Mars200/FrameworkLocal/RTEquipmentLibrary/Unit/IoCylinder.cs

using System;
using System.Collections.Generic;
using System.Xml;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.Util;

namespace Aitex.Core.RT.Device.Unit
{
    public class IoCylinder : BaseDevice, IDevice
    {
        private readonly DIAccessor _diON;
        private readonly DIAccessor _diOFF;

        private readonly DOAccessor _doON;
        private readonly DOAccessor _doOFF;

        private CylinderState _operation;
        private readonly DeviceTimer _timer = new DeviceTimer();
        private readonly R_TRIG _trigReset = new R_TRIG();
        private readonly R_TRIG _trigError = new R_TRIG();

        private readonly R_TRIG _trigCylinderStateError = new R_TRIG();
        private readonly R_TRIG _trigCylinderStateOpen = new R_TRIG();
        private readonly R_TRIG _trigCylinderStateClose = new R_TRIG();
        private readonly R_TRIG _trigCylinderStateUnknown = new R_TRIG();

        public bool EnableOpen { get; set; }
        public bool EnableClose { get; set; }

        private string _error = null;

        public int SetPoint
        {
            get
            {
                if (_doON.Value && _doOFF.Value) return (int)CylinderState.Error;
                if (_doON.Value && !_doOFF.Value) return (int)CylinderState.Open;
                if (!_doON.Value && _doOFF.Value) return (int)CylinderState.Close;
                if (!_doON.Value && !_doOFF.Value) return (int)CylinderState.Unknown;

                return (int)CylinderState.Unknown;
            }
        }

        private void SetOtherCylinderStateRst(R_TRIG curTrig)
        {
            List<R_TRIG> list = new List<R_TRIG>() { _trigCylinderStateError, _trigCylinderStateOpen, _trigCylinderStateClose, _trigCylinderStateUnknown };
            list.Remove(curTrig);
            list.ForEach(p => p.RST = true);
        }

        public CylinderState State
        {
            get
            {
                if (_diON != null && _diOFF != null)
                {
                    if (ONFeedback && _diOFF.Value)
                    {
                        _trigCylinderStateError.CLK = ONFeedback && _diOFF.Value;
                        if (_trigCylinderStateError.Q) LOG.Info($"{Module} {Name} cylinder state error");
                        SetOtherCylinderStateRst(_trigCylinderStateError);
                        return CylinderState.Error;
                    }
                    if (ONFeedback && !_diOFF.Value)
                    {
                        _trigCylinderStateOpen.CLK = ONFeedback && !_diOFF.Value;
                        if (_trigCylinderStateOpen.Q) LOG.Info($"{Module} {Name} cylinder state open");
                        SetOtherCylinderStateRst(_trigCylinderStateOpen);
                        return CylinderState.Open;
                    }
                    if (!ONFeedback && _diOFF.Value)
                    {
                        _trigCylinderStateClose.CLK = !ONFeedback && _diOFF.Value;
                        if (_trigCylinderStateClose.Q) LOG.Info($"{Module} {Name} cylinder state close");
                        SetOtherCylinderStateRst(_trigCylinderStateClose);
                        return CylinderState.Close;
                    }
                    if (!ONFeedback && !_diOFF.Value)
                    {
                        _trigCylinderStateUnknown.CLK = !ONFeedback && !_diOFF.Value;
                        if (_trigCylinderStateUnknown.Q) LOG.Info($"{Module} {Name} cylinder state unknown");
                        SetOtherCylinderStateRst(_trigCylinderStateUnknown);
                        return CylinderState.Unknown;
                    }
                }
                return CylinderState.Unknown;
            }
        }

        public bool ONFeedback
        {
            get { return _diON != null && _diON.Value; }
        }
        public bool OFFFeedback
        {
            get { return _diOFF != null && _diOFF.Value; }
        }

        public bool ONSetPoint
        {
            get
            {
                return _doON != null && _doON.Value;
            }
            private set
            {
                if (_doON != null && _doON.Check(value, out _error))
                {
                    LOG.Write(_error);
                    _doON.Value = value;
                }
            }
        }
        public bool OFFSetPoint
        {
            get
            {
                return _doOFF != null && _doOFF.Value;
            }
            private set
            {
                if (_doOFF != null && _doOFF.Check(value, out _error))
                {
                    LOG.Write(_error);
                    _doOFF.Value = value;
                }
            }
        }

        private AITCylinderData DeviceData
        {
            get
            {
                return new AITCylinderData
                {
                    Module            = Module,
                    DeviceName        = Name,
                    DeviceSchematicId = DeviceID,
                    DisplayName       = Display,
                    OpenFeedback      = ONFeedback,
                    CloseFeedback     = OFFFeedback,
                    OpenSetPoint      = ONSetPoint,
                    CloseSetPoint     = OFFSetPoint
                };
            }
        }

        private object _locker = new object();

        public IoCylinder(string module, XmlElement node, string ioModule = "")
        {
            base.Module = module;
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");
            _operation = CylinderState.Unknown;

            _diON = ParseDiNode("diON", node, ioModule);
            _diOFF = ParseDiNode("diOFF", node, ioModule);
            _doON = ParseDoNode("doON", node, ioModule);
            _doOFF = ParseDoNode("doOFF", node, ioModule);
        }

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

            OP.Subscribe($"{Module}.{Name}.{AITCylinderOperation.Open}", (s, objects) => SetCylinder(true, out _));
            OP.Subscribe($"{Module}.{Name}.{AITCylinderOperation.Close}", (s, objects) => SetCylinder(false, out _));
            OP.Subscribe($"{Module}.{Name}.{AITCylinderOperation.SetState}", (out string reason, int time, object[] param) =>
            {
                bool isUp = (string)param[0] == "Up" ? true : false;
                SetCylinder(isUp, out reason);
                return true;
            });
            DEVICE.Register($"{Module}.{Name}.{AITCylinderOperation.Open}",
                (out string reason, int time, object[] param) => SetCylinder(true, out reason));

            DEVICE.Register($"{Module}.{Name}.{AITCylinderOperation.Close}",
                (out string reason, int time, object[] param) => SetCylinder(false, out reason));

            return true;
        }

        public void Terminate()
        {
            OFFSetPoint = false;
            ONSetPoint = false;
        }

        public bool SetCylinder(bool isOpen, out string reason)
        {
            reason = "";

            if (isOpen && State == CylinderState.Open)
            {
                LOG.Write($"检查到气缸 {Name} 已经开，该状态是当前信号下发之前的状态。");
                //EV.PostInfoLog(Module, $"检查到气缸 {Name} 已经开");
                //return true;
            }

            if (!isOpen && State == CylinderState.Close)
            {
                LOG.Write($"检查到气缸 {Name} 已经关，该状态是当前信号下发之前的状态。");
                //EV.PostInfoLog(Module, $"检查到气缸 {Name} 已经关");
                //return true;
            }

            lock (_locker)
            {
                _timer.Start(5 * 1000);

                ONSetPoint = isOpen;
                reason += _error;
                reason += " ";

                OFFSetPoint = !isOpen;
                reason += _error;

                _operation = isOpen ? CylinderState.Open : CylinderState.Close;
            }


            EV.PostInfoLog(Module, $"{(isOpen ? "打开" : "关闭")} 气缸 {Name}");

            if(Name== "LiftPin1")
            {

            }

            if (Name == "SlitDoor1")
            {

            }

            return true;
        }

        public void Monitor()
        {
            try
            {
                lock (_locker)
                {
                    if (_timer.IsTimeout())
                    {
                        _timer.Stop();

                        if (State != _operation)
                        {
                            if (_operation == CylinderState.Open)
                            {
                                if (!_doON.Check(true, out var reason))
                                    EV.PostAlarmLog(Module, $"{Name} 气缸信号无法打开, interlock, " + reason);
                                else
                                    EV.PostAlarmLog(Module, $"{Name} 气缸信号仍然关闭");
                            }
                            else
                            {
                                if (!_doON.Check(false, out var reason))
                                    EV.PostAlarmLog(Module, $"{Name} 气缸信号无法关闭, interlock, " + reason);
                                else
                                    EV.PostAlarmLog(Module, $"{Name} 气缸信号仍然打开");
                            }
                        }
                        _operation = (CylinderState)SetPoint;
                    }
                    else if (_timer.IsIdle())
                    {
                        _trigReset.CLK = SetPoint != (int)_operation;   // fire event only check at first, SetPoint set by interlock
                        if (_trigReset.Q)
                        {
                            if (_operation == CylinderState.Open)
                            {
                                EV.PostAlarmLog(Module, !_doON.Check(true, out var reason)
                                        ? $"气缸信号 {Display} was Close，Reason：{reason}"
                                        : $"气缸信号 {Display} was Close，Reason PLC kept");
                            }
                            else
                            {
                                EV.PostAlarmLog(Module, !_doON.Check(false, out var reason)
                                        ? $"气缸信号 {Display} was Open，Reason：{reason}"
                                        : $"气缸信号 {Display} was Open，Reason PLC Kept");
                            }
                            _operation = (CylinderState)SetPoint;
                        }
                    }
                }


                _trigError.CLK = State == CylinderState.Error;
                if (_trigError.Q)
                {
                    EV.PostAlarmLog(Module, $"{Name} 气缸状态错误");
                }

                //if ((SetPoint == (int)State) && (SetPoint == (int)CylinderState.Open || SetPoint == (int)CylinderState.Close))
                //{
                //    OFFSetPoint = false;
                //    ONSetPoint = false;
                //}
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
            }
        }

        public void Reset()
        {
            _trigReset.RST = true;
            _trigError.RST = true;

            _trigCylinderStateError.RST = true;
            _trigCylinderStateOpen.RST = true;
            _trigCylinderStateClose.RST = true;
            _trigCylinderStateUnknown.RST = true;
        }
    }
}