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

using Aitex.Common.Util;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using DocumentFormat.OpenXml.Bibliography;
using MECF.Framework.Common.Device.PowerSupplier;
using MECF.Framework.Common.IOCore;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.Common.Device.Festo
{
    public class FestoControllerCfgManager : Singleton<FestoControllerCfgManager>
    {
        #region 内部变量
        /// <summary>
        /// do--Modbus设备字典(key-DO名称,value-Modbus设备)
        /// </summary>
        private Dictionary<string, FestoModbusDevice> _doModbusDictionary = new Dictionary<string, FestoModbusDevice>();
        /// <summary>
        /// 名称数据数组字典(key-festo名称，value-每个festo的byte数组)
        /// </summary>
        private ConcurrentDictionary<string, byte[]> _nameDatasDictionary = new ConcurrentDictionary<string, byte[]>();

        /// <summary>
        /// 名称数据数组字典(key-festo名称，value-每个festo的byte数组长度)
        /// </summary>
        private ConcurrentDictionary<string, int> _nameDataLengthDictionary = new ConcurrentDictionary<string, int>();
        /// <summary>
        /// do--Festo名称字典(key-DO名称,value-festo名称)
        /// </summary>
        private Dictionary<string,string> _doFestoNameDictionary = new Dictionary<string, string>();
        /// <summary>
        /// do对象字典(key-DO名称,value-FestDO对象)
        /// </summary>
        private Dictionary<string,FestoDO> _doDictionary=new Dictionary<string, FestoDO>();
        /// <summary>
        /// do 索引对象字典(key-地址索引-bit，value--do名称)
        /// </summary>
        private Dictionary<string, string> _doIndexDictionary = new Dictionary<string, string>();        
        #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\\FestoControllerCfg-Simulator.xml";
                }
                else
                {
                    xmlPath = PathManager.GetCfgDir() + "Devices\\FestoControllerCfg.xml";
                }
                FestoControllerCfg cfg = CustomXmlSerializer.Deserialize<FestoControllerCfg>(new FileInfo(xmlPath));
                if (cfg != null)
                {
                    foreach (FestoDeviceConfig config in cfg.FestoDeviceConfigs)
                    {
                        FestoModbusDevice modbusDevice = new FestoModbusDevice(config.Name, config.IpAddress, config.Port,(ushort)config.DIStartAddress,
                            (byte)config.Channel);
                        modbusDevice.ReceiveTimeout = config.RecvTimeout;
                        modbusDevice.SendTimeout = config.SendTimeout;
                        InitialDeviceConfig(config, modbusDevice,lst);
                        ushort addressCiount = (ushort)_nameDataLengthDictionary[config.Name];
                        modbusDevice.InitializeAddressCount(addressCiount);
                    }
                }
            }
            catch
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", "Load festo xml failed");
            }
        }
        /// <summary>
        /// 初始化DO Modbus设备对象
        /// </summary>
        /// <param name="deviceConfig"></param>
        /// <param name="modbusDevice"></param>
        private void InitialDeviceConfig(FestoDeviceConfig deviceConfig,FestoModbusDevice modbusDevice,List<string> lst)
        {
            List<int> addressLst = new List<int>();
            int index = -1;
            foreach(var item in deviceConfig.FestoDoes)
            {
                _doModbusDictionary[item.Name] = modbusDevice;
                if (!addressLst.Contains(item.Address))
                {
                    addressLst.Add(item.Address);
                    index++;
                }
                item.DataIndex = index;
                _doFestoNameDictionary[item.Name] = deviceConfig.Name;
                _doDictionary[item.Name]= item;
                _doIndexDictionary[$"{deviceConfig.Name}-{item.DataIndex}-{item.Bit}"] = item.Name;
                if (!lst.Contains(item.Name))
                {
                    lst.Add(item.Name);
                }
            }
            _nameDataLengthDictionary[deviceConfig.Name]=addressLst.Count;
        }
        /// <summary>
        /// 设置DO数值
        /// </summary>
        /// <param name="doName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool SetDoValue(string doName,bool value)
        {
            if (!_doDictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} object is null");
                return false;
            }
            FestoDO festoDO=_doDictionary[doName];
            if (!_doFestoNameDictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} festo name is empty");
                return false;
            }
            string festName = _doFestoNameDictionary[doName];

            if (!_nameDatasDictionary.ContainsKey(festName))
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} is not connected");
                return false;
            }
            byte[] data = _nameDatasDictionary[festName];

            if (festoDO.DataIndex >= data.Length)
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} data index is overflow");
                return false;
            }

            if (!_doModbusDictionary.ContainsKey(doName))
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} festo device is null");
                return false;
            }
            FestoModbusDevice device = _doModbusDictionary[doName];
            try
            {
                bool lastValue=festoDO.Invert?!value: value;
                byte festoValue = GenerateFestoData(festoDO, data[festoDO.DataIndex], lastValue);
                bool result= device.SetFestoValue((ushort)festoDO.Address, festoValue);
                if (result)
                {
                    LOG.WriteLog(eEvent.INFO_FESTO, "Festo", $"{doName} write {value} success");
                }
                else
                {
                    LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} write {value} failed");
                }
                return result;
            }
            catch(Exception ex)
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"write {doName} value {value} {ex.Message}");
                return false;
            }
        }
        /// <summary>
        /// 构建Festo字节数值
        /// </summary>
        /// <param name="festoDO"></param>
        /// <param name="source"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        private byte GenerateFestoData(FestoDO festoDO,byte source,bool value)
        {
            int bit = festoDO.Bit;

            bool sourceBit = (source>>bit & 0x01) == 1;
            if (sourceBit == value)
            {
                return source;
            }
            else
            {
                if (value)
                {
                    return (byte)(source + Math.Pow(2,bit));
                }
                else
                {
                    return (byte)(source - Math.Pow(2,bit));
                }
            }
        }
        /// <summary>
        /// 更新Festo数组
        /// </summary>
        /// <param name="festoName"></param>
        /// <param name="datas"></param>
        public void UpdateFestoData(string festoName, byte[] datas)
        {
            if (!_nameDataLengthDictionary.ContainsKey(festoName))
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"festo device {festoName} is invalid");
                return;
            }
            int dataLength = _nameDataLengthDictionary[festoName];
            byte[] bytes = null;
            if (!_nameDatasDictionary.ContainsKey(festoName))
            {
                bytes = new byte[dataLength];
                FirstUpdateDatas(festoName,datas);
                Array.Copy(datas,0,bytes,0,dataLength);
                _nameDatasDictionary[festoName] = bytes;
                return;
            }
            else
            {
                bytes=_nameDatasDictionary[festoName];
            }
            if (bytes.Length != datas.Length)
            {
                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"festo device {festoName} array source data length {bytes.Length} is not equal to {datas.Length}");
                return;
            }
            CheckSourceDataUpdated(festoName,bytes, datas);
        }
        /// <summary>
        /// 首次更新数据
        /// </summary>
        /// <param name="datas"></param>
        private void FirstUpdateDatas(string festoName,byte[] datas)
        {
            for (int i = 0; i < datas.Length; i++)
            {
                bool[] sourceBits = GetByteBitValue(datas[i]);
                for(int j = 0; j < sourceBits.Length; j++)
                {
                    UpdateIOBitValue(festoName,i, j, sourceBits[j]);
                }
            }
        }
        /// <summary>
        /// 通知字节数值变化
        /// </summary>
        /// <param name="source"></param>
        /// <param name="datas"></param>
        private void CheckSourceDataUpdated(string festoName,byte[] sourceDatas, byte[] datas)
        {
            for (int i = 0; i < datas.Length; i++)
            {
                byte data = datas[i];
                byte source=sourceDatas[i];
                if (data != source)
                {
                    CheckSourceDOUpdated(festoName,source, data,i);
                    sourceDatas[i] = data;
                }
            }
        }
        /// <summary>
        /// 通知DO数值变化
        /// </summary>
        /// <param name="source"></param>
        /// <param name="data"></param>
        private void CheckSourceDOUpdated(string festoName,byte source,byte data,int index)
        {
            bool[] sourceBits=GetByteBitValue(source);
            bool[] dataBits=GetByteBitValue(data);
            for(int i = 0; i < sourceBits.Length; i++)
            {
                if (sourceBits[i] == dataBits[i])
                {
                    continue;
                }
                UpdateIOBitValue(festoName,index, i, dataBits[i]);
            }
        }
        /// <summary>
        /// 更新IO bit数值
        /// </summary>
        /// <param name="index"></param>
        /// <param name="bit"></param>
        /// <param name="value"></param>
        private void UpdateIOBitValue(string festoName,int index,int bit,bool value)
        {
            string strIndex = $"{festoName}-{index}-{bit}";
            if (!_doIndexDictionary.ContainsKey(strIndex))
            {
                return;
            }
            string doName = _doIndexDictionary[strIndex];
            if (!_doDictionary.ContainsKey(doName))
            {
                return;
            }
            FestoDO festoDO = _doDictionary[doName];
            if (festoDO.Invert)
            {
                IOModuleManager.Instance.UpdateIoValue(_doIndexDictionary[strIndex], !value);
            }
            else
            {
                IOModuleManager.Instance.UpdateIoValue(_doIndexDictionary[strIndex], value);
            }
        }
        /// <summary>
        /// 获取位数值
        /// </summary>
        /// <param name="data"></param>
        /// <returns></returns>
        private bool[] GetByteBitValue(byte data)
        {
            bool[] values = new bool[8];
            for(int i = 0; i < values.Length; i++)
            {
                if (i == 0)
                {
                    values[i] = (data & 0x01) == 1;
                }
                else
                {
                    values[i] = ((data >> i) & 0x01) == 1;
                }
            }
            return values;
        }
    }
}