CyberX8/Framework/Common/TwinCat/TwincatAdoManager.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.IOCore;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Xml;
using TwinCAT;
using TwinCAT.Ads;
using TwinCAT.Ads.TypeSystem;
using TwinCAT.Ads.ValueAccess;
using TwinCAT.TypeSystem;

namespace MECF.Framework.Common.TwinCat
{
    public class TwincatAdoManager : Singleton<TwincatAdoManager>
    {
        #region 内部变量
        private TcAdsClient _adsClient = null;
        private string _ipAddress = "";
        private int _port = 851;
        private BeckhoffCfg _cfg;
        private Dictionary<int, BeckhoffItem> _handleItemDic = new Dictionary<int, BeckhoffItem>();
        private Dictionary<string, int> _notificationNameHandleDic = new Dictionary<string, int>();
        private Dictionary<string, int> _writeNameHandleDic = new Dictionary<string, int>();
        private AdsStream _adsStream;
        private BinaryReader _reader;
        private bool _isConnected = false;
        /// <summary>
        /// BitOperated地址数值字典(key-BitOperated为true地址，value-数值)
        /// </summary>
        private Dictionary<string, byte> _bitOperatedAddressValueDic = new Dictionary<string, byte>();
        /// <summary>
        /// BitOperated锁
        /// </summary>
        private object _bitOperatedLocker = new object();
        #endregion

        #region 属性
        public bool IsConnect
        {
            get { return _isConnected; }
            set { _isConnected = value; }
        }
        #endregion

        /// <summary>
        /// 初始化
        /// </summary>
        public void Initialize()
        {
            int size=BeckhoffIOManager.Instance.Size+BeckhoffAxisManager.Instance.Size+BeckhoffCounterManager.Instance.Size;
            Init(BeckhoffManager.Instance.BeckhoffCfg, size+100);
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="ipAddress"></param>
        /// <param name="port"></param>
        private void Init(BeckhoffCfg beckhoffCfg,int size)
        {
            _adsClient = new TcAdsClient();
            _adsClient.ConnectionStateChanged += AdsClient_ConnectionStateChanged;
            _cfg = beckhoffCfg;
            _ipAddress = beckhoffCfg.Controller.IPAddress;
            _port = int.Parse(beckhoffCfg.Controller.PortAddress);
            _adsStream = new AdsStream(size);
            _reader=new BinaryReader(_adsStream);
            _adsClient.AdsNotification += AdsClient_AdsNotification;
            _adsClient.AdsNotificationError += AdsClient_AdsNotificationError;
            Start();
        }

        private void AdsClient_AdsNotificationError(object sender, AdsNotificationErrorEventArgs e)
        {
        }

        /// <summary>
        /// 连接状态变化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void AdsClient_ConnectionStateChanged(object sender, TwinCAT.ConnectionStateChangedEventArgs e)
        {
            LOG.WriteLog(eEvent.INFO_TWINCAT, "System", $"Twincat connect{_cfg.Controller.IPAddress}:{_cfg.Controller.PortAddress} stated changed from {e.OldState} to {e.NewState}");
            if (e.NewState==TwinCAT.ConnectionState.Connected)
            {
                try
                {
                    StateInfo stateInfo = _adsClient.ReadState();
                    CreateWriteHandle();
                    SubscribeNotification();                    
                    _isConnected = true;
                    BeckhoffAxisManager.Instance.StartCoeInterface();
                }
                catch(Exception ex)
                {
                    _isConnected = false;
                    LOG.WriteLog(eEvent.ERR_TWINCAT,"System",$"Twincat connect{_cfg.Controller.IPAddress}:{_cfg.Controller.PortAddress} error");
                    return;
                }
            }
            else
            {
                _isConnected = false;
                LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat connect{_cfg.Controller.IPAddress}:{_cfg.Controller.PortAddress} error");
            }
        }

        /// <summary>
        /// 启动
        /// </summary>
        public void Start()
        {
            try
            {
                _adsClient.Connect(_ipAddress, _port);
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat connect{_cfg.Controller.IPAddress}:{_cfg.Controller.PortAddress} error");
            }
        }
        /// <summary>
        /// 订阅变量
        /// </summary>
        private void SubscribeNotification()
        {
            _notificationNameHandleDic.Clear();
            _handleItemDic.Clear();
            int count = 0;
            List<BeckhoffItem> beckhoffItems = BeckhoffItemManager.Instance.GetIOItems();
            foreach(BeckhoffItem item in beckhoffItems)
            {
                try
                {
                    int handle = _adsClient.AddDeviceNotification(item.Address, _adsStream, count, item.Size, AdsTransMode.OnChange, 0, 0, item);
                    _notificationNameHandleDic[item.Name] = handle;
                    _handleItemDic[handle] = item;
                    count += item.Size;
                }
                catch(Exception ex)
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat add variable {item.Name} error");
                }
            }
        }
        /// <summary>
        /// 创建写入句柄
        /// </summary>
        private void CreateWriteHandle()
        {
            _writeNameHandleDic.Clear();
            foreach(BeckhoffItem item in  BeckhoffItemManager.Instance.GetWriteItems())
            {
                try
                {
                    int handle = _adsClient.CreateVariableHandle(item.Address);
                    _writeNameHandleDic[item.Name] = handle;
                }
                catch
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat create variable handle {item.Name} error");
                }
            }
        }
        /// <summary>
        /// 写入数值
        /// </summary>
        /// <param name="name"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool WriteValue(string name,object value)
        {
            if(_writeNameHandleDic.ContainsKey(name))
            {
                if(!_isConnected)
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT,"System", $"Twincat connected failed, write variable {name} error");
                    return false;
                }
                int handle = _writeNameHandleDic[name];
                BeckhoffItem item = BeckhoffItemManager.Instance.GetIOBeckhoffItem(name);
                object convertedValue = value;
                
                try
                {
                    if (item != null && item.BitOperated)
                    {
                        if (item.Invert && convertedValue is bool)
                        {
                            convertedValue = !(bool)convertedValue;
                        }
                        lock (_bitOperatedLocker)
                        {
                            convertedValue = GetBeckoffItemValue(item, convertedValue);
                            _adsClient.WriteAny(handle, convertedValue);
                            _bitOperatedAddressValueDic[item.Address] = (byte)convertedValue;
                        }
                    }
                    else
                    {
                        _adsClient.WriteAny(handle, convertedValue);
                    }
                    LOG.WriteLog(eEvent.INFO_TWINCAT, "System", $"Twincat write variable {name} value {convertedValue}");
                    return true;
                }
                catch(Exception ex)
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT,"System", $"Twincat write variable {name} error {ex.Message}");
                    return false;
                }
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_TWINCAT,"System", $"Twincat doesnot has {name} variable");
            }
            return false;
        }
        /// <summary>
        /// 获取Beckhoff项数值(用于解决BitOperated为true)
        /// </summary>
        /// <param name="name"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        private object GetBeckoffItemValue(BeckhoffItem item,object value)
        {
            if (_bitOperatedAddressValueDic.ContainsKey(item.Address))
            {
                byte addressValue = _bitOperatedAddressValueDic[item.Address];
                bool[] boolArray = Converter.GetboolArrayByByte(addressValue);
                bool boolValue = (bool)value;
                if (item.Bit < boolArray.Length)
                {
                    boolArray[item.Bit] = boolValue;
                }
                byte byt = Converter.GetByteValueByBoolArray(boolArray);
                return byt;
            }
            else
            {
                return value;
            }
        }
        /// <summary>
        /// 变量数值发生变化事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void AdsClient_AdsNotification(object sender, AdsNotificationEventArgs e)
        {
            try
            {
                BeckhoffItem item = null;
                if (_handleItemDic.ContainsKey(e.NotificationHandle))
                {
                    item = _handleItemDic[e.NotificationHandle];
                }
                else
                {
                    item = (BeckhoffItem)e.UserData;
                }
                e.DataStream.Position = e.Offset;
                if (item != null)
                {
                    switch (item.IoType)
                    {
                        case "di":
                            BeckhoffDIAccessor diAccessor = BeckhoffIOManager.Instance.GetDIAccessor(item.Name);
                            if (diAccessor != null)
                            {
                                diAccessor.Value = _reader.ReadBoolean();
                                if (item.Invert)
                                {
                                    IOModuleManager.Instance.UpdateIoValue(item.Name, !diAccessor.Value);
                                }
                                else
                                {
                                    IOModuleManager.Instance.UpdateIoValue(item.Name, diAccessor.Value);
                                }
                            }
                            break;
                        case "do":
                            BeckhoffDOAccessor doAccessor = BeckhoffIOManager.Instance.GetDOAccessor(item.Name);
                            if (doAccessor != null)
                            {
                                if (item.BitOperated)
                                {
                                    byte byt = _reader.ReadByte();
                                    lock (_bitOperatedLocker)
                                    {
                                        _bitOperatedAddressValueDic[doAccessor.Address] = byt;
                                    }
                                    doAccessor.Value = ((byt >> item.Bit) & 0x01) == 0x01;
                                }
                                else
                                {
                                    doAccessor.Value = _reader.ReadBoolean();
                                }
                                if (item.Invert)
                                {
                                    IOModuleManager.Instance.UpdateIoValue(item.Name, !doAccessor.Value);
                                }
                                else
                                {
                                    IOModuleManager.Instance.UpdateIoValue(item.Name, doAccessor.Value);
                                }
                            }
                            break;
                        case "ai":
                            BeckhoffAIAccessor aiAccessor = BeckhoffIOManager.Instance.GetAIAccessor(item.Name);
                            if (aiAccessor != null)
                            {
                                double twincatValue = GetAnalogValue(item.DataType);
                                var result = ScalingManager.Instance.CalculateValueByTwincatVariable(item.Name, twincatValue);
                                if (result.Item1)
                                {
                                    aiAccessor.Value = result.Item2;
                                }
                                else
                                {
                                    aiAccessor.Value = twincatValue;
                                }
                                IOModuleManager.Instance.UpdateIoValue(item.Name, aiAccessor.Value);
                            }
                            break;
                        case "ao":
                            BeckhoffAOAccessor aoAccessor = BeckhoffIOManager.Instance.GetAOAccesssor(item.Name);
                            if (aoAccessor != null)
                            {
                                double twincatValue = GetAnalogValue(item.DataType);
                                var result = ScalingManager.Instance.CalculateValueByTwincatVariable(item.Name, twincatValue);
                                if (result.Item1)
                                {
                                    aoAccessor.Value = result.Item2;
                                }
                                else
                                {
                                    aoAccessor.Value = twincatValue;
                                }
                                IOModuleManager.Instance.UpdateIoValue(item.Name, aoAccessor.Value);
                            }
                            break;
                        case "axis":
                            object itemValue = GetDataTypeValue(item.DataType);
                            if (item.Invert)
                            {
                                bool boolValue = (bool)itemValue;
                                BeckhoffAxisManager.Instance.SetAxisValue(item.Name, !boolValue);
                            }
                            else
                            {
                                BeckhoffAxisManager.Instance.SetAxisValue(item.Name, itemValue);
                            }
                            break;
                        case "counter":
                            if (item.Invert)
                            {
                                object counterItemValue = GetDataTypeValue(item.DataType);
                                bool boolValue = (bool)counterItemValue;
                                BeckhoffCounterManager.Instance.SetCounterValue(item.Name, !boolValue);
                            }
                            else
                            {                                
                                object counterItemValue = GetDataTypeValue(item.DataType);
                                BeckhoffCounterManager.Instance.SetCounterValue(item.Name, counterItemValue);
                            }
                            break;

                    }
                }
            }
            catch(Exception ex)
            {
                LOG.WriteLog(eEvent.ERR_TWINCAT, "System", ex.Message);
            }
        }
        /// <summary>
        /// 获取模拟数量数值 
        /// </summary>
        /// <param name="dataType"></param>
        /// <returns></returns>
        private double GetAnalogValue(string dataType)
        {
            return double.Parse(GetDataTypeValue(dataType).ToString());
        }
        /// <summary>
        /// 获取数据类型数值
        /// </summary>
        /// <param name="dataType"></param>
        /// <returns></returns>
        private object GetDataTypeValue(string dataType)
        {
            switch (dataType)
            {
                case "byte":
                    return _reader.ReadByte();
                case "sint":
                    return _reader.ReadSByte();
                case "usint":
                    return _reader.ReadByte();
                case "short":
                    return _reader.ReadInt16();
                case "int":
                    return _reader.ReadInt16();
                case "uint":
                    return _reader.ReadUInt16();
                case "dint":
                    return _reader.ReadInt32();
                case "udint":
                    return _reader.ReadUInt32();
                case "long":
                    return _reader.ReadInt64();
                case "float":
                    return _reader.ReadSingle();
                case "ulong":
                    return _reader.ReadUInt64();
                case "double":
                    return _reader.ReadDouble();
                case "bool":
                    return _reader.ReadBoolean();
                default:
                    return _reader.ReadDouble();
            }
        }

        /// <summary>
        /// 停止
        /// </summary>
        public void Stop()
        {
            _adsClient.Dispose();
        }

        #region 支持写入结构体
        /* T必须字段必须为连续地址，
         *  [StructLayout(LayoutKind.Sequential)]
            public class Tag
            {
                [MarshalAs(UnmanagedType.I1)]
                public bool DO_PVN21; 
                [MarshalAs(UnmanagedType.I1)]
                public bool DO_PV11;
                [MarshalAs(UnmanagedType.R4)]
                public float AI_Chamber_Pressure_10t;
            }
         * */
        /// <summary>
        /// 写入类
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="name"></param>
        /// <param name="data"></param>
        /// <returns></returns>
        public (bool success, int status) WriteStruct<T>(string name, T data)
        {
            if (_writeNameHandleDic.ContainsKey(name))
            {
                if (!_isConnected)
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat connected failed, write variable {name} error");
                    return (false, 0);
                }
                try
                {
                    int handle = _writeNameHandleDic[name];

                    _adsClient.WriteAny(handle, data);
                    LOG.WriteLog(eEvent.INFO_TWINCAT, "System", $"Twincat write variable {name} value {data}");
                    return (true, 0);
                }
                catch (Exception ex)
                {
                    LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat write variable {name} error {ex.Message}");
                    return (false, 1);
                }
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_TWINCAT, "System", $"Twincat doesnot has {name} variable");
                return (false, 0);
            }
        }
        #endregion
    }

}