赖同一个strand的调度将不能及时
static async Task Worker13()
{
for (int i = 0; i < 2; i++)
{
await generator.send_task(() => Log($"执行算法{i}"));
}
}
项目地址
https://gitee.com/hamasm/CsGo
