Kepler-Release/Venus/Framework/Common/Twincat/TwincatAdoManager.cs

using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using DocumentFormat.OpenXml.Wordprocessing;
using System;
using System.Collections;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using TwinCAT.Ads;
using Venus_Core;

namespace MECF.Framework.Common.Twincat
{
    /// <summary>
    /// 变量数值发生变化委托声明
    /// </summary>
    /// <param name="variableName"></param>
    /// <param name="value"></param>
    public delegate void OnUpdateModuleVariableValue(string variableName, object value);
    /// <summary>
    /// Twicat Ado通信
    /// </summary>
    public class TwincatAdoManager
    {
        #region 内部变量
        /// <summary>
        /// IO长度字典(key-变量名称,value-变量数据长度）
        /// </summary>
        private ConcurrentDictionary<string, int> _ioLengthDic = new ConcurrentDictionary<string, int>();
        /// <summary>
        /// 输出变量集合
        /// </summary>
        private ConcurrentBag<string> _outputBag = new ConcurrentBag<string>();
        /// <summary>
        /// 主动读取变量集合
        /// </summary>
        private ConcurrentBag<string> _inputBag = new ConcurrentBag<string>();
        /// <summary>
        /// Twincat 对象
        /// </summary>
        private TcAdsClient _adsClient = null;
        /// <summary>
        /// 地址
        /// </summary>
        private string _ipAddress = "";
        /// <summary>
        /// 端口号
        /// </summary>
        private int _port = 851;
        /// <summary>
        /// 句柄变量名称字典(key-创建句柄,value-变量名称)
        /// </summary>
        private Dictionary<int, string> _notificationHandleNameDic = new Dictionary<int, string>();
        /// <summary>
        /// 模块变量更新委托字典(key-模块.变量,value-变量委托事件
        /// </summary>
        private Dictionary<string, OnUpdateModuleVariableValue> _moduleVariableActionDic = new Dictionary<string, OnUpdateModuleVariableValue>();
        /// <summary>
        /// 写变更名称句柄字典(key-变量名称,value-创建句柄)
        /// </summary>
        private Dictionary<string, int> _writeNameHandleDic = new Dictionary<string, int>();
        /// <summary>
        /// 主动读取名称字典(key-变量名称,value-创建句柄)
        /// </summary>
        private Dictionary<string, int> _readNameHandleDic = new Dictionary<string, int>();
        private AdsStream _adsStream;
        private BinaryReader _reader;
        /// <summary>
        /// 连接状态
        /// </summary>
        private bool _isConnected;
        #endregion
        /// <summary>
        /// 订阅变量
        /// </summary>
        /// <param name="itemName"></param>
        /// <param name="itemLength"></param>
        public void Subscribe(string itemName,int itemLength, OnUpdateModuleVariableValue onUpdateModuleVariableValue)
        {
            _ioLengthDic[itemName] = itemLength;
            _moduleVariableActionDic[itemName] = onUpdateModuleVariableValue;   
        }
        /// <summary>
        /// 订阅输出变量名称
        /// </summary>
        /// <param name="itemName"></param>
        public void SubscribeOutput(string itemName)
        {
            _outputBag.Add(itemName);
        }
        /// <summary>
        /// 订阅主动读取变量名称
        /// </summary>
        /// <param name="itemName"></param>
        public void SubscribeInput(string itemName)
        {
            _inputBag.Add(itemName);
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="ipAddress"></param>
        /// <param name="port"></param>
        public void Initialize(string ipAddress,int port)
        {
            _ipAddress = ipAddress;
            _port = port;
        }
        /// <summary>
        /// 获取所有数据长度
        /// </summary>
        /// <returns></returns>
        private int GetAllSize()
        {
            int size = 0;
            foreach(string item in _ioLengthDic.Keys)
            {
                size+= _ioLengthDic[item];
            }
            return size;
        }

        /// <summary>
        /// ADO变量变化通知，twincat->上位机
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void AdsClient_AdsNotification(object sender, AdsNotificationEventArgs e)
        {
            try
            {
                if (_notificationHandleNameDic.ContainsKey(e.NotificationHandle))
                {
                    string item = _notificationHandleNameDic[e.NotificationHandle];
                    if(!_ioLengthDic.ContainsKey(item))
                    {
                        LOG.Write(eEvent.ERR_TWINCAT, "System", $"{item} not in twincat io list");
                        return;
                    }
                    int size = _ioLengthDic[item];
                    e.DataStream.Position = e.Offset;
                    if(size==1)
                    {
                        bool boolValue = _reader.ReadBoolean();
                        if(_moduleVariableActionDic.ContainsKey(item))
                        {
                            _moduleVariableActionDic[item].Invoke(item, boolValue);
                        }
                    }
                    else if(size==4)
                    {
                        float floatValue= _reader.ReadSingle();
                        if (_moduleVariableActionDic.ContainsKey(item))
                        {
                            _moduleVariableActionDic[item].Invoke(item, floatValue);
                        }
                    }
                    else
                    {
                        byte[] byt = new byte[size];

                        var value = _reader.Read(byt, 0, byt.Length);
                        if (_moduleVariableActionDic.ContainsKey(item))
                        {
                            _moduleVariableActionDic[item].Invoke(item, byt);
                        }
                        //LOG.Write(eEvent.ERR_TWINCAT, "System", $"{item} size is invalid");
                    }
                }
            }
            catch (Exception ex)
            {
                LOG.Write(eEvent.ERR_TWINCAT, "System", ex.Message);
            }
        }

        /// <summary>
        /// 连接状态变化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void AdsClient_ConnectionStateChanged(object sender, TwinCAT.ConnectionStateChangedEventArgs e)
        {
            if (e.NewState == TwinCAT.ConnectionState.Connected)
            {
                try
                {
                    StateInfo stateInfo = _adsClient.ReadState();
                    CreateWriteHandle();
                    CreateReadHandle();
                    SubscribeNotification();
                    _isConnected = true;
                }
                catch (Exception ex)
                {
                    _isConnected = false;
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connect{_ipAddress}:{_port} error");
                    return;
                }
            }
            else
            {
                _isConnected = false;
                LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connect{_ipAddress}:{_port} error");
            }
        }

        /// <summary>
        /// 启动
        /// </summary>
        public void Start()
        {
            _adsClient = new TcAdsClient();
            _adsClient.ConnectionStateChanged += AdsClient_ConnectionStateChanged;
            _adsClient.AdsNotification += AdsClient_AdsNotification;
            _adsStream = new AdsStream(GetAllSize());
            _reader = new BinaryReader(_adsStream);
            try
            {
                _adsClient.Connect(_ipAddress, _port);
            }
            catch
            {
                LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connect{_ipAddress}:{_port} error");
            }
        }
        /// <summary>
        /// 创建写入句柄
        /// </summary>
        private void CreateWriteHandle()
        {
            _writeNameHandleDic.Clear();
            foreach (string item in _outputBag)
            {
                try
                {
                    int handle = _adsClient.CreateVariableHandle(item);
                    _writeNameHandleDic[item] = handle;
                }
                catch
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat create variable handle {item} error");
                }
            }
        }
        /// <summary>
        /// 创建主动读取句柄
        /// </summary>
        private void CreateReadHandle()
        {
            _readNameHandleDic.Clear();
            foreach (string item in _inputBag)
            {
                try
                {
                    int handle = _adsClient.CreateVariableHandle(item);
                    _readNameHandleDic[item] = handle;
                }
                catch
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat create variable handle {item} error");
                }
            }
        }
        /// <summary>
        /// 订阅变量
        /// </summary>
        private void SubscribeNotification()
        {
            _notificationHandleNameDic.Clear();
            int count = 0;
            foreach (string item in _ioLengthDic.Keys)
            {
                int size = _ioLengthDic[item];
                try
                {
                    int handle = _adsClient.AddDeviceNotification(item, _adsStream, count, size, AdsTransMode.OnChange, 0, 0, null);
                    _notificationHandleNameDic[handle] = item;
                    count += size;
                }
                catch
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat add variable {item} error");
                }
            }
        }

        /// <summary>
        /// 写入数值
        /// </summary>
        /// <param name="name"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        public (bool success,int status) WriteValue(string name, object value)
        {
            if (_writeNameHandleDic.ContainsKey(name))
            {
                if (!_isConnected)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connected failed, write variable {name} error");
                    return (false,0);
                }
                try
                {
                    int handle = _writeNameHandleDic[name];
                    _adsClient.WriteAny(handle, value);
                    if (value.ToString() == "System.Byte[]")
                    {
                        byte[] result = ((byte[])value).Where(b => b != 0).ToArray();
                        string _value = System.Text.Encoding.UTF8.GetString(result);
                        LOG.Write(eEvent.EV_TWINCAT, "System", $"Twincat write variable {name} value {_value}");
                    }
                    else
                    {
                        LOG.Write(eEvent.EV_TWINCAT, "System", $"Twincat write variable {name} value {value}");
                    }
                    return (true,0);
                }
                catch (Exception ex)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat write variable {name} error {ex.Message}");
                    return (false,1);
                }
            }
            else
            {
                LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat doesnot has {name} variable");
                return (false, 0);
            }
        }
        /// <summary>
        /// 主动读取
        /// </summary>
        /// <param name="name"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public (bool success,object obj) ReadValue(string name,Type type)
        {
            if (_readNameHandleDic.ContainsKey(name))
            {
                if (!_isConnected)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connected failed, read variable {name} error");
                    return (false, null);
                }
                try
                {
                    int handle = _readNameHandleDic[name];
                    return (true, _adsClient.ReadAny(handle,type));
                }
                catch (Exception ex)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat write variable {name} error {ex.Message}");
                    return (false, null);
                }
            }
            else
            {
                LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat doesnot has {name} variable");
                return (false, null);
            }
        }

        #region 支持写入结构体
        /* T必须字段必须为连续地址，
         *  [StructLayout(LayoutKind.Sequential)]
            public class Tag
            {
                [MarshalAs(UnmanagedType.I1)]
                public bool DO_PVN21; 
                [MarshalAs(UnmanagedType.I1)]
                public bool DO_PV11;
                [MarshalAs(UnmanagedType.R4)]
                public float AI_Chamber_Pressure_10t;
            }
         * */
        /// <summary>
        /// 写入类
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="name"></param>
        /// <param name="data"></param>
        /// <returns></returns>
        public (bool success,int status) WriteStruct<T>(string name,T data)
        {
            if (_writeNameHandleDic.ContainsKey(name))
            {
                if (!_isConnected)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat connected failed, write variable {name} error");
                    return (false, 0);
                }
                try
                {
                    int handle = _writeNameHandleDic[name];
                    
                    _adsClient.WriteAny(handle, data);
                    LOG.Write(eEvent.EV_TWINCAT, "System", $"Twincat write variable {name} value {data}");
                    return (true, 0);
                }
                catch (Exception ex)
                {
                    LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat write variable {name} error {ex.Message}");
                    return (false, 1);
                }
            }
            else
            {
                LOG.Write(eEvent.ERR_TWINCAT, "System", $"Twincat doesnot has {name} variable");
                return (false, 0);
            }
        }
        #endregion
    }
}