CyberX8/Framework/Common/Device/Galil/GalilControllerCfgManager.cs

using Aitex.Common.Util;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Device.Festo;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.IOCore;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.Common.Device.Galil
{
    public class GalilControllerCfgManager : Singleton<GalilControllerCfgManager>
    {
        #region 常量 
        private const string STOPCODE = "StopCode";
        private const string REFERENCE_POSITION = "ReferencePosition";
        private const string TORQUE = "Torque";
        private const string VELOCITY = "Velocity";
        private const string POSITION_ERROR = "PositionError";
        private const string AUXILIARY_POSITION="AuxiliaryPosition";
        #endregion

        #region 内部变量
        /// <summary>
        /// 模块数据字典（key-模块名称,value-模块Galil数据)
        /// </summary>
        private Dictionary<string, GalilControllerData> _moduleGalilDataDictionary = new Dictionary<string, GalilControllerData>();
        /// <summary>
        /// 电机数据字典(key-电机名称,value-电机数据)
        /// </summary>
        private Dictionary<string, GalilAxisData> _moduleNameAxisDataDictionary = new Dictionary<string, GalilAxisData>();
        /// <summary>
        /// 电机索引字典(key-电机名称,value-索引)
        /// </summary>
        private Dictionary<string, int> _moduleNameIndexDictionary = new Dictionary<string, int>();
        /// <summary>
        /// 模块电机集合字典(key-模块名称,value-电机集合)
        /// </summary>
        private Dictionary<string,List<string>> _moduleNameLstDictionary= new Dictionary<string,List<string>>();
        #endregion
        /// <summary>
        /// 初始化
        /// </summary>
        public void Initialize()
        {
            bool isSimulate = SC.GetValue<bool>("System.IsSimulatorMode");
            string xmlPath = "";
            try
            {
                if (isSimulate)
                {
                    xmlPath = PathManager.GetCfgDir() + "Devices\\GalilControllerCfg-Simulator.xml";
                }
                else
                {
                    xmlPath = PathManager.GetCfgDir() + "Devices\\GalilControllerCfg.xml";
                }
                GalilControllerCfg cfg = CustomXmlSerializer.Deserialize<GalilControllerCfg>(new FileInfo(xmlPath));
                if (cfg != null)
                {
                    foreach (var config in cfg.GalilDeviceConfigs)
                    {
                        InitializeGalilDevice(config);
                        GalilTcpDevice galilDevice = new GalilTcpDevice(config.Module, config.IpAddress, config.Port);
                        galilDevice.ReceiveTimeout = config.RecvTimeout;
                        galilDevice.SendTimeout = config.SendTimeout;
                        galilDevice.Initialize();
                    }
                }
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_GALIL, "Galil", "Load galil xml failed");
            }
        }
        /// <summary>
        /// 初始化Galil 设备
        /// </summary>
        /// <param name="deviceConfig"></param>
        private void InitializeGalilDevice(GalilDeviceConfig deviceConfig)
        {
            List<string> lst = new List<string>();
            foreach(var item in deviceConfig.GalilAxises)
            {
                _moduleNameIndexDictionary[$"{deviceConfig.Module}.{item.Name}"] = item.Index;
                if (!lst.Contains(item.Name))
                {
                    lst.Add(item.Name);
                }
            }
            if (lst.Count > 0)
            {
                _moduleNameLstDictionary[deviceConfig.Module] = lst;
            }
        }
        /// <summary>
        /// 更新模块数据
        /// </summary>
        /// <param name="controllerData"></param>
        public void UpdateModuleData(string module,GalilControllerData controllerData)
        {
            if (!_moduleGalilDataDictionary.ContainsKey(module))
            {
                _moduleGalilDataDictionary[module] = controllerData;
            }
            if (!_moduleNameLstDictionary.ContainsKey(module))
            {
                return;
            }
            List<string> lst = _moduleNameLstDictionary[module];
            foreach (var item in lst)
            {
                string moduleName = $"{module}.{item}";
                if (!_moduleNameIndexDictionary.ContainsKey(moduleName))
                {
                    continue;
                }
                int index = _moduleNameIndexDictionary[moduleName];
                if(index>=controllerData.GalilAxisDatas.Count)
                {
                    continue;
                }
                GalilAxisData galilAxisData=controllerData.GalilAxisDatas[index];
                CheckAxisDataChanged(moduleName, galilAxisData);
            }
        }
        /// <summary>
        /// 检验电机数据是否发生变化
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="axisData"></param>
        private void CheckAxisDataChanged(string moduleName,GalilAxisData axisData)
        {
            if (_moduleNameAxisDataDictionary.ContainsKey(moduleName))
            {
                NotifyGalilAxisData(moduleName, _moduleNameAxisDataDictionary[moduleName],axisData);
                _moduleNameAxisDataDictionary[moduleName].Copy(axisData);
            }
            else
            {
                NotifyGalilAxisAllData(moduleName, axisData);
                _moduleNameAxisDataDictionary[moduleName] = axisData.Clone();
            }
        }
        /// <summary>
        /// 更新Galil电机数据
        /// </summary>
        /// <param name="axisData"></param>
        private void NotifyGalilAxisAllData(string moduleName,GalilAxisData axisData)
        {
            PropertyInfo[] propertyInfos= axisData.GetType().GetProperties();
            foreach(var info in propertyInfos)
            {
                object value = info.GetValue(axisData);
                IOModuleManager.Instance.UpdateIoValue($"{moduleName}.{info.Name}", value);
            }
        }
        /// <summary>
        /// 通知Galil电机数据
        /// </summary>
        /// <param name="sourceData"></param>
        /// <param name="targetData"></param>
        private void NotifyGalilAxisData(string moduleName,GalilAxisData sourceData, GalilAxisData targetData)
        {
            PropertyInfo[] propertyInfos = sourceData.GetType().GetProperties();
            foreach (var info in propertyInfos)
            {
                object sourceValue= info.GetValue(sourceData);
                object targetValue = info.GetValue(targetData);
                if (sourceValue.ToString() != targetValue.ToString())
                {
                    IOModuleManager.Instance.UpdateIoValue(moduleName, targetValue);
                }
            }
        }
    }
}