Modify FestoSimulator; Revise SimulatorCommManager

CyberX8_RT/Modules/Loader/LoaderSwitchAllOffRoutine.cs

@@ -2,12 +2,6 @@
 using Aitex.Core.RT.Routine;
 using CyberX8_Core;
 using CyberX8_RT.Devices.AXIS;
-using CyberX8_RT.Devices.PUF;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace CyberX8_RT.Modules.Loader
 {
@@ -19,8 +13,8 @@ namespace CyberX8_RT.Modules.Loader
             ShuttleBSwitchOff,
             TiltASwitchOff,
             TiltBSwitchOff,
-            CRSASwitchOff,
-            CRSBSwitchOff,
+            LSASwitchOff,
+            LSBSwitchOff,
             RotationSwitchOff,
             End
         }
@@ -30,8 +24,8 @@ namespace CyberX8_RT.Modules.Loader
         private JetAxisBase _tiltAAxis;
         private JetAxisBase _tiltBAxis;
         private JetAxisBase _rotationAxis;
-        private JetAxisBase _crsAAxis;
-        private JetAxisBase _crsBAxis;
+        private JetAxisBase _lsAAxis;
+        private JetAxisBase _lsBAxis;
         private int _timeOut = 6000;
         #endregion
         public LoaderSwitchAllOffRoutine(string module) : base(module)
@@ -42,8 +36,8 @@ namespace CyberX8_RT.Modules.Loader
             _tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltA");
             _tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltB");
 
-            _crsAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSA");
-            _crsBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSB");
+            _lsAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSA");
+            _lsBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSB");
 
             _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
         }
@@ -59,8 +53,8 @@ namespace CyberX8_RT.Modules.Loader
                 .Run(SwitchOffAllStep.ShuttleBSwitchOff, () => { _shuttleBAxis.SwitchOff(); return true; }, () => { return !_shuttleBAxis.IsSwitchOn; }, _timeOut)
                 .Run(SwitchOffAllStep.TiltASwitchOff, () => { _tiltAAxis.SwitchOff();return true; }, () => { return !_tiltAAxis.IsSwitchOn; }, _timeOut)
                 .Run(SwitchOffAllStep.TiltBSwitchOff, () => { _tiltBAxis.SwitchOff(); return true; }, () => { return !_tiltBAxis.IsSwitchOn; }, _timeOut)
-                .Run(SwitchOffAllStep.CRSASwitchOff, () => { _crsAAxis.SwitchOff(); return true; }, () => { return !_crsAAxis.IsSwitchOn; }, _timeOut)
-                .Run(SwitchOffAllStep.CRSBSwitchOff, () => { _crsBAxis.SwitchOff(); return true; }, () => { return !_crsBAxis.IsSwitchOn; }, _timeOut)
+                .Run(SwitchOffAllStep.LSASwitchOff, () => { _lsAAxis.SwitchOff(); return true; }, () => { return !_lsAAxis.IsSwitchOn; }, _timeOut)
+                .Run(SwitchOffAllStep.LSBSwitchOff, () => { _lsBAxis.SwitchOff(); return true; }, () => { return !_lsBAxis.IsSwitchOn; }, _timeOut)
                 .Run(SwitchOffAllStep.RotationSwitchOff, () => { _rotationAxis.SwitchOff(); return true; }, () => { return !_rotationAxis.IsSwitchOn; }, _timeOut)
                 .End(SwitchOffAllStep.End,NullFun);
 

CyberX8_Simulator/Devices/FestoSocketSimulator.cs

@@ -1,7 +1,15 @@
-using MECF.Framework.Common.Net;
+using Aitex.Common.Util;
+using Aitex.Core.RT.Device;
+using Aitex.Core.RT.IOCore;
+using Aitex.Core.Util;
+using MECF.Framework.Common.Device.Festo;
+using MECF.Framework.Common.Net;
 using MECF.Framework.Simulator.Core.Driver;
 using System;
 using System.Collections.Generic;
+using System.IO;
+using System.Net;
+using Xceed.Wpf.Toolkit.PropertyGrid.Attributes;
 
 namespace CyberX8_Simulator.Devices
 {
@@ -23,8 +31,11 @@ namespace CyberX8_Simulator.Devices
         /// <summary>
         /// 数据(DOName - index)
         /// </summary>
-        private Dictionary<string, int> _festoNameIndexDic = new Dictionary<string, int>();
-
+        private Dictionary<string, FestoDO> _festoNameIndexDic = new Dictionary<string, FestoDO>();
+        /// <summary>
+        /// do 索引对象字典(key-地址索引-bit，value--do名称)
+        /// </summary>
+        private Dictionary<string, string> _doNameDictionary = new Dictionary<string, string>();
         /// <summary>
         /// 构造函数
         /// </summary>
@@ -35,7 +46,21 @@ namespace CyberX8_Simulator.Devices
             {
                 _festoOutputDataDic[i] = 0x00;
             }
-
+            string oldXmlPath = PathManager.GetCfgDir();
+            string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\FestoControllerCfg-Simulator.xml";
+            FestoControllerCfg cfg = CustomXmlSerializer.Deserialize<FestoControllerCfg>(new FileInfo(newXmlPath));
+            foreach (FestoDeviceConfig config in cfg.FestoDeviceConfigs)
+            {            
+                if(port == config.Port)
+                {
+                    foreach (FestoDO item in config.FestoDoes)
+                    {
+                        _festoNameIndexDic[item.Name] = item;
+                        string str = $"{item.Address}-{item.Bit}";
+                        _doNameDictionary[str] = item.Name;
+                    }
+                }
+            }
         }
         /// <summary>
         /// 解析信息
@@ -72,9 +97,12 @@ namespace CyberX8_Simulator.Devices
 
                 if(startAddress >= FESTO_DO_START_ADDRESS)
                 {
+                    //通知相关数据变化
+                    var result = DecodeDOData(startAddress, value);
+                    SimulatorCommManager.Instance.CheckDataChanged(result.Item1, result.Item2);
                     //modbus起始地址n为数据，n+1为诊断数据，取地址n下的数据
-                    int index = (startAddress - FESTO_DO_START_ADDRESS) * 2;
-                    _festoOutputDataDic[index] = value;
+                    _festoOutputDataDic[(startAddress - FESTO_DO_START_ADDRESS) * 2] = value;
+                    
                     OnWriteMessage(CreateWriteResponse(flag, channel, command, startAddress, value));
                 }
                 else
@@ -158,6 +186,34 @@ namespace CyberX8_Simulator.Devices
             bytes[8] = error;
             return bytes;
         }
-
+        /// <summary>
+        /// 更新DI数据
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="value"></param>
+        public void UpdataDOBytes(string name, int value)
+        {
+            if (_festoNameIndexDic.ContainsKey(name))
+            {
+                FestoDO festoDO = _festoNameIndexDic[name];
+                short byteValue = (short) (_festoOutputDataDic[(festoDO.Address - FESTO_DO_START_ADDRESS) * 2] & ~(1 << festoDO.Bit));
+                short tmp = (short)(value << festoDO.Bit);
+                _festoOutputDataDic[(festoDO.Address - FESTO_DO_START_ADDRESS) * 2] = (short)(byteValue | tmp);
+            }
+        }
+        /// <summary>
+        /// 解析数据
+        /// </summary>
+        /// <param name="address"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        private (string, bool) DecodeDOData(ushort address, short value)
+        {
+            int index = (address - FESTO_DO_START_ADDRESS) * 2;
+            int bitNum = (int)Math.Log(_festoOutputDataDic[index] ^ value, 2);
+            bool valueBool = (value & (1 << bitNum)) != 0 ? true : false;
+            string str = $"{address}-{bitNum}";
+            return (_doNameDictionary[str], valueBool);
+        }
     }
 }

CyberX8_Simulator/Views/FestoView.xaml

@@ -20,6 +20,12 @@
         <Grid  Grid.Row="1">
             <StackPanel Orientation="Horizontal" Width="1200">
                 <Button Content="Clear Log" Width="100" Height="35"   Command="{Binding ClearLogCommand}"></Button>
+                <StackPanel Orientation="Horizontal" Width="500" Height="50" Margin="100,0,0,0">
+                    <Label Content="DO:" VerticalAlignment="Center"></Label>
+                    <ComboBox  Width="250" Height="30" VerticalContentAlignment="Center" ItemsSource="{Binding DONameItems}" SelectedItem="{Binding DOSelectedItem}" />
+                    <ComboBox  Width="60" Height="30" Margin="5,0,0,0" VerticalContentAlignment="Center" ItemsSource="{Binding DigitalOutputSelected}" SelectedItem="{Binding DOInputValue}" HorizontalContentAlignment="Center"></ComboBox>
+                    <Button Content="DOInput" Height="30" Width="100" Margin="5,10,0,0" Command="{Binding SetDOCommand}"/>
+                </StackPanel>
             </StackPanel>
         </Grid>
 

CyberX8_Simulator/Views/FestoView.xaml.cs

@@ -1,6 +1,12 @@
-using Aitex.Core.UI.MVVM;
+using Aitex.Common.Util;
+using Aitex.Core.UI.MVVM;
+using Aitex.Core.Util;
+using Aitex.Core.Utilities;
 using CyberX8_Simulator.Devices;
+using MECF.Framework.Common.Device.Festo;
 using MECF.Framework.Simulator.Core.Commons;
+using System.Collections.ObjectModel;
+using System.IO;
 using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Input;
@@ -24,11 +30,42 @@ namespace CyberX8_Simulator.Views
     }
     class FestoViewModel : SocketDeviceViewModel
     {
+        #region 属性
         public string Title
         {
             get { return "Festo Simulator"; }
         }
 
+        private string _DOSelectedItem;
+        [IgnorePropertyChange]
+        public string DOSelectedItem
+        {
+            get
+            {
+                return _DOSelectedItem;
+            }
+            set
+            {
+                _DOSelectedItem = value;
+            }
+        }
+        private int _DOInputValue;
+        [IgnorePropertyChange]
+        public int DOInputValue
+        {
+            get
+            {
+                return _DOInputValue;
+            }
+            set
+            {
+                _DOInputValue = value;
+            }
+        }
+        public ObservableCollection<string> DONameItems { get; set; }
+        public ObservableCollection<int> DigitalOutputSelected { get; set; }
+        #endregion
+
         public ICommand SetDOCommand { get; set; }
         private FestoSocketSimulator _sim;
         public FestoViewModel(string str) : base("FestoViewModel")
@@ -36,12 +73,32 @@ namespace CyberX8_Simulator.Views
             int.TryParse(str, out int port);
             _sim = new FestoSocketSimulator(port);
             Init(_sim);
+            InitData(port);
             SetDOCommand = new DelegateCommand<object>(SetDOAction);
         }
-
+        private void InitData(int port)
+        {
+            DigitalOutputSelected = new ObservableCollection<int> { 0, 1 };
+            string oldXmlPath = PathManager.GetCfgDir();
+            string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\FestoControllerCfg-Simulator.xml";
+            FestoControllerCfg cfg = CustomXmlSerializer.Deserialize<FestoControllerCfg>(new FileInfo(newXmlPath));
+            DONameItems = new ObservableCollection<string>();
+            foreach (FestoDeviceConfig config in cfg.FestoDeviceConfigs)
+            {
+                if (port == config.Port)
+                {
+                    foreach (FestoDO item in config.FestoDoes)
+                    {
+                        DONameItems.Add(item.Name);
+                    }
+                }
+            }
+            
+       
+        }
         private void SetDOAction(object obj)
         {
-            //_sim.UpdataDOBytes(DOSelectedItem, DOInputValue);
+            _sim.UpdataDOBytes(DOSelectedItem, DOInputValue);
         }
     }
 }

Framework/Common/Device/Common/SimulatorCommManager.cs

@@ -68,7 +68,7 @@ namespace Aitex.Core.RT.Device
         {
             if (_relatedDictionary.ContainsKey(name))
             {
-                UpdateVariableValue(name, value);
+                UpdateVariableValue(_relatedDictionary[name], value);
             }
             
         }