Sic.Framework-Nanjing-Baishi/MECF.Framework.Common/Aitex/Core/RT/IOCore/Interlock/InterlockManager.cs

using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Text;
using System.Xml;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore.Interlock;
using Aitex.Core.RT.IOCore.Interlock.DataProvider;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;

namespace Aitex.Core.RT.IOCore
{
	/// <summary>
	/// 互锁管理器。
	/// <remarks>
	/// 互锁管理器作为独立工作的设备，被系统的后台循环调度。
	/// <br/>
	/// 当监测到某个InterlockLimit被触发时，和该Limit相关的所有Action中定义的DO均被
	/// 置为Action节点Value属性中定义电平的反向电平。
	/// </remarks>
	/// </summary>
	public class InterlockManager : Singleton<InterlockManager>
	{
        #region Variables
		
        private readonly List<InterlockAction> _lstActions;
        
        private static List<IIOAccessor> _diMap;
        private static List<IIOAccessor> _doMap;
        private static List<IIOAccessor> _aiMap;
        private static List<IIOAccessor> _aoMap;

        /// <summary>
        /// 以Module为单位，当设置该Module所属的DO并触发互锁时，是否输出Info而不是Warning。
        /// </summary>
        private Dictionary<ModuleName, bool> _dicModulePostInfo;
        
        /// <summary>
        /// 每个Module对应的Limit集合。
        /// </summary>
        private readonly Dictionary<ModuleName, List<IInterlockLimit>> _dicLimitsPerModule;

		/// <summary>
		/// 每个Module对应的DoAction集合。
		/// </summary>
        private readonly Dictionary<ModuleName, List<InterlockAction>> _dicActionsPerModule;
        
		/// <summary>
		/// 每个Limit对应的DoAction集合。
		/// </summary>
        private readonly Dictionary<IInterlockLimit, List<InterlockAction>> _dicLimitToActionMap;
		
        #endregion

        #region Constructors

        /// <summary>
        /// 互锁管理器的构造函数。
        /// </summary>
        public InterlockManager()
        {
	        _lstActions = new();
            _dicLimitToActionMap = new ();
            _dicActionsPerModule = new();
            _dicLimitsPerModule = new ();
            _dicModulePostInfo = new();
        }

        #endregion

        #region Methods

        /// <summary>
        /// 初始化互锁管理器。
        /// </summary>
        /// <param name="interlockFile">互锁配置文件。</param>
        /// <param name="doMap">DO点表。</param>
        /// <param name="diMap">DI点表。</param>
        /// <param name="aoMap">AO点表。</param>
        /// <param name="aiMap">AI点表。</param>
        /// <param name="reason">初始化失败原因。</param>
        /// <returns></returns>
        public bool Initialize(string interlockFile, 
	        Dictionary<string, DOAccessor> doMap,
	        Dictionary<string, DIAccessor> diMap, 
	        Dictionary<string, AIAccessor> aiMap, 
	        Dictionary<string, AOAccessor> aoMap, 
	        out string reason)
        {
	        reason = "";

            if (string.IsNullOrEmpty(interlockFile))
            {
                reason = "interlock config file does not specified";
                return false;
            }

            if (!File.Exists(interlockFile))
            {
                reason = $"interlock config file {interlockFile} does not exist";
                return false;
            }


            _doMap = doMap.Values.Cast<IIOAccessor>().ToList();
	        _diMap = diMap.Values.Cast<IIOAccessor>().ToList();
	        _aiMap = aiMap.Values.Cast<IIOAccessor>().ToList();
	        _aoMap = aoMap.Values.Cast<IIOAccessor>().ToList();

	        var sbReason = new StringBuilder();
	        try
	        {
		        var doc = new XmlDocument();
		        doc.Load(interlockFile);
		        var xmlNode = doc.SelectSingleNode("Interlock");
		        
		        if(xmlNode == null) // 如果Interlock节点不存在
		        {
			        var err =
				        $"Failed to load interlock file, the node 'Interlock' is not found in file {interlockFile}.";
			        sbReason.AppendLine(err);
			        LOG.Error(err);
			        return false;
		        }
		        
		        foreach (XmlNode childNode in xmlNode.ChildNodes)
		        {
			        // 遍历'Action'节点
			        
			        if (childNode.NodeType == XmlNodeType.Comment || childNode is not XmlElement xmlElement)
				        continue;

			        if (xmlElement.Name != "Action")
			        {
				        if (xmlElement.NodeType != XmlNodeType.Comment)
					        LOG.Write("interlock config file contains no comments content, " + xmlElement.InnerXml);

				        continue;
			        }

			        // Action节点仅支持对DO进行配置
			        if (!xmlElement.HasAttribute("do") || !xmlElement.HasAttribute("value"))
			        {
				        sbReason.AppendLine("action node has no [do] or [value] attribute");
				        continue;
			        }

			        var doName = xmlElement.GetAttribute("do");
			        var doValue = Convert.ToBoolean(xmlElement.GetAttribute("value"));
			        var tip = string.Empty;
			        var dicTips = new Dictionary<string, string>();
			        var doActionLimits = new List<IInterlockLimit>();
			        if (!doMap.ContainsKey(doName))
			        {
				        sbReason.AppendLine("action node " + doName + " no such DO defined");
				        continue;
			        }

			        // 获取DO实例
			        var targetDo = doMap[doName];
			        if (targetDo == null)
			        {
				        // 如果DO不存在，则读取下一个Action节点
				        sbReason.AppendLine("action node " + doName + " no such DO defined");
				        continue;
			        }

			        if (xmlElement.HasAttribute("tip"))
				        tip = xmlElement.GetAttribute("tip");

			        if (xmlElement.HasAttribute("tip.zh-CN"))
				        dicTips["zh-CN"] = xmlElement.GetAttribute("tip.zh-CN");

			        if (xmlElement.HasAttribute("tip.en-US"))
				        dicTips["en-US"] = xmlElement.GetAttribute("tip.en-US");

			        // 遍历Action下的Limit节点，并创建InterlockLimit对象。
			        foreach (XmlElement nodeLimit in xmlElement.ChildNodes)
			        {
				        // 获取InterlockLimit对象。
				        var limit = CreateInterlockLimit(nodeLimit, out var err);
				        if (limit != null)
				        {
					        doActionLimits.Add(limit);
				        }
				        else
					        sbReason.AppendLine(err);
			        }

			        // 创建InterlockAction对象
			        var action = new InterlockAction(targetDo, doValue, tip, dicTips, doActionLimits);
			        _lstActions.Add(action);
			        
			        var moduleName = GetModuleFromIo(targetDo.Name);
			        if (!_dicActionsPerModule.ContainsKey(moduleName))
				        _dicActionsPerModule[moduleName] = new List<InterlockAction>();
			        _dicActionsPerModule[moduleName].Add(action);
			        
			        // 创建InterlockLimit到被使用的InterlockAction映射字典
			        foreach (var limit in doActionLimits)
			        {
				        // 检查InterlockLimit是否已经存在于字典中
				        var exists = _dicLimitToActionMap.ContainsKey(limit);
				        Debug.Assert(exists, "The limit object is not in the mapping dictionary");
				        
				        // 当前Limit是否反向绑定了其所影响的所有DoAction
                        _dicLimitToActionMap[limit].Add(action);
			        }
		        }

		        _dicModulePostInfo = _dicLimitsPerModule.Keys.ToDictionary(x => x, x=>false);

		        Debug.Assert(!_dicActionsPerModule.ContainsKey(ModuleName.UnDefined),
			        $"InterlockManager {nameof(_dicActionsPerModule)} contains key {ModuleName.UnDefined}");
		        
		        Debug.Assert(!_dicLimitsPerModule.ContainsKey(ModuleName.UnDefined),
			        $"InterlockManager {nameof(_dicLimitsPerModule)} contains key {ModuleName.UnDefined}");
	        }
	        catch (Exception ex)
	        {
		        sbReason.AppendLine(ex.Message);
	        }

	        if (sbReason.Length > 0)
	        {
		        reason = sbReason.ToString().TrimEnd('\n', '\r');
		        return false;
	        }

	        return true;
        }

        /// <summary>
        /// 背景扫描线程执行的任务。
        /// </summary>
        public void Monitor()
        {
	        // 按Module扫描Interlock Limit
	        foreach (var moduleName in _dicLimitsPerModule.Keys.ToList())
	        {
		        Debug.Assert(moduleName != ModuleName.UnDefined,
			        $"Interlock Manager CanSetDo() undesired module name {ModuleName.UnDefined}");
		        
		        // 检查当前Module是否旁路Interlock
		        var isBypassInterlock = GetScBypassInterlockValue(moduleName);
		        if (isBypassInterlock)
			        continue;
                
		        foreach (var limit in  _dicLimitsPerModule[moduleName].ToList())
		        {

			        // 如果互锁没被触发
			        if (!limit.IsTriggered())
				        continue;

			        var reverseInfo = new StringBuilder();
			        var module = "System";

			        var actions = _dicLimitToActionMap[limit].ToList();
			        foreach (var action in actions)
			        {
				        // 尝试根据Action定义复位该互锁限制条件对应的所有DO的电平
				        if (action.TryReverse(out var reason))
				        {
					        var ss = action.ActionName.Split('.');
					        if (ss.Length > 1 && ModuleHelper.IsPm(ss[0]))
						        module = ss[0];

					        reverseInfo.AppendLine(reason);
				        }
			        }

			        // 如果PM腔有被恢复的DO，则打印信息并报警。
			        if (reverseInfo.Length > 0)
			        {
				        reverseInfo.Insert(0,
					        $"Due to the {limit.Tip}, {limit.Name} is not [{limit.GetLimitValue()}]\r\n");

				        // Post事件的类型， Info还是Warning
				        _dicModulePostInfo.TryGetValue(moduleName, out var isPostInfo);

				        if (isPostInfo)
					        EV.PostInfoLog(module, reverseInfo.ToString().TrimEnd('\r', '\n'));
				        else
					        EV.PostWarningLog(module, reverseInfo.ToString().TrimEnd('\r', '\n'));
			        }
		        }

	        }
        }

        /// <summary>
        /// 设置指定Module的Interlock打印信息等级。
        /// </summary>
        /// <param name="module">模组名称</param>
        /// <param name="isInfo">是否以Info等级打印信息</param>
        public void SetEventLevel(string module, bool isInfo)
        {
	        var moduleName = ModuleHelper.Converter(module);
	        if (_dicModulePostInfo.ContainsKey(moduleName))
		        _dicModulePostInfo[moduleName] = isInfo;
        }

        /// <summary>
		/// 对指定的DO的操作是否满足互锁条件。
		/// </summary>
		/// <param name="doName">待操作的DO名称。</param>
		/// <param name="onOff">
		/// 指定的输出。
		/// <value>True：输出有效电平</value>
		/// <br/>
		/// <value>False：清除有效电平输出</value>
		/// </param>
		/// <param name="reason">
		/// 如果触发互锁限制，输出互锁限制的原因。
		/// </param>
		/// <returns></returns>
		public bool CanSetDo(string doName, bool onOff, out string reason)
		{
			reason = string.Empty;

			var moduleName = GetModuleFromIo(doName);
            
			Debug.Assert(moduleName != ModuleName.UnDefined,
				$"Interlock Manager CanSetDo() undesired module name {ModuleName.UnDefined}");

			var isBypassInterlock = GetScBypassInterlockValue(moduleName);
			if (isBypassInterlock)
				return true;


			foreach (var action in _lstActions.Where(action => action.IsSame(doName, onOff)))
            {
                return action.CanDo(out reason);
            }

			return true;
		}
        
        /// <summary>
        /// 获取系统配置中指定Module的ByPassInterlock参数设置值。
        /// </summary>
        /// <param name="module">
        /// 模组名称, <see cref="ModuleName"/>
        /// </param>
        /// <returns></returns>
        public static bool GetScBypassInterlockValue(ModuleName module)
        {
	        return GetScBypassInterlockValue(module.ToString());
        }
        
        
        /// <summary>
        /// 获取系统配置中指定Module的ByPassInterlock参数设置值。
        /// </summary>
        /// <param name="module">模组名称</param>
        /// <returns></returns>
        public static bool GetScBypassInterlockValue(string module)
        {
	        if (ModuleHelper.IsPm(module))
		        return SC.SafeGetValue($"PM.{module}.BypassInterlock", false);
	        else
		        return SC.SafeGetValue($"{module}.BypassInterlock", false);
        }

        /// <summary>
        /// 创建互锁显示条件对象。
        /// </summary>
        /// <remarks>
        /// 注意：对于同一个IO、相同状态的互锁限制条件，该函数确保仅生成一个实例，不会针对同一条件创建不同实例。
        /// </remarks>
        /// <param name="ioType">IO类型，请参考<see cref="IOType"/>。</param>
        /// <param name="ioName">IO名称。</param>
        /// <param name="limitValue">当前限制条件中的IO状态。</param>
        /// <param name="tip">默认语言提示信息。</param>
        /// <param name="cultureTip">多国语言提示信息。</param>
        /// <param name="reason">创建失败并返回null的原因。</param>
        /// <returns>互锁限制条件对象的实例。</returns>
        private IInterlockLimit CreateInterlockLimit(IOType ioType, string ioName, string limitValue,
            string tip, Dictionary<string, string> cultureTip, out string reason)
		{
			Debug.Assert(Enum.TryParse<IOType>(ioType.ToString(), out _),"Undefined IO Type");
			Debug.Assert(!string.IsNullOrEmpty(ioName),"IO Name can not be empty");
			Debug.Assert(!string.IsNullOrEmpty(limitValue),"LimitValue can not be empty");
			
			reason = "";
			
			// 创建一个InterlockLimit实例。
			IIOAccessor io;
			IInterlockLimit limit;
			try
			{
				io = GetIoByIoType(ioType, ioName);
			}
			catch (IoNotFoundException)
			{
				reason = $"limit node {ioName} no such {ioType} defined";
				return null;
			}
			catch (InvalidIoTypeExeption)
			{
				reason = $"limit node {ioName} no such io type defined";
				return null;
			}
				
			switch (ioType)
			{
				case IOType.DI:
					limit = new DiLimit(new DiValueProvider((DIAccessor)io), limitValue, tip, cultureTip);
					break;

				case IOType.DO:
					limit =  new DoLimit(new DoValueProvider((DOAccessor)io), limitValue, tip, cultureTip);
					break;

				case IOType.AI:
					limit = new AiLimit(new AiValueProvider((AIAccessor)io), limitValue, tip, cultureTip);
					break;

				case IOType.AO:
					limit = new AoLimit(new AoValueProvider((AOAccessor)io), limitValue, tip, cultureTip);
					break;

				default:
					throw new InvalidIoTypeExeption();
			}


            // 检查limit是否已经存在。
            var limitExist = _dicLimitToActionMap.Keys.FirstOrDefault(x => x.UniqueId == limit.UniqueId);

			// 如果不存在，则返回新创建的对象。
			if (limitExist == null)
			{
                _dicLimitToActionMap.Add(limit, new List<InterlockAction>());
                
                var moduleName = GetModuleFromIo(ioName);
                if (!_dicLimitsPerModule.ContainsKey(moduleName))
	                _dicLimitsPerModule[moduleName] = new List<IInterlockLimit>();
                _dicLimitsPerModule[moduleName].Add(limit);
                
				return limit;
			}

			// 返回已存在的对象。
			return limitExist;
		}

		/// <summary>
		/// 通过XML配置创建互锁限制条件对象。
		/// </summary>
		/// <param name="xmlNodeLimit">包含Limit定义的Xml节点。</param>
		/// <param name="reason">创建失败并返回null的原因。</param>
		/// <returns></returns>
		private IInterlockLimit CreateInterlockLimit(XmlElement xmlNodeLimit, out string reason)
		{
			reason = "";
			
			// 检查节点名称是否为Limit
			if (xmlNodeLimit.Name != "Limit") // 节点名称不是Limit
			{
				reason = "the name of xml node is not 'Limit'";
				if (xmlNodeLimit.NodeType != XmlNodeType.Comment)
				{
					reason = "interlock config file contains no comments content, " + xmlNodeLimit.InnerXml;
					LOG.Write(reason);
				}
					
				return null;
			}
			
			// 节点不包含‘di’、‘do’、‘ai’、‘ao’，或者不包含‘value’属性
			string limitIoName;
			IOType limitIoType;
			if (xmlNodeLimit.HasAttribute("di"))
			{
				limitIoName = xmlNodeLimit.GetAttribute("di");
				limitIoType = IOType.DI;
			}
			else if (xmlNodeLimit.HasAttribute("do"))
			{
				limitIoName = xmlNodeLimit.GetAttribute("do");
				limitIoType = IOType.DO;
			}
			else if (xmlNodeLimit.HasAttribute("ai"))
			{
				limitIoName = xmlNodeLimit.GetAttribute("ai");
				limitIoType = IOType.AI;
			}
			else if (xmlNodeLimit.HasAttribute("ao"))
			{
				limitIoName = xmlNodeLimit.GetAttribute("ao");
				limitIoType = IOType.AO;
			}
			else
			{
				reason = "limit node lack of di/do/ai/ao/io attribute";
				return null;
			}

			string limitValue;
			if (xmlNodeLimit.HasAttribute("value"))
				limitValue = xmlNodeLimit.GetAttribute("value");
			else
			{
				reason = "limit node lack of value attribute";
				return null;
			}
			
			var tip = string.Empty;
			var dicLimitTips = new Dictionary<string, string>();
			if (xmlNodeLimit.HasAttribute("tip"))
				tip = xmlNodeLimit.GetAttribute("tip");

			if (xmlNodeLimit.HasAttribute("tip.zh-CN"))
            {
                dicLimitTips["zh-CN"] = xmlNodeLimit.GetAttribute("tip.zh-CN");
                if (string.IsNullOrEmpty(tip))
                    tip = dicLimitTips["zh-CN"];

            }

			if (xmlNodeLimit.HasAttribute("tip.en-US"))
			{
				dicLimitTips["en-US"] = xmlNodeLimit.GetAttribute("tip.en-US");
                if (string.IsNullOrEmpty(tip))
                    tip = dicLimitTips["en-US"];
            }

			var limit = CreateInterlockLimit(limitIoType, limitIoName, limitValue,  tip, dicLimitTips, out reason);
			return limit;
		}
		
		/// <summary>
		/// 根据给定的IO类型和IO名称，从IO列表中获取IO对象实例。
		/// </summary>
		/// <param name="type">IO类型，请参考<see cref="IOType"/>。</param>
		/// <param name="ioName">IO名称。</param>
		/// <returns></returns>
		/// <exception cref="InvalidIoTypeExeption">无效的IO类型。</exception>
		/// <exception cref="IoNotFoundException">未找到IO。</exception>
		private static IIOAccessor GetIoByIoType(IOType type, string ioName)
		{
			List<IIOAccessor> dictMap;
			switch (type)
			{
				case IOType.DI:
					dictMap = _diMap;
					break;

				case IOType.DO:
					dictMap = _doMap;
					break;
					
				case IOType.AI:
					dictMap =  _aiMap;
					break;

				case IOType.AO:
					dictMap =  _aoMap;
					break;
				
				default:
					throw new InvalidIoTypeExeption();
			}

			var io = dictMap.FirstOrDefault(x => x.Name == ioName);
			if (io != null)
				return io;

			throw new IoNotFoundException(type, ioName);
		}

		/// <summary>
		/// 从指定的IO中解析该IO所属的模组。
		/// </summary>
		/// <param name="ioName"></param>
		/// <returns></returns>
		private static ModuleName GetModuleFromIo(string ioName)
		{
			Debug.Assert(!string.IsNullOrEmpty(ioName), "the IO name can not be empty.");
			if (string.IsNullOrEmpty(ioName))
			{
				LOG.Error($"InterlockManager GetModuleFromIo failed, the parameter ioName is empty");
				return ModuleName.UnDefined;
			}

			// Simulator中TM的Io表配置中没有"TM."前缀；
			// 为兼容此问题，如果没有找到Module前缀，则用System代替
			var posDot = ioName.IndexOf('.');
			if (posDot <= 0)
				return ModuleName.System;
			
			var moduleName = ioName.Substring(0, posDot);
			return ModuleHelper.Converter(moduleName);
		}
		
		#endregion
	}
}