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|
- 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<byte> value = new List<byte>();
- 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<byte> lbName = new List<byte>();
- 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<float> values = new List<float>();
- for (int i = 0; i < _aoViaCoordinates.Length/2;i++)
- {
- List<byte> value = new List<byte>();
- 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<byte> bValues = new List<byte>();
- 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}" : $"{ioModule}.{node.GetAttribute(name).Trim()}_{Name}"];
- return null;
- }
- private void SetViaPositionValue(int id, ushort[] positions, Action<string> notify)
- {
- var ret = Execute(id, () =>
- {
- ClearViaData();
- int count = positions.Length >= 50 ? 50 : positions.Length;
- for (int i=0;i< count; i++)
- {
- SetViaCoordinateValue(positions[i], _aoViaCoordinates[2 * i], _aoViaCoordinates[2 * i + 1]);
- }
- return true;
- });
- if (ret.Item1)
- {
- if (ret.Item2 == Result.FAIL)
- {
- throw new RoutineFaildException();
- }
- }
- }
-
- private void SetViaCoordinateValue(ushort postion,AOAccessor lowbits,AOAccessor highbits)
- {
- float coordinate = GetCoordinateValue(postion);
- byte[] bits = BitConverter.GetBytes(coordinate);
- lowbits.Value = BitConverter.ToInt16(bits, 0);
- highbits.Value = BitConverter.ToInt16(bits, 2);
- //lowbits.Value = bits.
- }
- private float GetCoordinateValue(ushort position)
- {
- return 6553.55F;
- }
- private void ClearViaData()
- {
- for(int i=1;i<=50; i++)
- {
- }
- }
- private void SetAoValue(int id, AOAccessor ao, short value, Action<string> notify)
- {
- var ret = Execute(id, () =>
- {
- notify($"{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<string> 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<string> 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<string> 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<string> notify, Action<string> 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
- /// <summary>
- /// already done steps
- /// </summary>
- private Stack<int> _steps = new Stack<int>();
- 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<RoutineState> execution, RoutineResult result)
- {
- if (!Acitve(id))
- return;
- result.Result = execution();
- }
- #region interface
- public void StopLoop()
- {
- loop = loopCount;
- }
- public Tuple<bool, Result> Loop<T>(T id, Func<bool> 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<bool, Result> EndLoop<T>(T id, Func<bool> 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<bool, Result> ExecuteAndWait<T>(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<bool, Result> ExecuteAndWait<T>(T id, List<IRoutine> 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<bool, Result> Check<T>(T id, Func<bool> func) //顺序执行
- {
- return Check(Check(Convert.ToInt32(id), func));
- }
- public Tuple<bool, Result> Execute<T>(T id, Func<bool> func) //顺序执行
- {
- return Check(execute(Convert.ToInt32(id), func));
- }
- public Tuple<bool, Result> Wait<T>(T id, Func<bool> func, double timeout = int.MaxValue) //Wait condition
- {
- return Check(wait(Convert.ToInt32(id), func, timeout));
- }
- public Tuple<bool, Result> Wait<T>(T id, Func<bool?> func, double timeout = int.MaxValue) //Wait condition
- {
- return Check(wait(Convert.ToInt32(id), func, timeout));
- }
- public Tuple<bool, Result> ExecuteAndWait<T>(T id, Func<bool> execute, Func<bool?> 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<bool, Result> ExecuteAndWait<T>(T id, Func<bool> execute, Func<bool?> check, Func<double> 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<bool, Result> Wait<T>(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<bool, Result> Monitor<T>(T id, Func<bool> func, Func<bool> 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<bool, Result> Delay<T>(T id, Func<bool> 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<bool, Result> DelayCheck<T>(T id, Func<bool> 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<bool, bool> execute(int id, Func<bool> 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<bool, bool> Check(int id, Func<bool> func) //check
- {
- bool bActive = Acitve(id);
- bool bExecute = false;
- if (bActive)
- {
- bExecute = func();
- next();
- }
- return Tuple.Create(bActive, bExecute);
- }
- /// <summary>
- /// </summary>
- /// <param name="id"></param>
- /// <param name="func"></param>
- /// <param name="timeout"></param>
- /// <returns>
- /// item1 Active
- /// item2 execute
- /// item3 Timeout
- ///</returns>
- private Tuple<bool, bool, bool> wait(int id, Func<bool> 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<bool, bool?, bool> wait(int id, Func<bool?> 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);
- }
- /// <summary>
- /// </summary>
- /// <param name="value"></param>
- /// <returns>
- /// item1 true, return item2
- /// </returns>
- private Tuple<bool, Result> Check(Tuple<bool, bool> 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<bool, Result> Check(Tuple<bool, bool, bool> 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<bool, Result> Check(Tuple<bool, bool?, bool> 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<bool, bool, bool> 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<bool, Result> 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);
- }
- }
- }
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