JET-EFEM/athos/athosRT/FSM/RoutineRunner.cs

using Aitex.Core.RT.Routine;
using athosRT.tool;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.FSM
{
    public class RoutineRunner
    {
        public RState Status => _runnerState;
        private bool IsSubStepRunning(Enum id) => _runnerState == RState.Running && _subState == RState.Running && (_curStep != null && _curStep.GetHashCode() == id.GetHashCode());
        private bool bAllowSubStepStart(Enum id) => _runnerState == RState.Running && _subState == RState.End && !_steps.Contains(id) && _isLoopMode == false;
        private bool bAllowLoopSubStepStart(Enum id) => _runnerState == RState.Running && _subState == RState.End && !_steps.Contains(id) && _isLoopMode;

        public int LoopCounter => _loopCounter;
        public long StepElapsedMS => _subStepTimer.ElapsedMilliseconds;
        enum InvalidStep { Invalid = 0x7FFFFFFF, };
        private RState _subState = RState.Init;
        private Stack<Enum> _steps = new Stack<Enum>();
        private Stack<Enum> _loopSteps = new Stack<Enum>();
        private Enum _curStep = InvalidStep.Invalid;
        private RState _runnerState = RState.Init;
        private string _name;
        private string _loopName;
        private ModuleName _module;

        // 缺省最大超时 10 分钟, delay 5 秒
        private const int _defaultTimeout = 600000;
        private const int _defaultDelay = 5000;

        Stopwatch _subStepTimer = new Stopwatch();

        private bool _isLoopMode = false;
        private int _loopCounterSP = 0;
        private int _loopCounter = 0;
        static private int _RunnerToken = 0;

        public RoutineRunner()
        {
            _runnerState = RState.Init;
        }

        public void Reset()
        {
            _runnerState = RState.Init;
            _subState = RState.Init;
            _isLoopMode = false;
            _steps.Clear();
            _loopSteps.Clear();
            _subStepTimer.Reset();
        }

        public RState Start(ModuleName module, string name)
        {
            Reset();

            _module = module;
            _name = $"{name} (Token:{_RunnerToken++})";
            _runnerState = RState.Running;
            _subState = RState.End;

            Notify("开始");
            return _runnerState;
        }

        public void Stop(string reason)
        {
            Alarm(reason);
            _runnerState = _subState = RState.Failed;
        }

        public RoutineRunner Run(Enum id, Func<bool> action, Func<bool> condition, int timeout = _defaultTimeout)
        {
            if (bAllowSubStepStart(id))
            {
                startNewStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (condition())
                {
                    _subState = RState.End;
                }
                else if (_subStepTimer.ElapsedMilliseconds >= timeout)
                {
                    Alarm($"Step:{id} 超时");
                    _runnerState = _subState = RState.Timeout;
                    _subStepTimer.Reset();
                }
            }

            return this;
        }

        public RoutineRunner Run(Enum id, Func<bool> action, int delayMS = _defaultDelay)
        {
            if (bAllowSubStepStart(id))
            {
                startNewStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (_subStepTimer.ElapsedMilliseconds > delayMS)
                {
                    _subState = RState.End;
                }
            }
            return this;
        }


        public RoutineRunner End(Enum id, Func<bool> action, Func<bool> condition, int timeout = _defaultTimeout)
        {
            if (bAllowSubStepStart(id))
            {
                startNewStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (condition())
                {
                    Notify($"结束");
                    _runnerState = RState.End;
                    _subState = RState.End;
                }
                else
                {
                    if (_subStepTimer.ElapsedMilliseconds > timeout)
                    {
                        Alarm($"Step:{id} 超时");
                        _runnerState = RState.Failed;
                        _subState = RState.Timeout;
                    }
                }
            }

            return this;
        }

        public RoutineRunner End(Enum id, Func<bool> action, int delayMS = _defaultDelay)
        {
            if (bAllowSubStepStart(id))
            {
                startNewStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (_subStepTimer.ElapsedMilliseconds > delayMS)
                {
                    Notify($"结束");
                    _runnerState = RState.End;
                    _subState = RState.End;
                }
            }

            return this;
        }

        public RoutineRunner Delay(Enum id, int delayMS = _defaultDelay)
        {
            return Run(id, () => { return true; }, delayMS);
        }

        public RoutineRunner Wait(Enum id, Func<bool> condition, int timeout = _defaultTimeout)
        {
            return Run(id, () => { return true; }, condition, timeout);
        }

        public RoutineRunner LoopStart(Enum id, string name, int cycleCount, Func<bool> action, Func<bool> condition, int timeout = _defaultTimeout)
        {
            if (bAllowSubStepStart(id))
            {
                _loopName = name;
                _loopCounterSP = cycleCount;
                _loopCounter = 0;
                _isLoopMode = true;
                startNewLoopStep(id, action);
            }
            else if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (condition())
                {
                    _subState = RState.End;
                }
                else if (_subStepTimer.ElapsedMilliseconds >= timeout)
                {
                    Alarm($"Step:{id} 超时");
                    _runnerState = _subState = RState.Timeout;
                    _subStepTimer.Reset();
                }
            }
            return this;
        }

        public RoutineRunner LoopStart(Enum id, string name, int cycleCount, Func<bool> action, int delayMS = _defaultDelay)
        {
            if (bAllowSubStepStart(id))
            {
                _loopName = name;
                _loopCounterSP = cycleCount;
                _loopCounter = 0;
                _isLoopMode = true;
                startNewLoopStep(id, action);
            }
            else if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (_subStepTimer.ElapsedMilliseconds > delayMS)
                {
                    _subState = RState.End;
                }
            }

            return this;
        }

        public RoutineRunner LoopRun(Enum id, Func<bool> action, Func<bool> condition, int timeout = _defaultTimeout)
        {
            if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (condition())
                {
                    _subState = RState.End;
                }
                else if (_subStepTimer.ElapsedMilliseconds >= timeout)
                {
                    Alarm($"Step:{id} 超时");
                    _runnerState = _subState = RState.Timeout;
                    _subStepTimer.Reset();
                }
            }

            return this;
        }

        public RoutineRunner LoopRun(Enum id, Func<bool> action, int delayMS = _defaultDelay)
        {
            if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (_subStepTimer.ElapsedMilliseconds > delayMS)
                {
                    _subState = RState.End;
                }
            }
            return this;
        }

        public RoutineRunner LoopEnd(Enum id, Func<bool> action, Func<bool> condition, int timeout = _defaultTimeout)
        {
            if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (condition())
                {
                    Notify($"{_loopCounter + 1}th [{_loopName}] Loop End");

                    _subState = RState.End;
                    _loopCounter++;
                    if (_loopCounter >= _loopCounterSP)
                    {
                        foreach (var lid in _loopSteps)
                            _steps.Push(lid);

                        _loopSteps.Clear();
                        _isLoopMode = false;
                    }
                }
                else if (_subStepTimer.ElapsedMilliseconds >= timeout)
                {
                    Alarm($"Step:{id} 超时");
                    _runnerState = _subState = RState.Timeout;
                    _subStepTimer.Reset();
                }
            }

            return this;
        }
        public RoutineRunner LoopEnd(Enum id, Func<bool> action, int delayMS = _defaultDelay)
        {
            if (bAllowLoopSubStepStart(id))
            {
                startNewLoopStep(id, action);
            }
            else if (IsSubStepRunning(id))
            {
                if (_subStepTimer.ElapsedMilliseconds > delayMS)
                {
                    Notify($"{_loopCounter + 1}th [{_loopName}] Loop End");

                    _subState = RState.End;
                    _loopCounter++;
                    if (_loopCounter >= _loopCounterSP)
                    {
                        foreach (var lid in _loopSteps)
                            _steps.Push(lid);

                        _loopSteps.Clear();
                        _isLoopMode = false;
                    }
                }
            }

            return this;
        }

        public RoutineRunner LoopDelay(Enum id, int delayMS)
        {
            return LoopRun(id, () => { return true; }, delayMS);
        }

        public RoutineRunner LoopWait(Enum id, Func<bool> condition, int timeout = _defaultTimeout)
        {
            return LoopRun(id, () => { return true; }, condition, timeout);
        }

        private void startNewStep(Enum id, Func<bool> action)
        {
            if (action())
            {
                Notify($"Step: {id} start ---");
                _steps.Push(id);

                _curStep = id;
                _subState = RState.Running;
                _subStepTimer.Restart();
            }
            else
            {
                Alarm($"Step: {id} failed ---");
                _runnerState = RState.Failed;
            }
        }
        private void startNewLoopStep(Enum id, Func<bool> action)
        {
            if (action())
            {
                Notify($"{_loopCounter + 1}th [{_loopName}] Loop Step: {id} start ---");
                if (!_loopSteps.Contains(id))
                    _loopSteps.Push(id);

                _curStep = id;
                _subState = RState.Running;
                _subStepTimer.Restart();
            }
            else
            {
                Alarm($"{_loopCounter + 1}th [{_loopName}] Loop Step: {id} failed");
                _runnerState = RState.Failed;
            }
        }

        protected void Notify(string message)
        {
            LogObject.Info($"{_module}", $"[{_name}] Notify: {message} now");
            Trace.WriteLine($"Notify:{_module} is {message} now");
            //log
        }
        protected void Alarm(string message)
        {
            LogObject.Error($"{_module}", $"[{_name}] Notify: {message} now");
            Trace.WriteLine($"Alarm:{_module} is {message} now");
            //log
        }
    }

    static public class HOFs
    {
        public static Func<R> Apply<T1, R>(this Func<T1, R> func, T1 t1)
            => () => func(t1);

        public static Func<R> Apply<T1, T2, R>(this Func<T1, T2, R> func, T1 t1, T2 t2)
            => () => func(t1, t2);

        public static Func<R> Apply<T1, T2, T3, R>(this Func<T1, T2, T3, R> func, T1 t1, T2 t2, T3 t3)
            => () => func(t1, t2, t3);

        public static Func<bool> WrapAction(this Action action)
            => () => { action(); return true; };
        public static Func<bool> WrapAction<T1>(this Action<T1> action, T1 t1)
            => () => { action(t1); return true; };
        public static Func<bool> WrapAction<T1, T2>(this Action<T1, T2> action, T1 t1, T2 t2)
            => () => { action(t1, t2); return true; };

        public static Func<bool> WrapAction<T1, T2, T3>(this Action<T1, T2, T3> action, T1 t1, T2 t2, T3 t3)
            => () => { action(t1, t2, t3); return true; };
    }
}