Kepler-Release/Venus/Venus_RT/Devices/PendulumValve.cs

using System;
using System.Collections.Generic;
using System.Diagnostics;
using Venus_RT.Modules;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using Venus_Core;
using Aitex.Core.RT.SCCore;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using System.Threading.Tasks;
using System.Collections.Concurrent;
using Aitex.Core.Common.DeviceData;
using MECF.Framework.Common.CommonData.DeviceData;
using Aitex.Core.RT.DataCenter;
using Venus_RT.Modules.PMs;
using System.Linq;

namespace Venus_RT.Devices
{
    class PendulumValve : IDevice
    {
        public enum Operation
        {
            SetPosition,
            GetPositionSP,
            Hold,
            OpenValve,
            CloseValve,
            SetPressure,
            GetPressureSP,
            GetAssembly,
            GetPosition,
            GetPressure,
            GetSensor1Data,
            GetSensor2Data,
            GetPressureCtrlStatus,
            GetDeviceStatus,
            GetWarnings,
            GetSensorOffset,
            GetSensor1Offset,
            GetSensor2Offset,
            GetLearnStatus,
            GetLearnPressureLimit,
            GetErrorStatus,
            GetFatalErrorStatus,
            GetThrottleCycleCounter,
            GetIsolationCycleCounter,
            GetPowerUpCounter,
            GetHardwareConfiguration,
            GetFirmwareConfiguration,
            GetIdentification,
            SetAccessMode,
            SetInterfaceConfiguration,
            SetValveConfiguration,
            SetSensorConfiguration,
            SetRangeConfiguration,
            SetZero,
            SetPressureAlignment,
            SetLearn,
            DownloadLearnData,
            UploadLearnData,
            SetPIDConfiguration,
            GetPIDConfiguration,
            SetValveSpeed,
            GetValveSpeed,
            Reset,
            Invalid,
            SetP,
            SetI,
            GetP,
            GetI
        }

        private readonly Dictionary<Operation, string> _noneParaCommandOp = new Dictionary<Operation, string>
        {
            {Operation.GetPositionSP,               "i:38" },
            {Operation.Hold,                        "H:" },
            {Operation.CloseValve,                  "C:" },
            {Operation.OpenValve,                   "O:" },

            {Operation.GetPressureSP,               "i:38" },
            {Operation.GetAssembly,                 "i:76" },
            {Operation.GetPosition,                 "A:" },
            {Operation.GetPressure,                 "P:" },

            {Operation.GetSensor1Data,              "i:64" },
            {Operation.GetSensor2Data,              "i:65" },
            {Operation.GetPressureCtrlStatus,       "i:36" },
            {Operation.GetDeviceStatus,             "i:30" },

            {Operation.GetWarnings,                 "i:35" },
            {Operation.GetSensorOffset,             "i:62" },
            {Operation.GetSensor1Offset,            "i:60" },
            {Operation.GetSensor2Offset,            "i:61" },

            {Operation.GetLearnStatus,              "i:32" },
            {Operation.GetLearnPressureLimit,       "i:34" },
            {Operation.GetErrorStatus,              "i:52" },
            {Operation.GetFatalErrorStatus,         "i:50" },

            {Operation.GetThrottleCycleCounter,     "i:70" },
            {Operation.GetIsolationCycleCounter,    "i:71" },
            {Operation.GetPowerUpCounter,           "i:72" },
            {Operation.GetHardwareConfiguration,    "i:80" },

            {Operation.GetFirmwareConfiguration,    "i:82" },
            {Operation.GetIdentification,           "i:83" },
            {Operation.GetP,                        "i:02B04" },
            {Operation.GetI,                        "i:02B05" },
        };

        private readonly Dictionary<Operation, string> _singleParaCommandOp = new Dictionary<Operation, string>
        {
            {Operation.SetPosition,                 "R:{0:D6}" },
            {Operation.SetPressure,                 "S:{0:D8}" },

            {Operation.SetAccessMode,               "c:01{0:D2}" },
            {Operation.SetInterfaceConfiguration,   "s:20{0:D8}" },

            {Operation.SetValveConfiguration,       "s:04{0:D2}000000" },
            {Operation.SetSensorConfiguration,      "s:01{0:D8}" },

            {Operation.SetRangeConfiguration,       "s:21{0:D8}" },
            {Operation.SetPressureAlignment,        "c:6002{0:D8}" },

            {Operation.SetLearn,                    "L:{0:D8}" },
            {Operation.UploadLearnData,             "u:{0:D3}" },

            {Operation.SetPIDConfiguration,         "s:02{0:D8}" },
            {Operation.SetValveSpeed,               "V:00{0:D4}" },
            {Operation.SetP,                        "s:02B04{0}" },
            {Operation.SetI,                        "s:02B05{0}" }
        };

        private readonly Dictionary<Operation, string> _twoParaCommandOp = new Dictionary<Operation, string>
        {
            {Operation.DownloadLearnData, "d:{0:D3}{1:D8}" }
        };

        private readonly Dictionary<string, string> _deviceError = new Dictionary<string, string>
        {
            {"000001",  "Parity error" },
            {"000002",  "Input buffer overflow (to many characters) " },
            {"000003",  "Framing error (data length, number of stop bits)" },
            {"000010",  "<CR> or <LF> missing" },
            {"000011",  ": missing" },
            {"000012",  "Invalid number of characters (between : and [CR][LF])" },
            {"000020",  "Unknown command" },
            {"000021",  "Unknown command" },
            {"000022",  "Invalid value" },
            {"000023",  "Invalid value" },
            {"000030",  "Value out of range" },
            {"000041",  "Command not applicable for hardware configuration" },
            {"000060",  "ZERO disabled" },
            {"000080",  "Command not accepted due to local operation" },
            {"000082",  "Command not accepted due to synchronization, CLOSED or OPEN by digital input, safety mode or fatal error" },
        };


        public string Module { get; set; }
        public string Name { get; set; }

        public float Pressure { get; private set; }
        public float Position { get; private set; }

        public string Status { get; private set; }

        public bool IsOpen { get; private set; }

        private readonly string EOF = "\r\n";
        private readonly int _readInterval = 100;
        private readonly int _position_unit = 100;
        private readonly float _pressure_ful_range = 500;
        private readonly int _foreLinePressureLimit = 750;
        private readonly int _chamberPressureLimit = 600;
        private readonly int _turboPumpSpeedLimit = 100;


        private int _queryFlag = 0;
        private readonly AsyncSerialPort _serial;
        private Stopwatch _queryWatch = new Stopwatch();
        private string _lastAlarmString = string.Empty;
        private Operation[] _querys = new Operation[]
        {
            Operation.GetPressure,
            Operation.GetPosition,
            Operation.GetDeviceStatus,
            Operation.GetP,
            Operation.GetI
        };
        BlockingCollection<string> blockingCollection = new BlockingCollection<string>();
        private JetChamber   m_JetChamber;
        private PressureType m_PressureType;
        public float PValue;
        public float IValue;

        private float m_PressureSetPoint;
        private float m_PositionSetPoint;
        //private ModuleName _mod;

        public AITPendulumValveData DeviceData
        {
            get
            {
                AITPendulumValveData deviceData = new AITPendulumValveData
                {
                    DeviceName = Name,
                    Module = Module,
                    Pressure = Pressure,
                    IsOpen = IsOpen || Position > 0,
                    Position = IsOpen ? Position : 0,
                    PValue = PValue,
                    IValue = IValue,
                    PressureSetPoint= IsOpen ? m_PressureSetPoint : 0,
                    PositionSetPoint= IsOpen ? m_PositionSetPoint : 0
                };
                return deviceData;
            }
        }

        public PendulumValve(ModuleName mod,PressureType pressureType)
        {
            Name = VenusDevice.PendulumValve.ToString();
            Module = mod.ToString();
            var _PortNum = SC.GetStringValue($"{mod}.PendulumValve.Port");
            _serial = new AsyncSerialPort(_PortNum, 9600, 8, System.IO.Ports.Parity.None, System.IO.Ports.StopBits.One, EOF);
            _pressure_ful_range =  SC.GetValue<int>($"{mod}.PendulumValve.PressureFullRange");
            _foreLinePressureLimit = SC.GetValue<int>($"{mod}.PendulumValve.ForelinePressureLimit");
            _chamberPressureLimit = SC.GetValue<int>($"{mod}.PendulumValve.ChamberPressureLimit");
            _turboPumpSpeedLimit = SC.GetValue<int>($"{mod}.PendulumValve.TurboPumpSpeedLimit");


            IsOpen = false;
            Task.Run(() =>
            {
                foreach (var data in blockingCollection.GetConsumingEnumerable())
                {
                    _serial?.Write(data);
                    System.Threading.Thread.Sleep(100);

                }
            });

            m_PressureType = pressureType;
            m_JetChamber = (JetChamber)SC.GetValue<int>($"{mod}.ChamberType");            
        }

        public bool Initialize()
        {
            DATA.Subscribe($"{Module}.{Name}.DeviceData", () => DeviceData);

            DATA.Subscribe($"{Module}.{Name}.Position", () => Position);
            DATA.Subscribe($"{Module}.{Name}.Pressure", () => Pressure);
            DATA.Subscribe($"{Module}.{Name}.PressureSetPoint", () => m_PressureSetPoint);
            DATA.Subscribe($"{Module}.{Name}.PositionSetPoint", () => m_PositionSetPoint);
            DATA.Subscribe($"{Module}.{Name}.IsOpen",           () => IsOpen);



            if (!_serial.Open())
            {
                _noRepeatAlarm("Pendulum Valve 串口无法打开");
                return false;
            }

            _serial.OnDataChanged += OnPortDataChanged;
            _serial.OnErrorHappened += OnErrorOccurred;
            _queryWatch.Restart();

            return true;
        }

        public void Monitor()
        {
            if (_queryWatch.ElapsedMilliseconds > _readInterval && _querys.Length>0)
            {
                SendCommand(_querys[_queryFlag++ % _querys.Length]);
                _queryWatch.Restart();
            }
            ClearDeviceValue();
        }

        public void Reset()
        {

        }

        public void Terminate()
        {
            if (IsOpen)
            {
                TurnValve(false);
            }
            _serial?.Close();
        }

        private void OnErrorOccurred(string obj)
        {
            _noRepeatAlarm($"[{Module}] VAT Pendulum Valve error: [{obj}]");
        }

        private void OnPortDataChanged(string obj)
        {
            if (string.IsNullOrEmpty(obj))
            {
                _noRepeatAlarm("VAT Pendulum Valve receive empty message");
                return;
            }

            try
            {
                var data = obj.TrimEnd().Split(':');
                switch (data[0])
                {
                    case "P":
                        {
                            Double pressure;
                            if (Double.TryParse(data[1], out pressure))
                            {
                                Pressure = Convert.ToSingle(pressure) * _pressure_ful_range / 1000000;
                                //LOG.Write(eEvent.EV_DEVICE_INFO, Module, $" Pressure Raw:{Convert.ToSingle(pressure)} Trans:{Pressure}");
                                //if ((m_JetChamber == JetChamber.Kepler2200A || m_JetChamber == JetChamber.Kepler2200B))
                                //{
                                //    //Pressure = Convert.ToSingle(ConvertPressureUnit.ConvertmTorrToPa(pressure * _pressure_ful_range / 1000000));
                                //    Pressure = Convert.ToSingle( pressure * _pressure_ful_range / 1000000);
                                //}
                                //else if (m_JetChamber == JetChamber.VenusSE)
                                //{
                                //    Pressure = Convert.ToSingle(pressure) / 100;
                                //}
                                //else if (m_JetChamber == JetChamber.VenusDE)
                                //{
                                //    Pressure = Convert.ToSingle(pressure);
                                //}
                                //else
                                //{
                                //    Pressure = Convert.ToSingle(pressure) * _pressure_ful_range / 1000000;
                                //}
                            }
                                
                        }
                        break;
                    case "A":
                        {
                            float position;
                            if (float.TryParse(data[1], out position))
                                Position = position / _position_unit;
                        }
                        break;
                    case "i":
                        {
                            _tryParseInqueryData(obj);
                        }
                        break;
                    case "C":
                        IsOpen = false;
                        break;
                    case "O":
                        IsOpen = true;
                        break;
                    case "H":
                    case "R":
                    case "S":
                        break;
                    case "E":
                        {
                            _noRepeatAlarm($"[{Module}] VAT Pendulum Valve device error: {_deviceError[data[1]]}");
                        }
                        break;
                    default:
                        {
                            _noRepeatAlarm($"VAT Pendulum Valve: unrecognized received data: {obj}");
                            break;
                        }
                }

            }
            catch (Exception ex)
            {
                _noRepeatAlarm($"[{Module}] VAT Pendulum Valve error: [{ex.Message}], Data: {obj}");
            }
        }

        private bool SendCommand(Operation op)
        {
            if (_noneParaCommandOp.ContainsKey(op))
            {
                blockingCollection.Add(_noneParaCommandOp[op] + EOF);
                return true;
            }
            else
            {
                return false;
            }
        }
        private bool SendCommand(Operation op, int data)
        {
            if (_singleParaCommandOp.ContainsKey(op))
            {
                var cmd = string.Format(_singleParaCommandOp[op], data) + EOF;
                return _sendCmd(cmd);
            }
            else
            {
                _noRepeatAlarm("This VAT Pendulum Valve command need 1 data");
                return false;
            }
        }
        private bool SendCommand(Operation op, float data)
        {
            if (_singleParaCommandOp.ContainsKey(op))
            {
                var cmd = string.Format(_singleParaCommandOp[op], data) + EOF;
                return _sendCmd(cmd);
            }
            else
            {
                _noRepeatAlarm("This VAT Pendulum Valve command need 1 data");
                return false;
            }
        }

        private bool _sendCmd(string cmd)
        {
            blockingCollection.Add(cmd);
            return true;
            //return _serial.Write(cmd);
        }

        private void _noRepeatAlarm(string alarm)
        {
            if (_lastAlarmString != alarm)
            {
                _lastAlarmString = alarm;
                LOG.Write(eEvent.ERR_PENDULUM_VALVE, ModuleHelper.Converter(Module), alarm);
                EV.PostAlarmLog(Module, alarm);
            }
        }

        private bool _tryParseInqueryData(string data)
        {

            var cmdPrix = data.Substring(0, 4);

            if (cmdPrix == "i:02")
            {
                var pi = data.Substring(5, 2);

                if (pi == "04")
                {
                    float s;
                    float.TryParse(data.Substring(7, data.Length - 9), out s);
                    PValue = s;
                }
                else if (pi == "05")
                {
                    float s;
                    float.TryParse(data.Substring(7, data.Length - 9), out s);
                    IValue = s;
                }
            }
            else
            {
                Operation oper = Operation.Invalid;
                foreach (var item in _noneParaCommandOp)
                {
                    if (item.Value == cmdPrix)
                    {
                        oper = item.Key;
                        break;
                    }
                }

                if (oper == Operation.Invalid)
                {
                    return false;
                }

                switch (oper)
                {
                    case Operation.GetDeviceStatus:
                        {
                            Status = data.Substring(4, 8);
                            if (Status[1] == 'E')
                            {
                                // Fatal Error
                                _noRepeatAlarm($"Device Status error:{Status}");
                            }
                            else if (Status[3] == '1')
                            {
                                // Warning Present
                                _noRepeatAlarm($"Device Warning Present:{Status}");
                            }
                            else if (Status[1] == '3')
                            {
                                IsOpen = false;
                            }
                            else if (Status[1] == '4')
                            {
                                IsOpen = true;
                            }

                        }
                        break;
                    case Operation.GetPressureSP:
                    case Operation.GetPositionSP:
                        {
                            string Pressure = data.Substring(4, 8);

                            //LOG.Write(eEvent.EV_DEVICE_INFO, Module, $" PV Pressure SetPoint: {Pressure}");
                        }
                        break;
                    default:
                        break;
                }
            }


            return true;
        }

        public bool SetPosition(float postion)
        {

            if (_CheckStatus(true))
            {
                //TurnValve(true);
                m_PositionSetPoint = postion;
                float setPosition = (float)Math.Round(postion, 1);
                //LOG.Write(eEvent.ERR_PENDULUM_VALVE,Module,$"Set Position : {(int)(setPosition * _position_unit)}");
                return SendCommand(Operation.SetPosition, (int)(setPosition * _position_unit));
            }

            return false;
        }

        public bool SetPressure(float pressure)
        {
            if (_CheckStatus(true))
            {
                //TurnValve(true);
                m_PressureSetPoint = pressure;
                return SendCommand(Operation.SetPressure, Convert.ToInt32(pressure * 1000000 / _pressure_ful_range));

                //if (m_PressureType == PressureType.Pa)
                //{
                //    //var value = Convert.ToInt32(ConvertPressureUnit.ConvertPaTomtorr(pressure) * 1000000 / (_pressure_ful_range));
                //    return SendCommand(Operation.SetPressure, Convert.ToInt32(ConvertPressureUnit.ConvertPaTomtorr(pressure) * 1000000 / (_pressure_ful_range)));
                //}
                //else
                //{
                //    return SendCommand(Operation.SetPressure, Convert.ToInt32(pressure * 1000000 / _pressure_ful_range));
                //}               
            }
            return false;
        }

        public bool Hold()
        {
            return SendCommand(Operation.Hold);
        }

        public bool TurnValve(bool on)
        {
            if (on == false)
            {
                return SendCommand(on ? Operation.OpenValve : Operation.CloseValve);
            }
            else
            {
                if (_CheckStatus(on))
                {
                    return SendCommand(on ? Operation.OpenValve : Operation.CloseValve);
                }
            }

            return false;
        }
        public bool SetPValue(float pValue)
        {
            return SendCommand(Operation.SetP, pValue);
        }
        public bool SetIValue(float pValue)
        {
            return SendCommand(Operation.SetI, pValue);
        }
        bool _CheckStatus(bool bTurnOn = false)
        {
            if (Status != null && Status[1] == 'E')
            {
                _noRepeatAlarm($"PendulumValve is error status, can do turn on/off operation.");
                return false;
            }

            var _chamber = DEVICE.GetDevice<JetPMBase>(Module);
            if (bTurnOn && !_chamber.IsTurboPumpAtSpeed)
            {
                _noRepeatAlarm($"Turbo Pump not at speed, can not turn on pendulum valve.");
                return false;
            }

            if (_chamber.ForelinePressure > _foreLinePressureLimit)
            {
                LOG.Write(eEvent.ERR_DEVICE_INFO, Module, $"Foreline Pressure:{_chamber.ForelinePressure} is higher than {_foreLinePressureLimit}{m_PressureType}, can not turn on pendulum valve.");
                return false;
            }

            if (_chamber.ChamberPressure > _chamberPressureLimit && _chamber.TurboPumpSpeed > _turboPumpSpeedLimit)
            {
                LOG.Write(eEvent.ERR_DEVICE_INFO, Module, $"Chamber Pressure:{_chamber.ChamberPressure} is higher than {_chamberPressureLimit}{m_PressureType} and Chamber.TurboPumpSpeed is higher than {_turboPumpSpeedLimit}, can not turn on pendulum valve.");
                return false;
            }
            if (_chamber.IsTurboPumpRunning )
            {
                if (!_chamber.IsISOOpen && bTurnOn)
                {
                    LOG.Write(eEvent.ERR_DEVICE_INFO, Module, $"Chamber TurboPumpingvalve is not open, can not turn on pendulum valve.");
                    return false;
                }
            }

            return true;
        }
        public  bool ReConnect()
        {
            return _serial.ReConnect();
        }
        private void ClearDeviceValue()
        {
            if (_serial.IsConnected==false)
            {
                IsOpen = false;
                Position = 0;
            }        
        }
    }
}