Kepler-Release/Venus/Venus_RT/Modules/LLs/LLEntity.cs

using System;
using Aitex.Core.Util;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Equipment;
using Venus_RT.Modules.TM;
using Venus_RT.Devices;
using Venus_Core;
namespace Venus_RT.Modules
{
    class LLEntity : Entity, IEntity, IModuleEntity
    {
        public enum STATE
        {
            Unknown,
            Init,
            Initializing,
            Idle,
            Error,
            Pumping,
            Venting,
            Purging,
            Leakchecking,
        }

        public enum MSG
        {
            Home,
            Online,
            Offline,
            Pump,
            Vent,
            Purge,
            CyclePurge,
            LeakCheck,
            Error,
            Abort,


        }

        public ModuleName Module { get; private set; }
        public bool Check(int msg, out string reason, params object[] args)
        {
            throw new NotImplementedException();
        }
        public bool IsIdle
        {
            get { return fsm.State == (int)STATE.Idle; }
        }

        public bool IsError
        {
            get { return fsm.State == (int)STATE.Error; }
        }

        public bool IsInit
        {
            get { return fsm.State == (int)STATE.Unknown || fsm.State == (int)STATE.Init; }
        }

        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }

        public bool IsOnline { get; internal set; }

        private readonly JetTM _JetTM;
        private readonly MFPumpRoutine _pumpingRoutine;
        private readonly MFVentRoutine _ventingRoutine;
        private readonly MFLeakCheckRoutine _leakCheckRoutine;
        private readonly MFPurgeRoutine _purgeRoutine;
        public LLEntity(ModuleName module)
        {
            Module = module;
            _JetTM = Singleton<JetTM>.Instance;

            _pumpingRoutine     = new MFPumpRoutine(_JetTM, Module);
            _ventingRoutine     = new MFVentRoutine(_JetTM, Module);
            _leakCheckRoutine   = new MFLeakCheckRoutine(_JetTM, Module);
            _purgeRoutine       = new MFPurgeRoutine(_JetTM, Module);

            InitFsmMap();
        }

        private void InitFsmMap()
        {
            fsm = new StateMachine<TMEntity>(Module.ToString(), (int)STATE.Init, 50);
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(FSM_MSG.TIMER,   fnMonitor,      FSM_STATE.SAME);


            AnyStateTransition(MSG.Error,       fnError,        STATE.Error);
            AnyStateTransition(MSG.Online,      fnOnline,       FSM_STATE.SAME);
            AnyStateTransition(MSG.Offline,     fnOffline,      FSM_STATE.SAME);
            AnyStateTransition(MSG.Home,        fnHome,         STATE.Initializing);

            // Home
            Transition(STATE.Initializing,      FSM_MSG.TIMER,      fnHoming,           STATE.Idle);

            //vent sequence
            Transition(STATE.Idle,              MSG.Vent,           FnStartVent,        STATE.Venting);
            Transition(STATE.Venting,           FSM_MSG.TIMER,      FnVentTimeout,      STATE.Idle);
            Transition(STATE.Venting,           MSG.Abort,          FnAbortVent,        STATE.Idle);

            //Pump sequence
            Transition(STATE.Idle,              MSG.Pump,           FnStartPump,        STATE.Pumping);
            Transition(STATE.Pumping,           FSM_MSG.TIMER,      FnPumpTimeout,      STATE.Idle);
            Transition(STATE.Pumping,           MSG.Abort,          FnAbortPump,        STATE.Idle);

            // Purge sequence
            Transition(PMState.Idle,            MSG.CyclePurge,     FnStartPurge,       PMState.Purging);
            Transition(PMState.Purging,         FSM_MSG.TIMER,      FnPurgeTimeout,     PMState.Idle);
            Transition(PMState.Purging,         MSG.Abort,          FnAbortPurge,       PMState.Idle);

            // Leak check sequence
            Transition(PMState.Idle,            MSG.LeakCheck,      FnStartLeakCheck,   PMState.LeakCheck);
            Transition(PMState.LeakCheck,       FSM_MSG.TIMER,      FnLeakCheckTimeout, PMState.Idle);
            Transition(PMState.LeakCheck,       MSG.Abort,          FnAbortLeakCheck,   PMState.Idle);

            Running = true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "Home":
                    CheckToPostMessage((int)MSG.Home);
                    return (int)MSG.Home;
            }

            return (int)FSM_MSG.NONE;
        }

        public bool CheckAcked(int msg)
        {
            return fsm.CheckExecuted(msg);
        }

        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                LOG.Write(eEvent.WARN_FSM_WARN, Module, $"{Module} is in {(STATE)fsm.State} state，can not do {(MSG)msg}");
                return false;
            }

            Running = true;
            fsm.PostMsg(msg, args);

            return true;
        }

        private bool fnMonitor(object[] param)
        {
            return true;
        }

        private bool fnError(object[] param)
        {
            IsOnline = false;
            return true;
        }

        private bool fnOnline(object[] param)
        {
            return true;
        }

        private bool fnOffline(object[] param)
        {
            IsOnline = false;
            return true;
        }

        private bool fnAbort(object[] param)
        {
            return true;
        }

        private bool fnHome(object[] param)
        {
            return true;
        }

        private bool fnHoming(object[] param)
        {
            return true;
        }

        private bool FnStartVent(object[] param)
        {
            return _ventingRoutine.Start() == RState.Running;
        }

        private bool FnVentTimeout(object[] param)
        {
            RState ret = _ventingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortVent(object[] param)
        {
            _ventingRoutine.Abort();
            return true;
        }

        private bool FnStartPump(object[] param)
        {
            return _pumpingRoutine.Start() == RState.Running;
        }

        private bool FnPumpTimeout(object[] param)
        {
            RState ret = _pumpingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortPump(object[] param)
        {
            _pumpingRoutine.Abort();
            return true;
        }

        private bool FnStartPurge(object[] param)
        {
            return _purgeRoutine.Start() == RState.Running;
        }

        private bool FnPurgeTimeout(object[] param)
        {
            RState ret = _purgeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortPurge(object[] param)
        {
            _purgeRoutine.Abort();
            return true;
        }

        private bool FnStartLeakCheck(object[] param)
        {
            return _leakCheckRoutine.Start() == RState.Running;
        }

        private bool FnLeakCheckTimeout(object[] param)
        {
            RState ret = _leakCheckRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortLeakCheck(object[] param)
        {
            _leakCheckRoutine.Abort();
            return true;
        }
    }
}