Virgo_Mask/Framework/Common/PLC/PLCEntity.cs

using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.IOCore;
using Aitex.Core.Util;
using Aitex.Core.RT.Log;


namespace Aitex.Core.RT.PLC
{
    public class PLCEntityT<T, TBuffer, TInput, TOutput> : Entity
        where T : IDataDevice, new()
        where TBuffer : IDataBuffer<TInput, TOutput>, new()
        where TInput : struct
        where TOutput : struct
    {
        private T device = default(T);
        private Dictionary<string, TBuffer> _buffers = new Dictionary<string,TBuffer>(); 

        //retry 
        private int error = 0;
        private int retryWaitTime = 100;
        private int retryTimes = 10;

        private R_TRIG errTrig = new R_TRIG();

             

        public enum STATE
        {
            INIT,
            RUNNING,
            ERROR,       //           
        };

        public enum MSG
        {
            INIT,
            ERROR,
            RECOVERY,
            RESET,
        };

        public PLCEntityT()
        {
            Running = false;

            device = new T();

            foreach (var type in device.GetTypes())
            {
                _buffers[type] = new TBuffer();
            }

            fsm = new StateMachine<PLCEntityT<T, TBuffer, TInput, TOutput>>("PLC", (int)STATE.INIT, 37);

            EnterExitTransition<STATE, MSG>(STATE.INIT, null, MSG.INIT, null);
  
            Transition(STATE.INIT, MSG.INIT, OpenDevice, STATE.RUNNING);

            Transition(STATE.RUNNING, FSM_MSG.TIMER, Run, STATE.RUNNING);

            Transition(STATE.RUNNING, MSG.RESET, Reset, STATE.RUNNING);

           
            Transition(STATE.ERROR, FSM_MSG.TIMER, Retry, STATE.RUNNING);
            Transition(STATE.ERROR, MSG.RECOVERY, Recovery, STATE.INIT);

            AnyStateTransition(MSG.ERROR, Error, STATE.ERROR);

            errTrig.CLK = false;
          
        }

        #region FSM Function
        private bool OpenDevice(object[] objs)
        {
            Running = false;
            if (!device.Open())
            {
                PostMsg<MSG>(MSG.ERROR);
                return false;                  //don't change state
            }
          
            return true;
        }

        private bool Run(object[] objs)
        {
            try
            {
                foreach (var type in device.GetTypes())
                {
                    try
                    {
                        if (!device.IsOpen(type))
                        {
                            device.Open(type);
                            continue;
                        }

                        object obj = device.Read<TInput>(type);
                        if (obj == null)
                        {
                            throw new Exception();
                        }
                        _buffers[type].Input = (TInput)obj;

                        //Singleton<IOGroupManager>.Instance.Update(type, _buffers[type]);

                        if (device.Write(type, _buffers[type].Output))
                        {
                            errTrig.CLK = false;
                            error = 0;
                        }
                    }
                    catch (Exception ex)
                    {
                        device.Close(type);
                        LOG.Write(ex);
                    }
                
                }
            }
            catch (Exception ex)
            {
                errTrig.CLK = true;

                if (errTrig.Q)
                {
                    LOG.Write(ex);
                }
            }
            Running = true;
            return true;
        }
                
        private bool Error(object[] objs)
        {
            //add log

            if (error++ > retryTimes || !device.IsOpened)
            {
                PostMsg(MSG.RECOVERY);
            }
            return true;
        }

        private bool Retry(object[] objs)
        {
            //add log
            int elapsed = fsm.ElapsedTime;
            if (elapsed > retryWaitTime)
            {
                return true;
            }

            return false;
        }

        //关闭连接
        private bool Recovery(object[] objs)
        {
            device.Close();
            return true;
        }

        private bool Reset(object[] objs)
        {
            errTrig.RST = true;
            return true;
        }


       
        #endregion
    }  
}