CyberX8/Framework/Common/Device/Wago/WagoControllerCfgManager.cs

using Aitex.Common.Util;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using DocumentFormat.OpenXml.Wordprocessing;
using MECF.Framework.Common.Device.Festo;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Net;
using MECF.Framework.Common.TwinCat;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;

namespace MECF.Framework.Common.Device.Wago
{
    public class WagoControllerCfgManager : Singleton<WagoControllerCfgManager>
    {
        #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>
        /// do--Modbus设备字典(key-DO名称,value-Modbus设备)
        /// </summary>
        private Dictionary<string, WagoModbusDevice> _ioModbusDictionary = new Dictionary<string, WagoModbusDevice>();
        /// <summary>
        /// 索引DI名称字典(key-DI索引,value-DI名称)
        /// </summary>
        private Dictionary<int, string> _indexDIDictionary = new Dictionary<int, string>();
        /// <summary>
        /// 索引DO名称字典(key-DI索引,value-DO名称)
        /// </summary>
        private Dictionary<int, string> _indexDODictionary = new Dictionary<int, string>();
        /// <summary>
        /// 索引AI名称字典(key-DI索引,value-AI名称)
        /// </summary>
        private Dictionary<int, string> _indexAIDictionary = new Dictionary<int, string>();
        /// <summary>
        /// 索引AO名称字典(key-DI索引,value-AO名称)
        /// </summary>
        private Dictionary<int, string> _indexAODictionary = new Dictionary<int, string>();
        /// <summary>
        /// 模块DI字典(key-模块,value-DI名称集合)
        /// </summary>
        private Dictionary<string, List<string>> _moduleDINameListDictionary = new Dictionary<string, List<string>>();
        /// <summary>
        /// 模块DO字典(key-模块,value-DO名称集合)
        /// </summary>
        private Dictionary<string, List<string>> _moduleDONameListDictionary = new Dictionary<string, List<string>>();
        /// <summary>
        /// DO-模块字典(key-DO名称,value-模块名称)
        /// </summary>
        private Dictionary<string, string> _doModuleDictionary = new Dictionary<string, string>();
        /// <summary>
        /// 模块AI字典(key-模块,value-AI名称集合)
        /// </summary>
        private Dictionary<string, List<WagoAI>> _moduleAIListDictionary = new Dictionary<string, List<WagoAI>>();
        /// <summary>
        /// 模块AO字典(key-模块,value-AO名称集合)
        /// </summary>
        private Dictionary<string, List<WagoAO>> _moduleAOListDictionary = new Dictionary<string, List<WagoAO>>();
        /// <summary>
        /// DI字典(key-DI名称,value-DI对象)
        /// </summary>
        private Dictionary<string, WagoDI> _moduleNameDIDictionary = new Dictionary<string, WagoDI>();
        /// <summary>
        /// DO字典(key-DO名称,value-DO对象)
        /// </summary>
        private Dictionary<string,WagoDO> _moduleNameDODictionary = new Dictionary<string, WagoDO>();
        /// <summary>
        /// AI字典(key-AI名称,value-AI对象)
        /// </summary>
        private Dictionary<string, WagoAI> _moduleNameAIDictionary = new Dictionary<string, WagoAI>();
        /// <summary>
        /// AO字典(key-AO名称,value-AO对象)
        /// </summary>
        private Dictionary<string, WagoAO> _moduleNameAODictionary = new Dictionary<string, WagoAO>();
        /// <summary>
        /// 模块名称数值字典(key-模块名称,value-数值)
        /// </summary>
        private ConcurrentDictionary<string, object> _moduleNameValueDictionary = new ConcurrentDictionary<string, object>();
        /// <summary>
        /// 转换器
        /// </summary>
        private IByteTransform byteTransform = new BigEndianByteTransformBase();
        #endregion
        /// <summary>
        /// 初始化
        /// </summary>
        public void Initialize(List<string> lst)
        {
            bool isSimulate = SC.GetValue<bool>("System.IsSimulatorMode");
            string xmlPath = "";
            try
            {
                if (isSimulate)
                {
                    xmlPath = PathManager.GetCfgDir() + "Devices\\WagoControllerCfg-Simulator.xml";
                }
                else
                {
                    xmlPath = PathManager.GetCfgDir() + "Devices\\WagoControllerCfg.xml";
                }
                WagoControllerCfg cfg = CustomXmlSerializer.Deserialize<WagoControllerCfg>(new FileInfo(xmlPath));
                if (cfg != null)
                {
                    foreach (var config in cfg.WagoDeviceConfigs)
                    {
                        WagoModbusDevice modbusDevice = new WagoModbusDevice(config.Module, config.IpAddress, config.Port,
                            (byte)config.Channel);
                        modbusDevice.ReceiveTimeout = config.RecvTimeout;
                        modbusDevice.SendTimeout = config.SendTimeout;
                        InitializeWagoDeviceConfig(config, modbusDevice, lst);
                    }
                }
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "wago", "Load galil xml failed");
            }
        }
        /// <summary>
        /// 初始化设备
        /// </summary>
        /// <param name="deviceConfig"></param>
        private void InitializeWagoDeviceConfig(WagoDeviceConfig deviceConfig,WagoModbusDevice modbusDevice,List<string> lst)
        {
            //DI
            ushort diStartAddress = 0;
            ushort diCount = 0;
            if (deviceConfig.WagoDigIn != null &&  deviceConfig.WagoDigIn.WagoDIGroups?.Count != 0)
            {
                diStartAddress = (ushort)deviceConfig.WagoDigIn.WagoDIGroups[0].WagoDIs[0].Address;
                List<string> diLst = new List<string>();
                int index = 0;
                foreach (var group in deviceConfig.WagoDigIn.WagoDIGroups)
                {
                    foreach (var item in group.WagoDIs)
                    {
                        _indexDIDictionary[index] = item.Name;
                        _moduleNameDIDictionary[item.Name] = item;
                        diLst.Add(item.Name);
                        lst.Add(item.Name);
                        index++;
                    }
                }
                diCount = (ushort)index;
                _moduleDINameListDictionary[deviceConfig.Module] = diLst;
            }
            //DO
            ushort doStartAddress = 0;
            ushort doCount = 0;
            if (deviceConfig.WagoDigOut != null && deviceConfig.WagoDigOut.WagoDOGroups?.Count != 0)
            {
                doStartAddress = (ushort)deviceConfig.WagoDigOut.WagoDOGroups[0].WagoDOs[0].Address;
                List<string> doList = new List<string>();
                int index = 0;
                foreach (var group in deviceConfig.WagoDigOut.WagoDOGroups)
                {
                    foreach (WagoDO item in group.WagoDOs)
                    {
                        _ioModbusDictionary[item.Name] = modbusDevice;
                        _indexDODictionary[index] = item.Name;
                        doList.Add(item.Name);
                        _moduleNameDODictionary[item.Name] = item;
                        _doModuleDictionary[item.Name] = deviceConfig.Module;
                        lst.Add(item.Name);
                        index++;
                    }
                }
                _moduleDONameListDictionary[deviceConfig.Module] = doList;
                doCount = (ushort)index;
            }
            //AI
            ushort aiCount = 0;
            ushort aiStartAddress = 0;
            if ( deviceConfig.WagoAnoIn != null && deviceConfig.WagoAnoIn.WagoAIGroups?.Count != 0)
            {
                aiStartAddress = (ushort)deviceConfig.WagoAnoIn.WagoAIGroups[0].WagoAIs[0].Address;
                int index = 0;
                List<WagoAI> aiLst = new List<WagoAI>();
                foreach (var group in deviceConfig.WagoAnoIn.WagoAIGroups)
                {
                    foreach (var item in group.WagoAIs)
                    {
                        _indexAIDictionary[index] = item.Name;
                        if (!string.IsNullOrEmpty(item.Scaling))
                        {
                            ScalingManager.Instance.Initialize(item.Name, item.Scaling);
                        }
                        lst.Add(item.Name);
                        _moduleNameAIDictionary[item.Name] = item;
                        aiLst.Add(item);
                        index++;
                    }
                }
                _moduleAIListDictionary[deviceConfig.Module] = aiLst;
                aiCount = (ushort)index;
            }
            //AO
            ushort aoStartAddress = 0;
            ushort aoCount = 0;
            if (deviceConfig.WagoAnoOut!= null && deviceConfig.WagoAnoOut.WagoAOGroups?.Count != 0)
            {
                aoStartAddress = (ushort)deviceConfig.WagoAnoOut.WagoAOGroups[0].WagoAOs[0].Address;
                int index = 0;
                List<WagoAO> aoList = new List<WagoAO>();
                foreach (var group in deviceConfig.WagoAnoOut.WagoAOGroups)
                {
                    foreach (var item in group.WagoAOs)
                    {
                        _ioModbusDictionary[item.Name] = modbusDevice;
                        _indexAODictionary[index] = item.Name;
                        if (!string.IsNullOrEmpty(item.Scaling))
                        {
                            ScalingManager.Instance.Initialize(item.Name, item.Scaling);
                        }
                        _moduleNameAODictionary[item.Name] = item;
                        lst.Add(item.Name);
                        index++;
                        aoList.Add(item);
                    }
                }
                aoCount = (ushort)index;
                _moduleAOListDictionary[deviceConfig.Module] = aoList;
            }
            modbusDevice.Initialize(diCount, diStartAddress, doCount, doStartAddress, aiCount, aiStartAddress, aoCount, aoStartAddress);
        }
        /// <summary>
        /// 更新DI数组
        /// </summary>
        /// <param name="name"></param>
        /// <param name="datas"></param>
        public void UpdateWagoDIData(string name, bool[] datas)
        {
            if (_moduleDINameListDictionary.ContainsKey(name))
            {
                UpdateWagoDIData(_moduleDINameListDictionary[name], datas);
            }
        }
        /// <summary>
        /// 更新Wago DI数字数值
        /// </summary>
        /// <param name="lst"></param>
        /// <param name="dic"></param>
        /// <param name="datas"></param>
        private void UpdateWagoDIData(List<string> lst, bool[] datas)
        {
            for (int i = 0; i < lst.Count; i++)
            {
                string item = lst[i];
                if (i >= datas.Length)
                {
                    continue;
                }
                if (!_moduleNameDIDictionary.ContainsKey(item))
                {
                    continue;
                }
                WagoDI wagoDI = _moduleNameDIDictionary[item];
                bool value = datas[i];
                if (!_moduleNameValueDictionary.ContainsKey(item))
                {
                    _moduleNameValueDictionary[item] = value;
                    DigitalIOUpdateValue(item, wagoDI.Invert, value);
                }
                else
                {
                    if (value != (bool)_moduleNameValueDictionary[item])
                    {
                        _moduleNameValueDictionary[item] = value;
                        DigitalIOUpdateValue(item, wagoDI.Invert, value);
                    }
                }
            }
        }
        /// <summary>
        /// 更新DO数组
        /// </summary>
        /// <param name="name"></param>
        /// <param name="datas"></param>
        public void UpdateWagoDOData(string name, bool[] datas)
        {
            if (_moduleDONameListDictionary.ContainsKey(name))
            {
                UpdateWagoDOData(_moduleDONameListDictionary[name], datas);
            }
        }
        /// <summary>
        /// 更新Wago数字数值
        /// </summary>
        /// <param name="lst"></param>
        /// <param name="dic"></param>
        /// <param name="datas"></param>
        private void UpdateWagoDOData(List<string> lst,bool[] datas)
        {
            for(int i=0;i<lst.Count;i++)
            {                
                string item=lst[i];
                if (i >= datas.Length)
                {
                    continue;
                }
                if (!_moduleNameDODictionary.ContainsKey(item))
                {
                    continue;
                }
                WagoDO wagoDO=_moduleNameDODictionary[item];
                bool value = datas[i];
                if (!_moduleNameValueDictionary.ContainsKey(item))
                {
                    _moduleNameValueDictionary[item] = value;
                    DigitalIOUpdateValue(item, wagoDO.Invert, value);
                }
                else
                {
                    if (value != (bool)_moduleNameValueDictionary[item])
                    {
                        _moduleNameValueDictionary[item] = value;
                        DigitalIOUpdateValue(item, wagoDO.Invert, value);
                    }
                }
            }
        }
        /// <summary>
        /// Digtal IO更新数值
        /// </summary>
        /// <param name="item"></param>
        /// <param name="invert"></param>
        /// <param name="value"></param>
        private void DigitalIOUpdateValue(string item,bool invert,bool value)
        {
            if (invert)
            {
                IOModuleManager.Instance.UpdateIoValue(item, !value);
            }
            else
            {
                IOModuleManager.Instance.UpdateIoValue(item, value);
            }
        }

        /// <summary>
        /// 更新AI数组
        /// </summary>
        /// <param name="name"></param>
        /// <param name="datas"></param>
        public void UpdateWagoAIData(string name, byte[] datas)
        {
            if (_moduleAIListDictionary.ContainsKey(name))
            {
                List<WagoAI> wagoAIs = _moduleAIListDictionary[name];
                for(int i = 0; i < wagoAIs.Count; i++)
                {
                    WagoAI wagoAI = wagoAIs[i];
                    if (i * 2 >= datas.Length)
                    {
                        break;
                    }
                    UpdateWagoAnalogData(wagoAI.Name, wagoAI.Scaling, wagoAI.DataType, datas, i);
                }
            }
        }
        /// <summary>
        /// 更新AO数组
        /// </summary>
        /// <param name="name"></param>
        /// <param name="datas"></param>
        public void UpdateWagoAOData(string name, byte[] datas)
        {
            if (_moduleAOListDictionary.ContainsKey(name))
            {
                List<WagoAO> wagoAOs = _moduleAOListDictionary[name];
                for (int i = 0; i < wagoAOs.Count; i++)
                {
                    WagoAO wagoAO = wagoAOs[i];
                    if (i * 2 >= datas.Length)
                    {
                        break;
                    }
                    UpdateWagoAnalogData(wagoAO.Name, wagoAO.Scaling, wagoAO.DataType, datas, i);
                }
            }
        }
        /// <summary>
        /// 更新模拟量数据
        /// </summary>
        /// <param name="moduleName"></param>
        /// <param name="scaling"></param>
        /// <param name="dataType"></param>
        /// <param name="datas"></param>
        /// <param name="index"></param>
        private void UpdateWagoAnalogData(string moduleName,string scaling,string dataType, byte[] datas,int index)
        {
            object value = null;
            if (dataType == "short")
            {
                value = byteTransform.TransInt16(datas, index * 2);
            }
            else
            {
                value = byteTransform.TransUInt16(datas, index * 2);
            }
            if (!string.IsNullOrEmpty(scaling))
            {
                var result = ScalingManager.Instance.CalculateValueByTwincatVariable(moduleName, double.Parse(value.ToString()));
                if (result.Item1)
                {
                    value = result.Item2;
                }
                else
                {
                    return;
                }
            }
            if (!_moduleNameValueDictionary.ContainsKey(moduleName))
            {
                _moduleNameValueDictionary[moduleName] = value;
                IOModuleManager.Instance.UpdateIoValue(moduleName, value);
            }
            else
            {
                if (value.ToString() != _moduleNameValueDictionary[moduleName].ToString())
                {
                    _moduleNameValueDictionary[moduleName] = value;
                    IOModuleManager.Instance.UpdateIoValue(moduleName, value);
                }
            }
        }
        /// <summary>
        /// 写入IO数值
        /// </summary>
        /// <param name="ioName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool WriteIOValue(string ioName,object value)
        {
            if (_moduleNameDODictionary.ContainsKey(ioName))
            {
                return SetDoValue(ioName, (bool)value);
            }
            else if (_moduleNameAODictionary.ContainsKey(ioName))
            {
                return SetAoValue(ioName, (double)value);
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{ioName} object is null");
                return false;
            }
        }

        /// <summary>
        /// 设置DO数值
        /// </summary>
        /// <param name="doName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        private bool SetDoValue(string doName, bool value)
        {
            if (!_moduleNameDODictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{doName} object is null");
                return false;
            }
            WagoDO wagoDO = _moduleNameDODictionary[doName];

            if (!_ioModbusDictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{doName} wago device is null");
                return false;
            }
            WagoModbusDevice device = _ioModbusDictionary[doName];
            if (!_doModuleDictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{doName} does not have module dictionary");
                return false;
            }
            string module = _doModuleDictionary[doName];
            try
            {
                bool lastValue = wagoDO.Invert ? !value : value;
                byte festoValue = lastValue ? (byte)0xFF : (byte)0x00;
                bool result = device.WriteDOValue((ushort)wagoDO.Address, festoValue);
                if (result)
                {
                    LOG.WriteLog(eEvent.INFO_WAGO, "Wago", $"{doName} write {value} success");
                }
                else
                {
                    LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{doName} write {value} failed");
                }
                return result;
            }
            catch (Exception ex)
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"write {doName} value {value} {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置AO数值
        /// </summary>
        /// <param name="aoName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool SetAoValue(string aoName, double value)
        {
            if (!_moduleNameAODictionary.ContainsKey(aoName))
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{aoName} object is null");
                return false;
            }
            WagoAO wagoAO = _moduleNameAODictionary[aoName];

            if (!_ioModbusDictionary.ContainsKey(aoName))
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{aoName} wago device is null");
                return false;
            }
            WagoModbusDevice device = _ioModbusDictionary[aoName];
            try
            {
                byte[] writeByts = null;
                if (!string.IsNullOrEmpty(wagoAO.Scaling))
                {
                    var var=ScalingManager.Instance.CalculateTwincatValueByInput(aoName, value);
                    if (var.Item1)
                    {
                        if (wagoAO.DataType == "short")
                        {
                            writeByts = byteTransform.GetBytes((short)var.Item2);
                        }
                        else
                        {
                            writeByts = byteTransform.GetBytes((ushort)var.Item2);
                        }
                    }
                }
                bool result = device.WriteAOValue((ushort)wagoAO.Address, writeByts);
                if (result)
                {
                    LOG.WriteLog(eEvent.INFO_WAGO, "Wago", $"{aoName} write {value} success");
                }
                else
                {
                    LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"{aoName} write {value} failed");
                }
                return result;
            }
            catch (Exception ex)
            {
                LOG.WriteLog(eEvent.ERR_WAGO, "Wago", $"write {aoName} value {value} {ex.Message}");
                return false;
            }
        }
    }
}