Virgo_Mask/VirgoRT/Devices/IODevices/IoCylinder.cs

using System;
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 VirgoRT.Devices
{
    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();

        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;
            }
        }

        public CylinderState State
        {
            get
            {
                if (_diON != null && _diOFF != null)
                {
                    if (ONFeedback && _diOFF.Value)
                        return CylinderState.Error;
                    if (ONFeedback && !_diOFF.Value)
                        return CylinderState.Open;
                    if (!ONFeedback && _diOFF.Value)
                        return CylinderState.Close;
                    if (!ONFeedback && !_diOFF.Value)
                        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 )
                {
                    if (!_doON.Check(value, out _error))
                    {
                        LOG.Write(_error);
                    }
                    else
                    {
                        _doON.Value = value;
                    }
                   
                    
                }
            }
        }
        public bool OFFSetPoint
        {
            get
            {
                return _doOFF != null && _doOFF.Value;
            }
            private set
            {
                if (_doOFF != null )
                {
                    if (!_doOFF.Check(value, out _error))
                    {
                        LOG.Write(_error);
                    }
                    else
                    {
                        _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)
            //{
            //    EV.PostInfoLog(Module, $"检查到气缸 {Name} 已经开");
            //    return true;
            //}

            //if (!isOpen && State == CylinderState.Close)
            //{
            //    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 ? "open" : "close")} cylinder {Name}");

            

            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} cylinder sensor open failed, interlock, " + reason);
                                else
                                    EV.PostAlarmLog(Module, $"{Name} cylinder sensor still closed");
                            }
                            else
                            {
                                if (!_doON.Check(false, out var reason))
                                    EV.PostAlarmLog(Module, $"{Name} cylinder sensor close failed, interlock, " + reason);
                                else
                                    EV.PostAlarmLog(Module, $"{Name} cylinder sensor still opened");
                            }
                        }
                        _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)
                                        ? $"{Display} interlock,slit_door_open will change to false."
                                        : $"{Display} interlock,slit_door_open will change to false.");
                            }
                            else
                            {
                                EV.PostAlarmLog(Module, !_doON.Check(false, out var reason)
                                        ? $"{Display} interlock,slit_door_close will change to false."
                                        : $"{Display} interlock,slit_door_close will change to false.");
                            }
                            _operation = (CylinderState)SetPoint;
                        }
                    }
                }


                _trigError.CLK = State == CylinderState.Error;
                if (_trigError.Q)
                {
                    EV.PostAlarmLog(Module, $"{Name} cylinder status error");
                }

                //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;
        }
    }
}