using Aitex.Core.RT.DataCenter; using Aitex.Core.RT.Device; using Aitex.Core.RT.Event; using Aitex.Core.RT.Fsm; using Aitex.Core.RT.IOCore; using Aitex.Core.RT.Routine; using Aitex.Core.Util; using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Vehicle; using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; using System.Xml; namespace Aitex.Core.RT.Device.Unit { public class NcdVehicle: VehicleBaseDevice { public NcdVehicle(string module, XmlElement node, string ioModule = "") : base(node.GetAttribute("module"), node.GetAttribute("id")) { base.Module = node.GetAttribute("module");//string.IsNullOrEmpty(node.GetAttribute("module")) ? module : node.GetAttribute("module"); base.Name = node.GetAttribute("id"); ioModule = node.GetAttribute("ioModule"); _aiVehiclePLCState = ParseAiNode($"AI_VehiclePLCState", node, ioModule); _aiTargetPosition = ParseAiNode($"AI_TargetPosition", node, ioModule); _aiCurrentCoordinate_L = ParseAiNode($"AI_CurrentCoordinate_L", node, ioModule); _aiCurrentCoordinate_H = ParseAiNode($"AI_CurrentCoordinate_H", node, ioModule); _aiVehiclePLCIP = ParseAiNode($"AI_VehiclePLCIP", node, ioModule); _aiVehicleID0 = ParseAiNode($"AI_VehicleID0", node, ioModule); _aiVehicleID1 = ParseAiNode($"AI_VehicleID1", node, ioModule); _aiVehicleID2 = ParseAiNode($"AI_VehicleID2", node, ioModule); _aiVehicleID3 = ParseAiNode($"AI_VehicleID3", node, ioModule); _aiCurrentCommand = ParseAiNode($"AI_CurrentCommand", node, ioModule); _aiCurrentCommandStatus = ParseAiNode($"AI_CurrentCommandStatus", node, ioModule); _aiErrorCode = ParseAiNode($"AI_ErrorCode", node, ioModule); _aiDistanceToFrontVehicle = ParseAiNode($"AI_DistanceToFrontVehicle", node, ioModule); _aiRFIDChar0 = ParseAiNode($"AI_RFIDChar0", node, ioModule); _aiRFIDChar1 = ParseAiNode($"AI_RFIDChar1", node, ioModule); _aiRFIDChar2 = ParseAiNode($"AI_RFIDChar2", node, ioModule); _aiRFIDChar3 = ParseAiNode($"AI_RFIDChar3", node, ioModule); _aiRFIDChar4 = ParseAiNode($"AI_RFIDChar4", node, ioModule); _aiRFIDChar5 = ParseAiNode($"AI_RFIDChar5", node, ioModule); _aiRFIDChar6 = ParseAiNode($"AI_RFIDChar6", node, ioModule); _aiRFIDChar7 = ParseAiNode($"AI_RFIDChar7", node, ioModule); _aiCurrentPosition = ParseAiNode($"AI_CurrentPosition", node, ioModule); _aoVehicleCommand = ParseAoNode($"AO_VehicleCommand", node, ioModule); _aoTargetPosition = ParseAoNode($"AO_TargetPosition", node, ioModule); _aoViaCoordinate1_L = ParseAoNode($"AO_ViaCoordinate1_L", node, ioModule); _aoViaCoordinate1_H = ParseAoNode($"AO_ViaCoordinate1_H", node, ioModule); _aoViaCoordinate2_L = ParseAoNode($"AO_ViaCoordinate2_L", node, ioModule); _aoViaCoordinate2_H = ParseAoNode($"AO_ViaCoordinate2_H", node, ioModule); _aoViaCoordinate3_L = ParseAoNode($"AO_ViaCoordinate3_L", node, ioModule); _aoViaCoordinate3_H = ParseAoNode($"AO_ViaCoordinate3_H", node, ioModule); _aoViaCoordinate4_L = ParseAoNode($"AO_ViaCoordinate4_L", node, ioModule); _aoViaCoordinate4_H = ParseAoNode($"AO_ViaCoordinate4_H", node, ioModule); _aoViaCoordinate5_L = ParseAoNode($"AO_ViaCoordinate5_L", node, ioModule); _aoViaCoordinate5_H = ParseAoNode($"AO_ViaCoordinate5_H", node, ioModule); _aoViaCoordinate6_L = ParseAoNode($"AO_ViaCoordinate6_L", node, ioModule); _aoViaCoordinate6_H = ParseAoNode($"AO_ViaCoordinate6_H", node, ioModule); _aoViaCoordinate7_L = ParseAoNode($"AO_ViaCoordinate7_L", node, ioModule); _aoViaCoordinate7_H = ParseAoNode($"AO_ViaCoordinate7_H", node, ioModule); _aoViaCoordinate8_L = ParseAoNode($"AO_ViaCoordinate8_L", node, ioModule); _aoViaCoordinate8_H = ParseAoNode($"AO_ViaCoordinate8_H", node, ioModule); _aoViaCoordinate9_L = ParseAoNode($"AO_ViaCoordinate9_L", node, ioModule); _aoViaCoordinate9_H = ParseAoNode($"AO_ViaCoordinate9_H", node, ioModule); _aoViaCoordinate10_L = ParseAoNode($"AO_ViaCoordinate10_L", node, ioModule); _aoViaCoordinate10_H = ParseAoNode($"AO_ViaCoordinate10_H", node, ioModule); _aoViaCoordinate11_L = ParseAoNode($"AO_ViaCoordinate11_L", node, ioModule); _aoViaCoordinate11_H = ParseAoNode($"AO_ViaCoordinate11_H", node, ioModule); _aoViaCoordinate12_L = ParseAoNode($"AO_ViaCoordinate12_L", node, ioModule); _aoViaCoordinate12_H = ParseAoNode($"AO_ViaCoordinate12_H", node, ioModule); _aoViaCoordinate13_L = ParseAoNode($"AO_ViaCoordinate13_L", node, ioModule); _aoViaCoordinate13_H = ParseAoNode($"AO_ViaCoordinate13_H", node, ioModule); _aoViaCoordinate14_L = ParseAoNode($"AO_ViaCoordinate14_L", node, ioModule); _aoViaCoordinate14_H = ParseAoNode($"AO_ViaCoordinate14_H", node, ioModule); _aoViaCoordinate15_L = ParseAoNode($"AO_ViaCoordinate15_L", node, ioModule); _aoViaCoordinate15_H = ParseAoNode($"AO_ViaCoordinate15_H", node, ioModule); _aoViaCoordinate16_L = ParseAoNode($"AO_ViaCoordinate16_L", node, ioModule); _aoViaCoordinate16_H = ParseAoNode($"AO_ViaCoordinate16_H", node, ioModule); _aoViaCoordinate17_L = ParseAoNode($"AO_ViaCoordinate17_L", node, ioModule); _aoViaCoordinate17_H = ParseAoNode($"AO_ViaCoordinate17_H", node, ioModule); _aoViaCoordinate18_L = ParseAoNode($"AO_ViaCoordinate18_L", node, ioModule); _aoViaCoordinate18_H = ParseAoNode($"AO_ViaCoordinate18_H", node, ioModule); _aoViaCoordinate19_L = ParseAoNode($"AO_ViaCoordinate19_L", node, ioModule); _aoViaCoordinate19_H = ParseAoNode($"AO_ViaCoordinate19_H", node, ioModule); _aoViaCoordinate20_L = ParseAoNode($"AO_ViaCoordinate20_L", node, ioModule); _aoViaCoordinate20_H = ParseAoNode($"AO_ViaCoordinate20_H", node, ioModule); _aoViaCoordinate21_L = ParseAoNode($"AO_ViaCoordinate21_L", node, ioModule); _aoViaCoordinate21_H = ParseAoNode($"AO_ViaCoordinate21_H", node, ioModule); _aoViaCoordinate22_L = ParseAoNode($"AO_ViaCoordinate22_L", node, ioModule); _aoViaCoordinate22_H = ParseAoNode($"AO_ViaCoordinate22_H", node, ioModule); _aoViaCoordinate23_L = ParseAoNode($"AO_ViaCoordinate23_L", node, ioModule); _aoViaCoordinate23_H = ParseAoNode($"AO_ViaCoordinate23_H", node, ioModule); _aoViaCoordinate24_L = ParseAoNode($"AO_ViaCoordinate24_L", node, ioModule); _aoViaCoordinate24_H = ParseAoNode($"AO_ViaCoordinate24_H", node, ioModule); _aoViaCoordinate25_L = ParseAoNode($"AO_ViaCoordinate25_L", node, ioModule); _aoViaCoordinate25_H = ParseAoNode($"AO_ViaCoordinate25_H", node, ioModule); _aoViaCoordinate26_L = ParseAoNode($"AO_ViaCoordinate26_L", node, ioModule); _aoViaCoordinate26_H = ParseAoNode($"AO_ViaCoordinate26_H", node, ioModule); _aoViaCoordinate27_L = ParseAoNode($"AO_ViaCoordinate27_L", node, ioModule); _aoViaCoordinate27_H = ParseAoNode($"AO_ViaCoordinate27_H", node, ioModule); _aoViaCoordinate28_L = ParseAoNode($"AO_ViaCoordinate28_L", node, ioModule); _aoViaCoordinate28_H = ParseAoNode($"AO_ViaCoordinate28_H", node, ioModule); _aoViaCoordinate29_L = ParseAoNode($"AO_ViaCoordinate29_L", node, ioModule); _aoViaCoordinate29_H = ParseAoNode($"AO_ViaCoordinate29_H", node, ioModule); _aoViaCoordinate30_L = ParseAoNode($"AO_ViaCoordinate30_L", node, ioModule); _aoViaCoordinate30_H = ParseAoNode($"AO_ViaCoordinate30_H", node, ioModule); _aoViaCoordinate31_L = ParseAoNode($"AO_ViaCoordinate31_L", node, ioModule); _aoViaCoordinate31_H = ParseAoNode($"AO_ViaCoordinate31_H", node, ioModule); _aoViaCoordinate32_L = ParseAoNode($"AO_ViaCoordinate32_L", node, ioModule); _aoViaCoordinate32_H = ParseAoNode($"AO_ViaCoordinate32_H", node, ioModule); _aoViaCoordinate33_L = ParseAoNode($"AO_ViaCoordinate33_L", node, ioModule); _aoViaCoordinate33_H = ParseAoNode($"AO_ViaCoordinate33_H", node, ioModule); _aoViaCoordinate34_L = ParseAoNode($"AO_ViaCoordinate34_L", node, ioModule); _aoViaCoordinate34_H = ParseAoNode($"AO_ViaCoordinate34_H", node, ioModule); _aoViaCoordinate35_L = ParseAoNode($"AO_ViaCoordinate35_L", node, ioModule); _aoViaCoordinate35_H = ParseAoNode($"AO_ViaCoordinate35_H", node, ioModule); _aoViaCoordinate36_L = ParseAoNode($"AO_ViaCoordinate36_L", node, ioModule); _aoViaCoordinate36_H = ParseAoNode($"AO_ViaCoordinate36_H", node, ioModule); _aoViaCoordinate37_L = ParseAoNode($"AO_ViaCoordinate37_L", node, ioModule); _aoViaCoordinate37_H = ParseAoNode($"AO_ViaCoordinate37_H", node, ioModule); _aoViaCoordinate38_L = ParseAoNode($"AO_ViaCoordinate38_L", node, ioModule); _aoViaCoordinate38_H = ParseAoNode($"AO_ViaCoordinate38_H", node, ioModule); _aoViaCoordinate39_L = ParseAoNode($"AO_ViaCoordinate39_L", node, ioModule); _aoViaCoordinate39_H = ParseAoNode($"AO_ViaCoordinate39_H", node, ioModule); _aoViaCoordinate40_L = ParseAoNode($"AO_ViaCoordinate40_L", node, ioModule); _aoViaCoordinate40_H = ParseAoNode($"AO_ViaCoordinate40_H", node, ioModule); _aoViaCoordinate41_L = ParseAoNode($"AO_ViaCoordinate41_L", node, ioModule); _aoViaCoordinate41_H = ParseAoNode($"AO_ViaCoordinate41_H", node, ioModule); _aoViaCoordinate42_L = ParseAoNode($"AO_ViaCoordinate42_L", node, ioModule); _aoViaCoordinate42_H = ParseAoNode($"AO_ViaCoordinate42_H", node, ioModule); _aoViaCoordinate43_L = ParseAoNode($"AO_ViaCoordinate43_L", node, ioModule); _aoViaCoordinate43_H = ParseAoNode($"AO_ViaCoordinate43_H", node, ioModule); _aoViaCoordinate44_L = ParseAoNode($"AO_ViaCoordinate44_L", node, ioModule); _aoViaCoordinate44_H = ParseAoNode($"AO_ViaCoordinate44_H", node, ioModule); _aoViaCoordinate45_L = ParseAoNode($"AO_ViaCoordinate45_L", node, ioModule); _aoViaCoordinate45_H = ParseAoNode($"AO_ViaCoordinate45_H", node, ioModule); _aoViaCoordinate46_L = ParseAoNode($"AO_ViaCoordinate46_L", node, ioModule); _aoViaCoordinate46_H = ParseAoNode($"AO_ViaCoordinate46_H", node, ioModule); _aoViaCoordinate47_L = ParseAoNode($"AO_ViaCoordinate47_L", node, ioModule); _aoViaCoordinate47_H = ParseAoNode($"AO_ViaCoordinate47_H", node, ioModule); _aoViaCoordinate48_L = ParseAoNode($"AO_ViaCoordinate48_L", node, ioModule); _aoViaCoordinate48_H = ParseAoNode($"AO_ViaCoordinate48_H", node, ioModule); _aoViaCoordinate49_L = ParseAoNode($"AO_ViaCoordinate49_L", node, ioModule); _aoViaCoordinate49_H = ParseAoNode($"AO_ViaCoordinate49_H", node, ioModule); _aoViaCoordinate50_L = ParseAoNode($"AO_ViaCoordinate50_L", node, ioModule); _aoViaCoordinate50_H = ParseAoNode($"AO_ViaCoordinate50_H", node, ioModule); _aoViaCoordinates = new AOAccessor[] { _aoViaCoordinate1_L, _aoViaCoordinate1_H, _aoViaCoordinate2_L, _aoViaCoordinate2_H, _aoViaCoordinate3_L, _aoViaCoordinate3_H, _aoViaCoordinate4_L, _aoViaCoordinate4_H, _aoViaCoordinate5_L, _aoViaCoordinate5_H, _aoViaCoordinate6_L, _aoViaCoordinate6_H, _aoViaCoordinate7_L, _aoViaCoordinate7_H, _aoViaCoordinate8_L, _aoViaCoordinate8_H, _aoViaCoordinate9_L, _aoViaCoordinate9_H, _aoViaCoordinate10_L, _aoViaCoordinate10_H, _aoViaCoordinate11_L, _aoViaCoordinate11_H, _aoViaCoordinate12_L, _aoViaCoordinate12_H, _aoViaCoordinate13_L, _aoViaCoordinate13_H, _aoViaCoordinate14_L, _aoViaCoordinate14_H, _aoViaCoordinate15_L, _aoViaCoordinate15_H, _aoViaCoordinate16_L, _aoViaCoordinate16_H, _aoViaCoordinate17_L, _aoViaCoordinate17_H, _aoViaCoordinate18_L, _aoViaCoordinate18_H, _aoViaCoordinate19_L, _aoViaCoordinate19_H, _aoViaCoordinate20_L, _aoViaCoordinate20_H, _aoViaCoordinate21_L, _aoViaCoordinate21_H, _aoViaCoordinate22_L, _aoViaCoordinate22_H, _aoViaCoordinate23_L, _aoViaCoordinate23_H, _aoViaCoordinate24_L, _aoViaCoordinate24_H, _aoViaCoordinate25_L, _aoViaCoordinate25_H, _aoViaCoordinate26_L, _aoViaCoordinate26_H, _aoViaCoordinate27_L, _aoViaCoordinate27_H, _aoViaCoordinate28_L, _aoViaCoordinate28_H, _aoViaCoordinate29_L, _aoViaCoordinate29_H, _aoViaCoordinate30_L, _aoViaCoordinate30_H, _aoViaCoordinate31_L, _aoViaCoordinate31_H, _aoViaCoordinate32_L, _aoViaCoordinate32_H, _aoViaCoordinate33_L, _aoViaCoordinate33_H, _aoViaCoordinate34_L, _aoViaCoordinate34_H, _aoViaCoordinate35_L, _aoViaCoordinate35_H, _aoViaCoordinate36_L, _aoViaCoordinate36_H, _aoViaCoordinate37_L, _aoViaCoordinate37_H, _aoViaCoordinate38_L, _aoViaCoordinate38_H, _aoViaCoordinate39_L, _aoViaCoordinate39_H, _aoViaCoordinate40_L, _aoViaCoordinate40_H, _aoViaCoordinate41_L, _aoViaCoordinate41_H, _aoViaCoordinate42_L, _aoViaCoordinate42_H, _aoViaCoordinate43_L, _aoViaCoordinate43_H, _aoViaCoordinate44_L, _aoViaCoordinate44_H, _aoViaCoordinate45_L, _aoViaCoordinate45_H, _aoViaCoordinate46_L, _aoViaCoordinate46_H, _aoViaCoordinate47_L, _aoViaCoordinate47_H, _aoViaCoordinate48_L, _aoViaCoordinate48_H, _aoViaCoordinate49_L, _aoViaCoordinate49_H, _aoViaCoordinate50_L, _aoViaCoordinate50_H, }; SubscribeDataVariable(); } private AIAccessor _aiVehiclePLCState; private AIAccessor _aiTargetPosition; private AIAccessor _aiCurrentCoordinate_L; private AIAccessor _aiCurrentCoordinate_H; private AIAccessor _aiVehiclePLCIP; private AIAccessor _aiVehicleID0; private AIAccessor _aiVehicleID1; private AIAccessor _aiVehicleID2; private AIAccessor _aiVehicleID3; private AIAccessor _aiCurrentCommand; private AIAccessor _aiCurrentCommandStatus; private AIAccessor _aiErrorCode; private AIAccessor _aiDistanceToFrontVehicle; private AIAccessor _aiTeachCommandStatus; private AIAccessor _aiCurrentXPosition_L; private AIAccessor _aiCurrentXPosition_H; private AIAccessor _aiCurrentYPosition_L; private AIAccessor _aiCurrentYPosition_H; private AIAccessor _aiCurrentZPosition_L; private AIAccessor _aiCurrentZPosition_H; private AIAccessor _aiRFIDChar0; private AIAccessor _aiRFIDChar1; private AIAccessor _aiRFIDChar2; private AIAccessor _aiRFIDChar3; private AIAccessor _aiRFIDChar4; private AIAccessor _aiRFIDChar5; private AIAccessor _aiRFIDChar6; private AIAccessor _aiRFIDChar7; private AIAccessor _aiRFIDChar8; private AIAccessor _aiRFIDChar9; private AIAccessor _aiRFIDChar10; private AIAccessor _aiCurrentPosition; private AOAccessor _aoVehicleCommand; private AOAccessor _aoTargetPosition; private AOAccessor _aoViaCoordinate1_L; private AOAccessor _aoViaCoordinate1_H; private AOAccessor _aoViaCoordinate2_L; private AOAccessor _aoViaCoordinate2_H; private AOAccessor _aoViaCoordinate3_L; private AOAccessor _aoViaCoordinate3_H; private AOAccessor _aoViaCoordinate4_L; private AOAccessor _aoViaCoordinate4_H; private AOAccessor _aoViaCoordinate5_L; private AOAccessor _aoViaCoordinate5_H; private AOAccessor _aoViaCoordinate6_L; private AOAccessor _aoViaCoordinate6_H; private AOAccessor _aoViaCoordinate7_L; private AOAccessor _aoViaCoordinate7_H; private AOAccessor _aoViaCoordinate8_L; private AOAccessor _aoViaCoordinate8_H; private AOAccessor _aoViaCoordinate9_L; private AOAccessor _aoViaCoordinate9_H; private AOAccessor _aoViaCoordinate10_L; private AOAccessor _aoViaCoordinate10_H; private AOAccessor _aoViaCoordinate11_L; private AOAccessor _aoViaCoordinate11_H; private AOAccessor _aoViaCoordinate12_L; private AOAccessor _aoViaCoordinate12_H; private AOAccessor _aoViaCoordinate13_L; private AOAccessor _aoViaCoordinate13_H; private AOAccessor _aoViaCoordinate14_L; private AOAccessor _aoViaCoordinate14_H; private AOAccessor _aoViaCoordinate15_L; private AOAccessor _aoViaCoordinate15_H; private AOAccessor _aoViaCoordinate16_L; private AOAccessor _aoViaCoordinate16_H; private AOAccessor _aoViaCoordinate17_L; private AOAccessor _aoViaCoordinate17_H; private AOAccessor _aoViaCoordinate18_L; private AOAccessor _aoViaCoordinate18_H; private AOAccessor _aoViaCoordinate19_L; private AOAccessor _aoViaCoordinate19_H; private AOAccessor _aoViaCoordinate20_L; private AOAccessor _aoViaCoordinate20_H; private AOAccessor _aoViaCoordinate21_L; private AOAccessor _aoViaCoordinate21_H; private AOAccessor _aoViaCoordinate22_L; private AOAccessor _aoViaCoordinate22_H; private AOAccessor _aoViaCoordinate23_L; private AOAccessor _aoViaCoordinate23_H; private AOAccessor _aoViaCoordinate24_L; private AOAccessor _aoViaCoordinate24_H; private AOAccessor _aoViaCoordinate25_L; private AOAccessor _aoViaCoordinate25_H; private AOAccessor _aoViaCoordinate26_L; private AOAccessor _aoViaCoordinate26_H; private AOAccessor _aoViaCoordinate27_L; private AOAccessor _aoViaCoordinate27_H; private AOAccessor _aoViaCoordinate28_L; private AOAccessor _aoViaCoordinate28_H; private AOAccessor _aoViaCoordinate29_L; private AOAccessor _aoViaCoordinate29_H; private AOAccessor _aoViaCoordinate30_L; private AOAccessor _aoViaCoordinate30_H; private AOAccessor _aoViaCoordinate31_L; private AOAccessor _aoViaCoordinate31_H; private AOAccessor _aoViaCoordinate32_L; private AOAccessor _aoViaCoordinate32_H; private AOAccessor _aoViaCoordinate33_L; private AOAccessor _aoViaCoordinate33_H; private AOAccessor _aoViaCoordinate34_L; private AOAccessor _aoViaCoordinate34_H; private AOAccessor _aoViaCoordinate35_L; private AOAccessor _aoViaCoordinate35_H; private AOAccessor _aoViaCoordinate36_L; private AOAccessor _aoViaCoordinate36_H; private AOAccessor _aoViaCoordinate37_L; private AOAccessor _aoViaCoordinate37_H; private AOAccessor _aoViaCoordinate38_L; private AOAccessor _aoViaCoordinate38_H; private AOAccessor _aoViaCoordinate39_L; private AOAccessor _aoViaCoordinate39_H; private AOAccessor _aoViaCoordinate40_L; private AOAccessor _aoViaCoordinate40_H; private AOAccessor _aoViaCoordinate41_L; private AOAccessor _aoViaCoordinate41_H; private AOAccessor _aoViaCoordinate42_L; private AOAccessor _aoViaCoordinate42_H; private AOAccessor _aoViaCoordinate43_L; private AOAccessor _aoViaCoordinate43_H; private AOAccessor _aoViaCoordinate44_L; private AOAccessor _aoViaCoordinate44_H; private AOAccessor _aoViaCoordinate45_L; private AOAccessor _aoViaCoordinate45_H; private AOAccessor _aoViaCoordinate46_L; private AOAccessor _aoViaCoordinate46_H; private AOAccessor _aoViaCoordinate47_L; private AOAccessor _aoViaCoordinate47_H; private AOAccessor _aoViaCoordinate48_L; private AOAccessor _aoViaCoordinate48_H; private AOAccessor _aoViaCoordinate49_L; private AOAccessor _aoViaCoordinate49_H; private AOAccessor _aoViaCoordinate50_L; private AOAccessor _aoViaCoordinate50_H; private AOAccessor[] _aoViaCoordinates; private bool _stateIsInitilizing => (_aiVehiclePLCState.Value & 0x1) == 0x1; private bool _stateIsIdle => (_aiVehiclePLCState.Value & 0x2) == 0x2; private bool _stateIsMoving => (_aiVehiclePLCState.Value & 0x4) == 0x4; private bool _stateIsPicking => (_aiVehiclePLCState.Value & 0x8) == 0x8; private bool _stateIsPlacing => (_aiVehiclePLCState.Value & 0x10) == 0x10; private bool _stateIsPaused => (_aiVehiclePLCState.Value & 0x20) == 0x20; private bool _stateIsWait => (_aiVehiclePLCState.Value & 0x40) == 0x40; private bool _stateIsOnlineMode => (_aiVehiclePLCState.Value & 0x80) == 0x80; private bool _stateIsTeachMode => (_aiVehiclePLCState.Value & 0x100) == 0x100; private bool _stateIsError => (_aiVehiclePLCState.Value & 0x200) == 0x200; private uint _vehicleTargePostion => BitConverter.ToUInt16(BitConverter.GetBytes(_aiTargetPosition.Value),0); private float _vehicleCurrentCoordinate { get { List value = new List(); value.AddRange(BitConverter.GetBytes(_aiCurrentCoordinate_L.Value)); value.AddRange(BitConverter.GetBytes(_aiCurrentCoordinate_H.Value)); return BitConverter.ToSingle(value.ToArray(), 0); } } private uint _vehicleCurrentPosition => BitConverter.ToUInt16(BitConverter.GetBytes(_aiCurrentPosition.Value), 0); private string _vehicleIdOnPlc { get { List lbName = new List(); lbName.AddRange(BitConverter.GetBytes(_aiVehicleID0.Value)); lbName.AddRange(BitConverter.GetBytes(_aiVehicleID1.Value)); lbName.AddRange(BitConverter.GetBytes(_aiVehicleID2.Value)); lbName.AddRange(BitConverter.GetBytes(_aiVehicleID3.Value)); return Encoding.ASCII.GetString(lbName.ToArray()); } } private uint _vehiclePLCIP => BitConverter.ToUInt16(BitConverter.GetBytes(_aiVehiclePLCIP.Value), 0); //private bool _currentCmdIsReplyInit => (_aiCurrentCommand.Value & 0x1) == 0x1; private bool _currentCmdIsReplyPause => (_aiCurrentCommand.Value & 0x1) == 0x1; private bool _currentCmdIsReplyClearCommand => (_aiCurrentCommand.Value & 0x2) == 0x2; private bool _currentCmdIsReplySetOnline => (_aiCurrentCommand.Value & 0x4) == 0x4; private bool _currentCmdIsReplyMoveToPosition => (_aiCurrentCommand.Value & 0x8) == 0x8; private bool _currentCmdIsReplyPick => (_aiCurrentCommand.Value & 0x10) == 0x10; private bool _currentCmdIsReplyPlace => (_aiCurrentCommand.Value & 0x20) == 0x20; private bool _currentCmdIsReplyChangeRoute => (_aiCurrentCommand.Value & 0x40) == 0x40; private bool _currentCmdIsReplyReadRFID => (_aiCurrentCommand.Value & 0x80) == 0x80; private bool _currentCmdIsReplyClearError => (_aiCurrentCommand.Value & 0x100) == 0x100; private bool _currentCmdIsReplyInit => (_aiCurrentCommand.Value & 0x200) == 0x200; private bool _cmdResultIsACK => (_aiCurrentCommandStatus.Value & 0x1) == 0x1; private bool _cmdResultIsComplete => (_aiCurrentCommandStatus.Value & 0x2) == 0x2; private bool _cmdResultIsNAK => (_aiCurrentCommandStatus.Value & 0x4) == 0x4; private bool _cmdResultIsAbs => (_aiCurrentCommandStatus.Value & 0x8) == 0x8; private bool _cmdResultIsRfidOK => (_aiCurrentCommandStatus.Value & 0x10) == 0x10; private bool _cmdResultIsRfidNG => (_aiCurrentCommandStatus.Value & 0x20) == 0x20; private bool _currentCmdIsSendPause => (_aoVehicleCommand.Value & 0x1) == 0x1; private bool _currentCmdIsSendClearCommand => (_aoVehicleCommand.Value & 0x2) == 0x2; private bool _currentCmdIsSendSetOnline => (_aoVehicleCommand.Value & 0x4) == 0x4; private bool _currentCmdIsSendMoveToPosition => (_aoVehicleCommand.Value & 0x8) == 0x8; private bool _currentCmdIsSendPick => (_aoVehicleCommand.Value & 0x10) == 0x10; private bool _currentCmdIsSendPlace => (_aoVehicleCommand.Value & 0x20) == 0x20; private bool _currentCmdIsSendChangeRoute => (_aoVehicleCommand.Value & 0x40) == 0x40; private bool _currentCmdIsSendReadRFID => (_aoVehicleCommand.Value & 0x80) == 0x80; private bool _currentCmdIsSendClearError => (_aoVehicleCommand.Value & 0x100) == 0x100; private bool _currentCmdIsSendInit => (_aoVehicleCommand.Value & 0x200) == 0x200; private uint _currentCmdTargetPosition => BitConverter.ToUInt16(BitConverter.GetBytes(_aoTargetPosition.Value),0); private float[] _currentCmdViaCoordinates { get { List values = new List(); for (int i = 0; i < _aoViaCoordinates.Length/2;i++) { List value = new List(); value.AddRange(BitConverter.GetBytes(_aoViaCoordinates[i * 2].Value)); value.AddRange(BitConverter.GetBytes(_aoViaCoordinates[i * 2 +1].Value)); float coordinatevalue = BitConverter.ToSingle(value.ToArray(), 0); if (coordinatevalue == 0) break; values.Add(coordinatevalue); } return values.ToArray(); } } private string _currentRFID { get { List bValues = new List(); AIAccessor[] aiRfid = {_aiRFIDChar0,_aiRFIDChar1,_aiRFIDChar2,_aiRFIDChar3,_aiRFIDChar4, _aiRFIDChar5, _aiRFIDChar6, _aiRFIDChar7, }; foreach(var ai in aiRfid) { bValues.AddRange(BitConverter.GetBytes(ai.Value)); } string strValue = Encoding.ASCII.GetString(bValues.ToArray()); int index = strValue.IndexOf(null); if (index != -1) { strValue = strValue.Substring(0, index); } return strValue; } } private void SubscribeDataVariable() { DATA.Subscribe($"{Module}.{Name}.Status", () => ((VehicleStateEnum)fsm.State).ToString()); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateInitializing", () => _stateIsInitilizing); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateIdle", () => _stateIsIdle); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateMoving", () => _stateIsMoving); DATA.Subscribe($"{Module}.{Name}.IsCurrentStatePlacing", () => _stateIsPlacing); DATA.Subscribe($"{Module}.{Name}.IsCurrentStatePicking", () => _stateIsPicking); DATA.Subscribe($"{Module}.{Name}.IsCurrentStatePaused", () => _stateIsPaused); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateWait", () => _stateIsWait); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateOnline", () => _stateIsOnlineMode); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateTeachMode", () => _stateIsTeachMode); DATA.Subscribe($"{Module}.{Name}.IsCurrentStatePicking", () => _stateIsPicking); DATA.Subscribe($"{Module}.{Name}.IsCurrentStateError", () => _stateIsError); DATA.Subscribe($"{Module}.{Name}.CurrentTargetPosition", () => _vehicleTargePostion); DATA.Subscribe($"{Module}.{Name}.CurrentPosition", () => _vehicleCurrentPosition); DATA.Subscribe($"{Module}.{Name}.CurrentCoordinate", () => _vehicleCurrentCoordinate); DATA.Subscribe($"{Module}.{Name}.VehicleIpAddress", () => _vehiclePLCIP); DATA.Subscribe($"{Module}.{Name}.VehicleID", () => _vehicleIdOnPlc); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyPause", () => _currentCmdIsReplyPause); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyClearCommand", () => _currentCmdIsReplyClearCommand); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplySetOnline", () => _currentCmdIsReplySetOnline); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyMoveToPos", () => _currentCmdIsReplyMoveToPosition); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyPickFromPos", () => _currentCmdIsReplyPick); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyPlaceToPos", () => _currentCmdIsReplyPlace); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyChangeRoute", () => _currentCmdIsReplyChangeRoute); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyReadRFID", () => _currentCmdIsReplyReadRFID); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandReplyClearError", () => _currentCmdIsReplyClearError); DATA.Subscribe($"{Module}.{Name}.CmdResultIsACK", () => _cmdResultIsACK); DATA.Subscribe($"{Module}.{Name}.CmdResultIsNAK", () => _cmdResultIsNAK); DATA.Subscribe($"{Module}.{Name}.CmdResultIsComplete", () => _cmdResultIsComplete); DATA.Subscribe($"{Module}.{Name}.CmdResultIsABS", () => _cmdResultIsAbs); DATA.Subscribe($"{Module}.{Name}.CmdResultIsRFIDOK", () => _cmdResultIsRfidOK); DATA.Subscribe($"{Module}.{Name}.CmdResultIsRFIDNG", () => _cmdResultIsRfidNG); DATA.Subscribe($"{Module}.{Name}.CurrentRFID", () => _currentRFID); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendPause", () => _currentCmdIsSendPause); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendClearCommand", () => _currentCmdIsSendClearCommand); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendSetOnline", () => _currentCmdIsSendSetOnline); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendMoveToPos", () => _currentCmdIsSendMoveToPosition); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendPickFromPos", () => _currentCmdIsSendPick); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendPlaceToPos", () => _currentCmdIsSendPlace); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendChangeRoute", () => _currentCmdIsSendChangeRoute); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendReadRFID", () => _currentCmdIsSendReadRFID); DATA.Subscribe($"{Module}.{Name}.IsCurrentCommandSendClearError", () => _currentCmdIsSendClearError); } protected override bool fStartReset(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartReset(param); } protected override bool fMonitorReset(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoVehicleCommand, (short)0x100, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep2, 90, Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); WaitSigStateValue((int)VehicleStepEnum.ActionStep5, 10, _stateIsError, false, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } protected override bool fStartInit(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartInit(param); } protected override bool fMonitorInit(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoVehicleCommand, (short)0x200, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep2, 90,Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } protected override bool fStartPause(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartInit(param); } protected override bool fMonitorPausing(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoVehicleCommand, (short)0x1, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep2, 90, Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); WaitSigStateValue((int)VehicleStepEnum.ActionStep4, 60, _stateIsPaused, true, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } protected override bool fStartMove(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartMove(param); } protected override bool fMonitorMoving(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoTargetPosition, (short)CurrentParameters[0], Notify); SetViaPositionValue((int)VehicleStepEnum.ActionStep2, (ushort[])CurrentParameters[1], Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x8, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep4, 12000, Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); WaitSigStateValue((int)VehicleStepEnum.ActionStep4, 60, _stateIsPaused, true, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } protected override bool fStartPick(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartPick(param); } protected override bool fMonitorPicking(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoTargetPosition, (short)CurrentParameters[0], Notify); SetViaPositionValue((int)VehicleStepEnum.ActionStep2, (ushort[])CurrentParameters[1], Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x10, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep4, 12000, Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); WaitSigStateValue((int)VehicleStepEnum.ActionStep4, 60, _stateIsPaused, true, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } protected override bool fStartPlace(object[] param) { CleanCommand(); ResetRoutine(); return base.fStartPlace(param); } protected override bool fMonitorPlacing(object[] param) { IsBusy = false; try { SetAoValue((int)VehicleStepEnum.ActionStep1, _aoTargetPosition, (short)CurrentParameters[0], Notify); SetViaPositionValue((int)VehicleStepEnum.ActionStep2, (ushort[])CurrentParameters[1], Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x20, Notify); WaitCommandComplete((int)VehicleStepEnum.ActionStep4, 12000, Notify); SetAoValue((int)VehicleStepEnum.ActionStep3, _aoVehicleCommand, (short)0x000, Notify); WaitCommandStatusClear((int)VehicleStepEnum.ActionStep4, 10, Notify); WaitSigStateValue((int)VehicleStepEnum.ActionStep4, 60, _stateIsPaused, true, Notify); } catch (RoutineBreakException) { return false; } catch (RoutineFaildException) { CleanCommand(); OnError("ResetTimeout"); return true; } return true; } private void CleanCommand() { _aoVehicleCommand.Value = 0; } public AOAccessor ParseAoNode(string name, XmlElement node, string ioModule = "") { if (!string.IsNullOrEmpty(node.GetAttribute(name).Trim())) return IO.AO[string.IsNullOrEmpty(ioModule) ? node.GetAttribute(name).Trim() + $"_{Name}" : $"{ioModule}.{node.GetAttribute(name).Trim()}_{Name}"]; return null; } public AIAccessor ParseAiNode(string name, XmlElement node, string ioModule = "") { if (!string.IsNullOrEmpty(node.GetAttribute(name).Trim())) return IO.AI[string.IsNullOrEmpty(ioModule) ? node.GetAttribute(name).Trim()+$"_{Name}" : $"{ioModule}.{node.GetAttribute(name).Trim()}_{Name}"]; return null; } private void SetViaPositionValue(int id, ushort[] positions, Action notify) { var ret = Execute(id, () => { ClearViaData(); int count = positions.Length >= 50 ? 50 : positions.Length; for (int i=0;i< count; i++) { SetViaCoordinateValue(positions[i], _aoViaCoordinates[2 * i], _aoViaCoordinates[2 * i + 1]); } return true; }); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } } } private void SetViaCoordinateValue(ushort postion,AOAccessor lowbits,AOAccessor highbits) { float coordinate = GetCoordinateValue(postion); byte[] bits = BitConverter.GetBytes(coordinate); lowbits.Value = BitConverter.ToInt16(bits, 0); highbits.Value = BitConverter.ToInt16(bits, 2); //lowbits.Value = bits. } private float GetCoordinateValue(ushort position) { return 6553.55F; } private void ClearViaData() { for(int i=1;i<=50; i++) { } } private void SetAoValue(int id, AOAccessor ao, short value, Action notify) { var ret = Execute(id, () => { notify($"{Name} set {ao.Name} to {value}."); ao.Value = value; return true; }); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } } } private void WaitCommandComplete(int id, int time, Action notify) { var ret = ExecuteAndWait(id, () => { notify($"Wait Vehicle command ACK State to be true."); return true; }, () => { if (_cmdResultIsACK && _cmdResultIsComplete && !_cmdResultIsAbs && !_cmdResultIsNAK) return true; if(_cmdResultIsNAK || _cmdResultIsAbs) throw new RoutineFaildException(); return false; }, time * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } else if (ret.Item2 == Result.TIMEOUT) //timeout { OnError($"Wait Vehicle command execution complete timeout after {time} seconds"); throw new RoutineFaildException(); } else { throw new RoutineBreakException(); } } } private void WaitCommandStatusClear(int id, int time, Action notify) { var ret = ExecuteAndWait(id, () => { notify($"Wait Vehicle command State to be clear."); return true; }, () => { if (!_cmdResultIsACK && !_cmdResultIsComplete && !_cmdResultIsAbs && !_cmdResultIsNAK) return true; return false; }, time * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } else if (ret.Item2 == Result.TIMEOUT) //timeout { OnError($"Wait Vehicle command status clear timeout after {time} seconds"); throw new RoutineFaildException(); } else { throw new RoutineBreakException(); } } } private void WaitSigStateValue(int id, int time, bool signalState, bool value, Action notify) { var ret = ExecuteAndWait(id, () => { notify($"Wait Vehicle {nameof(signalState)} State to be {value}"); return true; }, () => { if (signalState == value) return true; return false; }, time * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } else if (ret.Item2 == Result.TIMEOUT) //timeout { OnError($"Wait Vehicle {Name} to be {value} timeout after {time} seconds"); throw new RoutineFaildException(); } else { throw new RoutineBreakException(); } } } private void WaitAiValue(int id, int time, AIAccessor ai, short value, Action notify, Action error) { var ret = ExecuteAndWait(id, () => { notify($"Wait Vehicle {Name} {ai.Name} to be {value}"); return true; }, () => { if (ai.Value == value) return true; return false; }, time * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw new RoutineFaildException(); } else if (ret.Item2 == Result.TIMEOUT) //timeout { OnError($"Wait Vehicle {Name} {ai.Name} to be {value} timeout after {time} seconds"); throw new RoutineFaildException(); } else { throw new RoutineBreakException(); } } } protected void Notify(string message) { EV.PostMessage(Name, EventEnum.GeneralInfo, string.Format("{0}:{1}", Name, message)); } protected void Stop(string failReason) { OnError(string.Format("Failed {0}, {1} ", Name, failReason)); } private enum VehicleStepEnum { ActionStep1, ActionStep2, ActionStep3, ActionStep4, ActionStep5, ActionStep6, ActionStep7, ActionStep8, ActionStep9, ActionStep10, ActionStep11, ActionStep12, ActionStep13, ActionStep14, ActionStep15, ActionStep16, } //timer, 计算routine时间 protected DeviceTimer counter = new DeviceTimer(); protected DeviceTimer delayTimer = new DeviceTimer(); private enum STATE { IDLE, WAIT, } public int TokenId { get { return _id; } } private int _id; //step index /// /// already done steps /// private Stack _steps = new Stack(); private STATE state; //step state //idel,wait, //loop control private int loop = 0; private int loopCount = 0; private int loopID = 0; private DeviceTimer timer = new DeviceTimer(); public int LoopCounter { get { return loop; } } public int LoopTotalTime { get { return loopCount; } } // public int Timeout { get { return (int)(timer.GetTotalTime() / 1000); } } //状态持续时间，单位为秒 public int Elapsed { get { return (int)(timer.GetElapseTime() / 1000); } } protected RoutineResult RoutineToken = new RoutineResult() { Result = RoutineState.Running }; public void ResetRoutine() { _id = 0; _steps.Clear(); loop = 0; loopCount = 0; state = STATE.IDLE; counter.Start(60 * 60 * 100); //默认1小时 RoutineToken.Result = RoutineState.Running; } protected void PerformRoutineStep(int id, Func execution, RoutineResult result) { if (!Acitve(id)) return; result.Result = execution(); } #region interface public void StopLoop() { loop = loopCount; } public Tuple Loop(T id, Func func, int count) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (!func()) { return Tuple.Create(bActive, Result.FAIL); //执行错误 } loopID = idx; loopCount = count; next(); return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } public Tuple EndLoop(T id, Func func) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (++loop >= loopCount) //Loop 结束 { if (!func()) { return Tuple.Create(bActive, Result.FAIL); //执行错误 } loop = 0; loopCount = 0; // Loop 结束时，当前loop和loop总数都清零 next(); return Tuple.Create(true, Result.RUN); } //继续下一LOOP next(loopID); return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } public Tuple ExecuteAndWait(T id, IRoutine routine) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (state == STATE.IDLE) { Result startRet = routine.Start(); if (startRet == Result.FAIL) { return Tuple.Create(true, Result.FAIL); //执行错误 } else if (startRet == Result.DONE) { next(); return Tuple.Create(true, Result.DONE); } state = STATE.WAIT; } Result ret = routine.Monitor(); if (ret == Result.DONE) { next(); return Tuple.Create(true, Result.DONE); } else if (ret == Result.FAIL || ret == Result.TIMEOUT) { return Tuple.Create(true, Result.FAIL); } else { return Tuple.Create(true, Result.RUN); } } return Tuple.Create(false, Result.RUN); } public Tuple ExecuteAndWait(T id, List routines) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (state == STATE.IDLE) { foreach (var item in routines) { if (item.Start() == Result.FAIL) return Tuple.Create(true, Result.FAIL); } state = STATE.WAIT; } //wait all sub failed or completedboo bool bFail = false; bool bDone = true; foreach (var item in routines) { Result ret = item.Monitor(); bDone &= (ret == Result.FAIL || ret == Result.DONE); bFail |= ret == Result.FAIL; } if (bDone) { next(); if (bFail) return Tuple.Create(true, Result.FAIL); return Tuple.Create(true, Result.DONE); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } public Tuple Check(T id, Func func) //顺序执行 { return Check(Check(Convert.ToInt32(id), func)); } public Tuple Execute(T id, Func func) //顺序执行 { return Check(execute(Convert.ToInt32(id), func)); } public Tuple Wait(T id, Func func, double timeout = int.MaxValue) //Wait condition { return Check(wait(Convert.ToInt32(id), func, timeout)); } public Tuple Wait(T id, Func func, double timeout = int.MaxValue) //Wait condition { return Check(wait(Convert.ToInt32(id), func, timeout)); } public Tuple ExecuteAndWait(T id, Func execute, Func check, double timeout = int.MaxValue) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); bool? bExecute = false; if (bActive) { if (state == STATE.IDLE) { if (!execute()) { return Tuple.Create(bActive, Result.FAIL); //执行错误 } timer.Start(timeout); state = STATE.WAIT; } bExecute = check(); if (bExecute == null) { return Tuple.Create(bActive, Result.FAIL); //Termianate } else { if (bExecute.Value) //检查Success, next { next(); return Tuple.Create(true, Result.RUN); } } if (timer.IsTimeout()) return Tuple.Create(true, Result.TIMEOUT); return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } public Tuple ExecuteAndWait(T id, Func execute, Func check, Func time) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); bool? bExecute = false; double timeout = 0; if (bActive) { if (state == STATE.IDLE) { timeout = time(); if (!execute()) { return Tuple.Create(true, Result.FAIL); //执行错误 } timer.Start(timeout); state = STATE.WAIT; } bExecute = check(); if (bExecute == null) { return Tuple.Create(true, Result.FAIL); //Termianate } if (bExecute.Value) //检查Success, next { next(); return Tuple.Create(true, Result.RUN); } if (timer.IsTimeout()) return Tuple.Create(true, Result.TIMEOUT); return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } public Tuple Wait(T id, IRoutine rt) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (state == STATE.IDLE) { rt.Start(); state = STATE.WAIT; } Result ret = rt.Monitor(); return Tuple.Create(true, ret); } return Tuple.Create(false, Result.RUN); } //Monitor public Tuple Monitor(T id, Func func, Func check, double time) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); bool bCheck = false; if (bActive) { if (state == STATE.IDLE) { if ((func != null) && !func()) { return Tuple.Create(true, Result.FAIL); } timer.Start(time); state = STATE.WAIT; } bCheck = check(); if (!bCheck) { return Tuple.Create(true, Result.FAIL); //Termianate } if (timer.IsTimeout()) { next(); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } //Delay public Tuple Delay(T id, Func func, double time) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (state == STATE.IDLE) { if ((func != null) && !func()) { return Tuple.Create(true, Result.FAIL); } timer.Start(time); state = STATE.WAIT; } if (timer.IsTimeout()) { next(); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } //先delay 再运行 public Tuple DelayCheck(T id, Func func, double time) { int idx = Convert.ToInt32(id); bool bActive = Acitve(idx); if (bActive) { if (state == STATE.IDLE) { timer.Start(time); state = STATE.WAIT; } if (timer.IsTimeout()) { if (func != null && !func()) { return Tuple.Create(true, Result.FAIL); } next(); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } #endregion private Tuple execute(int id, Func func) //顺序执行 { bool bActive = Acitve(id); bool bExecute = false; if (bActive) { bExecute = func(); if (bExecute) { next(); } } return Tuple.Create(bActive, bExecute); } private Tuple Check(int id, Func func) //check { bool bActive = Acitve(id); bool bExecute = false; if (bActive) { bExecute = func(); next(); } return Tuple.Create(bActive, bExecute); } /// /// /// /// /// /// /// item1 Active /// item2 execute /// item3 Timeout /// private Tuple wait(int id, Func func, double timeout = int.MaxValue) //Wait condition { bool bActive = Acitve(id); bool bExecute = false; bool bTimeout = false; if (bActive) { if (state == STATE.IDLE) { timer.Start(timeout); state = STATE.WAIT; } bExecute = func(); if (bExecute) { next(); } bTimeout = timer.IsTimeout(); } return Tuple.Create(bActive, bExecute, bTimeout); } private Tuple wait(int id, Func func, double timeout = int.MaxValue) //Wait condition && Check error { bool bActive = Acitve(id); bool? bExecute = false; bool bTimeout = false; if (bActive) { if (state == STATE.IDLE) { timer.Start(timeout); state = STATE.WAIT; } bExecute = func(); if (bExecute.HasValue && bExecute.Value) { next(); } bTimeout = timer.IsTimeout(); } return Tuple.Create(bActive, bExecute, bTimeout); } /// /// /// /// /// item1 true, return item2 /// private Tuple Check(Tuple value) { if (value.Item1) { if (!value.Item2) { return Tuple.Create(true, Result.FAIL); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } private Tuple Check(Tuple value) { if (value.Item1) // 当前执行 { if (CheckTimeout(value)) //timeout { return Tuple.Create(true, Result.TIMEOUT); } return Tuple.Create(true, Result.RUN); } return Tuple.Create(false, Result.RUN); } private Tuple Check(Tuple value) { if (value.Item1) // 当前执行 { if (value.Item2 == null) { return Tuple.Create(true, Result.FAIL); } else { if (value.Item2 == false && value.Item3 == true) //timeout { return Tuple.Create(true, Result.TIMEOUT); } return Tuple.Create(true, Result.RUN); } } return Tuple.Create(false, Result.RUN); } private bool CheckTimeout(Tuple value) { return value.Item1 == true && value.Item2 == false && value.Item3 == true; } private bool Acitve(int id) // { if (_steps.Contains(id)) return false; this._id = id; return true; } private void next() { _steps.Push(this._id); state = STATE.IDLE; } private void next(int step) //loop { while (_steps.Pop() != step) ; state = STATE.IDLE; } public void Delay(int id, double delaySeconds) { Tuple ret = Delay(id, () => { return true; }, delaySeconds * 1000); if (ret.Item1) { if (ret.Item2 == Result.RUN) { throw (new RoutineBreakException()); } } } public bool IsActived(int id) { return _steps.Contains(id); } } }