CyberX8/Framework/Common/Device/Festo/FestoModbusDevice.cs

using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using DocumentFormat.OpenXml.Wordprocessing;
using MECF.Framework.Common.Device.PowerSupplier;
using MECF.Framework.Common.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace MECF.Framework.Common.Device.Festo
{
    public class FestoModbusDevice : JetMessageTcpClient<FestoMessage, FestoCommand>
    {
        #region 内部变量
        /// <summary>
        /// 名称
        /// </summary>
        private string _name;
        /// <summary>
        /// 上一次错误信息
        /// </summary>
        private string _lastErrorMsg = "";
        /// <summary>
        /// do的数量
        /// </summary>
        private ushort _addressCount = 6;
        /// <summary>
        /// di开始地址
        /// </summary>
        private ushort _diStartAddress = 45395;
        /// <summary>
        /// 通道
        /// </summary>
        private byte _channel = 1;
        /// <summary>
        /// IP地址
        /// </summary>
        private string _ip = "";
        /// <summary>
        /// 端口号
        /// </summary>
        private int _port = 502;
        /// <summary>
        /// 定时器
        /// </summary>
        private PeriodicJob _periodicJob;
        /// <summary>
        /// 共享锁
        /// </summary>
        private object _locker = new object();
        /// <summary>
        /// 共享锁时长
        /// </summary>
        private int _lockerTime = 2000;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="ip"></param>
        /// <param name="port"></param>
        public FestoModbusDevice(string name, string ip, int port,ushort diStartAddress,byte channel) : base(ip, port)
        {
            ReceiveTimeout = 1000;
            SendTimeout = 1000;
            ConnectTimeout = 1000;
            _name = name;
            _diStartAddress=diStartAddress;
            _ip = ip;
            _port = port;
            _channel = channel;
            _periodicJob = new PeriodicJob(200, OnTimer, $"festo {name} timer", false,true);
        }
        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <returns></returns>
        private bool OnTimer()
        {
            if(Monitor.TryEnter(_locker, _lockerTime))
            {
                ApplyAllDatas();
                Monitor.Exit(_locker);
            }
            return true;
        }
        /// <summary>
        /// 更新地址数量
        /// </summary>
        /// <param name="addressCount"></param>
        public void InitializeAddressCount(ushort addressCount)
        {
            _addressCount = addressCount;

            NetResult result = Connect();
            if (result.IsSuccess)
            {
                ApplyAllDatas();
                LOG.WriteLog(eEvent.INFO_FESTO, _name, $"connect {_ip}:{_port} success");
            }
            else
            {
                LOG.WriteLog(eEvent.INFO_FESTO, _name, $"connect {_ip}:{_port} failed");
            }

            _periodicJob.Start();
        }
        /// <summary>
        /// 设置Festo数值
        /// </summary>
        /// <param name="address"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool SetFestoValue(ushort address,byte value)
        {
            FestoCommand command = new FestoCommand();
            command.Channel = _channel;
            command.Address=address;
            command.CommandCode = 0x06;
            command.Datas = new byte[1] { value };
            if (Monitor.TryEnter(_locker, _lockerTime))
            {
                bool result= SetOperation(command);
                Monitor.Exit(_locker);
                return result;
            }
            else
            {
                WriteErrMsg($"Write apply locker over {_lockerTime}");
                return false;
            }
        }

        /// <summary>
        /// 设置操作
        /// </summary>
        /// <param name="command"></param>
        /// <returns></returns>
        private bool SetOperation(FestoCommand command)
        {
            if (Connected)
            {
                NetResult netResult = SetData(command);
                if (!netResult.IsSuccess)
                {
                    WriteErrMsg($"write {command.Address.ToString("X2")} value {command.Datas[0]} failed,{netResult.Message}");
                    return false;
                }
                else
                {
                    LOG.WriteLog(eEvent.INFO_FESTO, _name, $"write {command.Address.ToString("X2")} value {command.Datas[0]} success");
                }
                return true;
            }
            else
            {
                NetResult netResult = Connect();
                if (netResult.IsSuccess)
                {
                    netResult = SetData(command);
                    if (!netResult.IsSuccess)
                    {
                        WriteErrMsg($"write {command.Address.ToString("X2")} value {command.Datas[0]} failed,{netResult.Message}");
                        return false;
                    }
                    return true;
                }
                else
                {
                    WriteErrMsg("connect failed");
                    return false;
                }
            }
        }
        /// <summary>
        /// 申请所有数据
        /// </summary>
        public void ApplyAllDatas()
        {
            FestoCommand command = new FestoCommand();
            command.Address = _diStartAddress;
            command.RegisterCount = (ushort)(_addressCount*2);
            command.CommandCode = 0x03;
            command.Channel = _channel;
            ApplyDataOperation(command);
        }
        /// <summary>
        /// 申请数据操作
        /// </summary>
        /// <param name="command"></param>
        private void ApplyDataOperation(FestoCommand command)
        {
            if (!Connected)
            {
                NetResult connectResult = Connect();
                if (!connectResult.IsSuccess)
                {
                    WriteErrMsg("connect failed");
                    return;
                }
            }
            NetResult<FestoCommand> netResult = ApplyData(command);
            if (!netResult.IsSuccess)
            {
                WriteErrMsg($"apply {command.Address.ToString("X2")} failed,{netResult.Message}");
                return;
            }
            if (netResult.Data.Datas != null)
            {
                //bit0--高8位,bit1-低8位,bit2-下一地址高8位,bit3--下一地址低8位，只取bit1
                byte[] bytes = new byte[_addressCount];
                for(int i = 0; i < netResult.Data.Datas.Length; i += 4)
                {
                    if (i + 1 < netResult.Data.Datas.Length&&i/4<_addressCount)
                    {
                        byte data = netResult.Data.Datas[i + 1];
                        bytes[i / 4] = data;
                    }
                }
                FestoControllerCfgManager.Instance.UpdateFestoData(_name, bytes);
            }
        }
        /// <summary>
        /// 写错误日志
        /// </summary>
        /// <param name="msg"></param>
        private void WriteErrMsg(string msg)
        {
            if (msg != _lastErrorMsg)
            {
                _lastErrorMsg = msg;

                LOG.WriteLog(eEvent.ERR_FESTO, _name, msg);
            }
        }
    }
}