CyberX8/Framework/Common/TwinCat/BeckhoffIOManager.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.Common.TwinCat
{
    public class BeckhoffIOManager : Singleton<BeckhoffIOManager>
    {
        #region 内部常量
        private const string DI_ITEMLIST = "System.DIItemList";
        private const string DO_ITEMLIST = "System.DOItemList";
        private const string AI_ITEMLIST = "System.AIItemList";
        private const string AO_ITEMLIST = "System.AOItemList";
        private const string DIGITAL = "Digital";
        private const string ANALOG = "Analog";
        #endregion

        #region 内部变量
        private Dictionary<string, BeckhoffDIAccessor> _diMap = new Dictionary<string, BeckhoffDIAccessor>();
        private Dictionary<string, BeckhoffDOAccessor> _doMap = new Dictionary<string, BeckhoffDOAccessor>();
        private Dictionary<string, BeckhoffAIAccessor> _aiMap = new Dictionary<string, BeckhoffAIAccessor>();
        private Dictionary<string, BeckhoffAOAccessor> _aoMap = new Dictionary<string, BeckhoffAOAccessor>();

        private Dictionary<string, List<NotifiableIoItem>> _ioItemList = new Dictionary<string, List<NotifiableIoItem>>();
        private int _size = 0;
        
        /// <summary>
        /// do对应地址(多个do对应同一址)
        /// </summary>
        private List<string> _doAddress = new List<string>();
        #endregion

        #region 属性
        /// <summary>
        /// IO数据长度
        /// </summary>
        public int Size { get { return _size; } }
        #endregion
        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="cfg"></param>
        public void Initialize(BeckhoffCfg cfg)
        {
            SubscribeIoItemList();
            SubscribeOP();
            InitialAccessors(cfg);
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="cfg"></param>
        private void InitialAccessors(BeckhoffCfg cfg)
        {
            foreach (BeckhoffInput item in cfg.Controller.Inputs)
            {
                string key = $"{item.Name}";
                if (item.Type == DIGITAL)
                {
                    if (!_diMap.ContainsKey(key))
                    {
                        BeckhoffDIAccessor accessor = new BeckhoffDIAccessor(key, item.Address, item.Scaling);
                        _diMap[key] = accessor;
                        _ioItemList[DI_ITEMLIST].Add(new NotifiableIoItem()
                        {
                            Address = accessor.Address,
                            Name = key
                        });
                        DATA.Subscribe(key, () => accessor.Value, SubscriptionAttribute.FLAG.IgnoreSaveDB);
                        //BeckhoffModuleIOManager.Instance.SubscribeModuleIoValue(key, accessor.Value);
                        BeckhoffItemManager.Instance.InitBeckhoffItem(key,item.Address, item.DataType, "di", 1,false,0,item.Invert);
                        _size++;
                    }
                }
                else if (item.Type == ANALOG)
                {
                    if (!_aiMap.ContainsKey(key))
                    {
                        BeckhoffAIAccessor accessor = new BeckhoffAIAccessor(key, item.Address, item.Scaling, item.DataType);
                        _aiMap[key] = accessor;
                        _ioItemList[AI_ITEMLIST].Add(new NotifiableIoItem()
                        {
                            Address = accessor.Address,
                            Name = key
                        });
                        DATA.Subscribe(key, () => accessor.Value, SubscriptionAttribute.FLAG.IgnoreSaveDB);
                        //BeckhoffModuleIOManager.Instance.SubscribeModuleIoValue(key, accessor.Value);
                        int dataSize = DataTypeUtil.GetDataTypeSize(item.DataType);
                        BeckhoffItemManager.Instance.InitBeckhoffItem(key,item.Address, item.DataType,item.Scaling, "ai", dataSize,false,0,item.Invert);
                        _size += dataSize;
                    }
                }
            }
            foreach (BeckhoffOutput item in cfg.Controller.Outputs)
            {
                string key = $"{item.Name}";
                if (item.Type == DIGITAL)
                {
                    if (!_doMap.ContainsKey(key))
                    {
                        BeckhoffDOAccessor accessor = new BeckhoffDOAccessor(key, item.Address, item.Scaling,item.BitOperated,item.Bit);
                        _doMap[key] = accessor;
                        _ioItemList[DO_ITEMLIST].Add(new NotifiableIoItem()
                        {
                            Address = accessor.Address,
                            Name = key
                        });
                        DATA.Subscribe(key, () => accessor.Value, SubscriptionAttribute.FLAG.IgnoreSaveDB);
                        //BeckhoffModuleIOManager.Instance.SubscribeModuleIoValue(key, accessor.Value);
                        BeckhoffItemManager.Instance.InitBeckhoffItem(key,item.Address, item.DataType, "do", 1,item.BitOperated,item.Bit,item.Invert);
                        BeckhoffItemManager.Instance.InitWriteBeckoffItem(key, item.Address, item.DataType, "do", 1,item.BitOperated,item.Bit,item.Invert);
                        _size++;
                        //if(!_doAddress.Contains(accessor.Address))
                        //{
                        //    _doAddress.Add(accessor.Address);
                        //    _size++;
                        //}
                    }
                }
                else if (item.Type == ANALOG)
                {
                    if (!_aoMap.ContainsKey(key))
                    {
                        BeckhoffAOAccessor accessor = new BeckhoffAOAccessor(key, item.Address, item.Scaling, item.DataType);
                        _aoMap[key] = accessor;
                        _ioItemList[AO_ITEMLIST].Add(new NotifiableIoItem()
                        {
                            Address = accessor.Address,
                            Name = key
                        });
                        DATA.Subscribe(key, () => accessor.Value, SubscriptionAttribute.FLAG.IgnoreSaveDB);
                        //BeckhoffModuleIOManager.Instance.SubscribeModuleIoValue(key, accessor.Value);
                        int dataSize = DataTypeUtil.GetDataTypeSize(item.DataType);
                        BeckhoffItemManager.Instance.InitBeckhoffItem(key,item.Address, item.DataType,item.Scaling, "ao", dataSize,false,0, item.Invert);
                        BeckhoffItemManager.Instance.InitWriteBeckoffItem(key, item.Address, item.DataType, "ao", dataSize, false, 0, item.Invert);
                        _size += dataSize;
                    }
                }
            }
        }

        /// <summary>
        /// 订阅IO集合
        /// </summary>
        private void SubscribeIoItemList()
        {
            if (!_ioItemList.ContainsKey(DI_ITEMLIST))
            {
                _ioItemList[DI_ITEMLIST] = new List<NotifiableIoItem>();
                DATA.Subscribe(DI_ITEMLIST, () => _ioItemList[DI_ITEMLIST],SubscriptionAttribute.FLAG.IgnoreSaveDB);
            }

            if (!_ioItemList.ContainsKey(DO_ITEMLIST))
            {
                _ioItemList[DO_ITEMLIST] = new List<NotifiableIoItem>();
                DATA.Subscribe(DO_ITEMLIST, () => _ioItemList[DO_ITEMLIST], SubscriptionAttribute.FLAG.IgnoreSaveDB);
            }

            if (!_ioItemList.ContainsKey(AI_ITEMLIST))
            {
                _ioItemList[AI_ITEMLIST] = new List<NotifiableIoItem>();
                DATA.Subscribe(AI_ITEMLIST, () => _ioItemList[AI_ITEMLIST],SubscriptionAttribute.FLAG.IgnoreSaveDB);
            }

            if (!_ioItemList.ContainsKey(AO_ITEMLIST))
            {
                _ioItemList[AO_ITEMLIST] = new List<NotifiableIoItem>();
                DATA.Subscribe(AO_ITEMLIST, () => _ioItemList[AO_ITEMLIST],SubscriptionAttribute.FLAG.IgnoreSaveDB);
            }
        }
        #region 操作OP
        /// <summary>
        /// 订阅操作
        /// </summary>
        private void SubscribeOP()
        {
            OP.Subscribe("System.SetDoValue", WriteDoOperation);
            OP.Subscribe("System.SetAoValue32", WriteAoOperation);
        }
        /// <summary>
        /// 写DO变量数值
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        private bool WriteDoOperation(string arg1, object[] args)
        {
            string name = (string)args[0];
            bool setpoint = (bool)args[1];
            BeckhoffItem item = BeckhoffItemManager.Instance.GetWriteBeckhoffItem(name);
            return TwincatAdoManager.Instance.WriteValue(name, setpoint);
        }
        /// <summary>
        /// 写AO变量数值
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        private bool WriteAoOperation(string arg1, object[] args)
        {
            string name = (string)args[0];
            if (double.TryParse(args[1].ToString(), out var output))
            {
                return WriteIoValue(name, output);
            }
            return false;
            
        }
        /// <summary>
        /// 写入IO数值
        /// </summary>
        /// <param name="name"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public bool WriteIoValue(string name,object value)
        {
            if(ScalingManager.Instance.IsContained(name))
            {
                if(double.TryParse(value.ToString(),out var output))
                {
                    var result = ScalingManager.Instance.CalculateTwincatValueByInput(name,output);
                    if(result.Item1)
                    {
                        return TwincatAdoManager.Instance.WriteValue(name, result.Item2);
                    }
                    else
                    {
                        return TwincatAdoManager.Instance.WriteValue(name, value);
                    }
                }
                else
                {
                    return TwincatAdoManager.Instance.WriteValue(name, value);
                }
            }
            return TwincatAdoManager.Instance.WriteValue(name, value);
        }
        #endregion

        #region 获取Accessor和Item
        public BeckhoffDIAccessor GetDIAccessor(string name)
        {
            return _diMap.ContainsKey(name) ? _diMap[name] : null;
        }
        public BeckhoffDOAccessor GetDOAccessor(string name)
        {
            return _doMap.ContainsKey(name) ? _doMap[name] : null;
        }
        public BeckhoffAIAccessor GetAIAccessor(string name)
        {
            return _aiMap.ContainsKey(name) ? _aiMap[name] : null;
        }
        public BeckhoffAOAccessor GetAOAccesssor(string name)
        {
            return _aoMap.ContainsKey(name) ? _aoMap[name] : null;
        }


        #endregion

        
    }
}