CyberX8/Framework/Common/Device/LinMot/LinMotDeviceConfigManager.cs

using Aitex.Common.Util;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using DocumentFormat.OpenXml.Wordprocessing;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.Layout;
using MECF.Framework.Common.TwinCat;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Markup;

namespace MECF.Framework.Common.Device.LinMot
{
    public class LinMotDeviceConfigManager : Singleton<LinMotDeviceConfigManager>
    {
        #region 常量
        private string LINMOT_DEVICELIST = "LinMotDeviceList";
        #endregion
        /// <summary>
        /// 模块数据更新委托字典
        /// </summary>
        private Dictionary<string, LinMotDelegate.OnUpdateModuleVariableValue> _linmotActionDic = new Dictionary<string, LinMotDelegate.OnUpdateModuleVariableValue>();
        /// <summary>
        /// 模块设备字典
        /// </summary>
        private Dictionary<string, LinMotDevice> _linmotDeviceDic = new Dictionary<string, LinMotDevice>();
        /// <summary>
        /// 模块串口设备字典
        /// </summary>
        private Dictionary<string, LinMotSerialDevice> _linmotSerialDevice = new Dictionary<string, LinMotSerialDevice>();
        /// <summary>
        /// 地址模块字典(key-母级模块,value-linmot device模块名称
        /// </summary>
        private Dictionary<string, string> _linmotDeviceAddressModuleDic = new Dictionary<string, string>();
        /// <summary>
        /// 配置文件对象
        /// </summary>
        private LinMotDeviceConfigCfg linMotDeviceConfigCfg = new LinMotDeviceConfigCfg();
        /// <summary>
        /// 初始化
        /// </summary>
        public void Initialize()
        {
            bool isSimulate = SC.GetValue<bool>("System.IsSimulatorMode");
            string xmlPath = "";
            if (isSimulate)
            {
                xmlPath = PathManager.GetCfgDir() + "Devices\\LinmotCfg-Simulator.xml";
            }
            else
            {
                xmlPath = PathManager.GetCfgDir() + "Devices\\LinmotCfg.xml";
            }
            try
            {
                linMotDeviceConfigCfg = CustomXmlSerializer.Deserialize<LinMotDeviceConfigCfg>(new FileInfo(xmlPath));
                if (linMotDeviceConfigCfg != null)
                {
                    foreach (LinmotDeviceConfig config in linMotDeviceConfigCfg.LinmotDeviceConfigs)
                    {
                        DATA.Subscribe($"{config.Name}.{LINMOT_DEVICELIST}", () => config, SubscriptionAttribute.FLAG.IgnoreSaveDB);
                        LinMotSerialDevice linMotSerialDevice = new LinMotSerialDevice(config.Name, config.Port, config.BaudRate, (StopBits)config.StopBit,
                            config.Data, SerialPortUtil.GetParity(config.Parity), true);
                        linMotSerialDevice.Initialize();
                        InitialLinMotDevice(config, linMotSerialDevice);
                    }
                    LinMotErrorCodeManager.Instance.Initialize();
                }
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_LINMOT, "Linmot", "Load linmot xml failed");
            }
        }
        /// <summary>
        /// 初始化LinMot设备
        /// </summary>
        /// <param name="config"></param>
        private void InitialLinMotDevice(LinmotDeviceConfig config,LinMotSerialDevice linMotSerialDevice)
        {
            if(config.LinmotDevices!=null)
            {
                foreach(LinMotDevice device in config.LinmotDevices)
                {
                    _linmotSerialDevice[device.Name] = linMotSerialDevice;
                    
                    _linmotDeviceDic[device.Name] = device;
                    _linmotDeviceAddressModuleDic[$"{config.Name}_{device.Address}"] = device.Name;
                    _linmotActionDic[device.Name] = null;
                }
            }
        }
        /// <summary>
        /// 获取所有LinMot设备集合
        /// </summary>
        /// <returns></returns>
        public List<string> GetLinMotDeviceList()
        {
            return _linmotDeviceDic.Keys.ToList();
        }
        /// <summary>
        /// 初始化设备
        /// </summary>
        /// <param name="name"></param>
        public void InitialDevice(string name)
        {
            if(_linmotSerialDevice.ContainsKey(name))
            {
                _linmotSerialDevice[name].Start();
            }
        }
        /// <summary>
        /// 查询连接状态
        /// </summary>
        /// <param name="name"></param>
        /// <returns></returns>
        public bool GetDeviceConnect(string name)
        {
            if(_linmotDeviceDic.ContainsKey(name))
            {
                return _linmotSerialDevice[name].Connected;
            }
            return false;
        }
        /// <summary>
        /// 发送指令
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="linMotOperation"></param>
        public bool SendOperation(string name,byte id,LinMotOperation linMotOperation)
        {
            if(_linmotSerialDevice.ContainsKey(name))
            {
                if (linMotOperation != LinMotOperation.ReadStatus)
                {
                    LOG.WriteBackgroundLog(eEvent.INFO_LINMOT, name, $"{name} execute {linMotOperation}");
                }
                return _linmotSerialDevice[name].SendOperation(id, linMotOperation);
            }
            else
            {
                LOG.WriteBackgroundLog(eEvent.ERR_LINMOT, name, $"dictionary does not contain {name}");
            }
            return false;
        }
        /// <summary>
        /// 发送Curve指令
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="autoCount"></param>
        /// <param name="curveId"></param>
        /// <param name="timeScale"></param>
        public bool SendCurveOperation(string name, byte id,ushort curveId, ushort timeScale)
        {
            if(_linmotSerialDevice.ContainsKey(name))
            {
                return _linmotSerialDevice[name].SendCurveOperation(id, curveId, timeScale);
            }
            return false;
        }
        /// <summary>
        /// 发送CommandTable指令
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="autoCount"></param>
        /// <param name="entryId"></param>
        /// <returns></returns>
        public bool SendCommandTable(string name,byte id,short entryId)
        {
            if (_linmotSerialDevice.ContainsKey(name))
            {
                return _linmotSerialDevice[name].SendCommandTableOpertaion(id, entryId);
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_LINMOT, name, $"{name} linmot is not in dictionary");
            }
            return false;
        }
        /// <summary>
        /// 更新RAM变量
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="lowByte"></param>
        /// <param name="highByte"></param>
        /// <param name="intValue"></param>
        /// <returns></returns>
        public bool SendWriteRamIntValue(string name, byte id, byte lowByte,byte highByte, int intValue)
        {
            if (_linmotSerialDevice.ContainsKey(name))
            {
                return _linmotSerialDevice[name].SendWriteRamIntValue(id,lowByte,highByte, intValue);
            }
            return false;
        }
        /// <summary>
        /// 发送GAI GotoPosition
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="autoCount"></param>
        /// <param name="position"></param>
        /// <param name="velocilty"></param>
        /// <param name="accel"></param>
        /// <param name="decel"></param>
        /// <returns></returns>
        public bool SendVAIGotoPosition(string name,byte id,int position,int velocilty,int accel,int decel)
        {
            if(_linmotSerialDevice.ContainsKey(name))
            {
                return _linmotSerialDevice[name].SendVAIGoToPositionOpertaion(id,position, velocilty,accel,decel);
            }
            return false;
        }
        /// <summary>
        /// 发送GAI GotoPosition After Actual Command
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <param name="autoCount"></param>
        /// <param name="position"></param>
        /// <param name="velocilty"></param>
        /// <param name="accel"></param>
        /// <param name="decel"></param>
        /// <returns></returns>
        public bool SendVAIGotoPositionAfterActualCommand(string name, byte id, int position, int velocilty, int accel, int decel)
        {
            if (_linmotSerialDevice.ContainsKey(name))
            {
                return _linmotSerialDevice[name].SendVAIGoToPositionAfterAutalCommandOpertaion(id, position, velocilty, accel, decel);
            }
            return false;
        }
        /// <summary>
        /// 获取LinMot设备
        /// </summary>
        /// <param name="name"></param>
        /// <returns></returns>
        public LinMotDevice GetLinMotDevice(string name)
        {
            if(_linmotDeviceDic.ContainsKey(name))
            {
                return _linmotDeviceDic[name];
            }
            return null;
        }
        /// <summary>
        /// 获取Id 
        /// </summary>
        /// <param name="name"></param>
        /// <returns></returns>
        public int GetAddress(string name)
        {
            if(_linmotDeviceDic.ContainsKey(name))
            {
                if(int.TryParse(_linmotDeviceDic[name].Address,out var address))
                {
                    return address;
                }
            }
            return -1;
        }
        /// <summary>
        /// 根据地址获取模块名称
        /// </summary>
        /// <param name="name"></param>
        /// <param name="id"></param>
        /// <returns></returns>
        public string GetModuleNameByAddress(string name,byte id)
        {
            if(_linmotDeviceAddressModuleDic.ContainsKey($"{name}_{id}"))
            {
                return _linmotDeviceAddressModuleDic[$"{name}_{id}"];
            }
            return "";
        }
        /// <summary>
        /// 注册变量数值发生变化回调
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="variable"></param>
        /// <param name="onUpdateModuleVariableValue"></param>
        public void SubscribeModuleVariable(string moduleName, LinMotDelegate.OnUpdateModuleVariableValue onUpdateModuleVariableValue)
        {
            _linmotActionDic[moduleName] = onUpdateModuleVariableValue;
        }
        /// <summary>
        /// 更新数据
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="statusWord"></param>
        /// <param name="errorCode"></param>
        /// <param name="position"></param>
        public void UpdateModuleData(string moduleName,short statusWord,short errorCode,int position)
        {
            if(_linmotActionDic.ContainsKey(moduleName))
            {
                _linmotActionDic[moduleName].Invoke(statusWord, errorCode, position);
            }
        }
        /// <summary>
        /// 更新linmot速度相关的参数
        /// </summary>
        /// <param name="deviceName"></param>
        /// <param name=""></param>
        public void UpdateSpeedData(string deviceName, string direction, double maxSpeed, int maxAcceleration,int maxDeceleration)
        {
          
            if (linMotDeviceConfigCfg != null)
            {
                foreach (LinmotDeviceConfig config in linMotDeviceConfigCfg.LinmotDeviceConfigs)
                {
                    if (deviceName.Contains(config.Name))
                    {
                        foreach(var item in config.LinmotDevices)
                        {
                            if(item.Name == deviceName)
                            {
                                if ("up".Equals(direction))
                                {
                                    item.LinMotDeviceData.UpMaxSpeed = maxSpeed * 1000;
                                    item.LinMotDeviceData.UpMaxAcceleration = maxAcceleration * 1000;
                                    item.LinMotDeviceData.UpMaxDeceleration = maxDeceleration * 1000;
                                }
                                else
                                {
                                    item.LinMotDeviceData.DownMaxSpeed = maxSpeed * 1000;
                                    item.LinMotDeviceData.DownMaxAcceleration = maxAcceleration * 1000;
                                    item.LinMotDeviceData.DownMaxDeceleration = maxDeceleration * 1000;
                                }
                            }
                        }
                    }
                }
            }
            bool isSimulate = SC.GetValue<bool>("System.IsSimulatorMode");
            string xmlPath = "";
            if (isSimulate)
            {
                xmlPath = PathManager.GetCfgDir() + "Devices\\LinmotCfg-Simulator.xml";
            }
            else
            {
                xmlPath = PathManager.GetCfgDir() + "Devices\\LinmotCfg.xml";
            }
            try
            {
                CustomXmlSerializer.Serialize(linMotDeviceConfigCfg, xmlPath);
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_LINMOT, "Linmot", "Save linmot xml failed");
            }
            
        }
    }
}