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using System;
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using System.Collections.Generic;
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using System.Linq;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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namespace MECF.Framework.Common.Fsm
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{
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/// <summary>
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/// 应用于构建模组(Module)状态机的对象。
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/// </summary>
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/// <remarks>
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/// 模组(Module)在系统中为一类控制单元,对应硬件系统的控制单元。
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/// <br/>
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/// 通常一个模组包含一组设备(Device),并通过Routine提供具有原子性的各种操作。
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/// 设备整机有不同的模组构成,并通过调用模组下的Routine完成各个功能动作。
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/// 关于Routine的细节,请参考<see cref="ModuleRoutine"/>对象。
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/// <br/>
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/// 模组基于有限状态机(FSM)进行工作,模组实例化时构建了状态转换表;各个动作基于状态转化完成;
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/// 状态机模型有效的控制模组的工作状态,有助于构建健壮的、稳定的系统架构。
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/// </remarks>
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public class ModuleFsmDevice : FsmDevice
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{
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#region Variables
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/// <summary>
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/// 当模组发生异常时触发此事件。
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/// </summary>
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/// <remarks>
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/// 通常情况下,当该事件引发时,会向状态机发送Error或Alarm消息,以使状态机转换到Error或Alarm状态。
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/// </remarks>
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public event EventHandler<string> OnEnterError;
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private readonly Queue<IRoutine> _qRoutines;
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#endregion
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#region Constructors
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/// <summary>
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/// 创建模组的对象实例。
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/// </summary>
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public ModuleFsmDevice()
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{
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_qRoutines = new Queue<IRoutine>();
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}
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#endregion
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#region Properties
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/// <summary>
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/// 返回当前模组是否在系统配置中启用。
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/// </summary>
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public bool IsInstalled
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{
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get
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{
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if (!SC.ContainsItem("System.SetUp.Is" + base.Module + "Installed"))
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{
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return true;
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}
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return SC.GetValue<bool>("System.SetUp.Is" + base.Module + "Installed");
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}
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}
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/// <summary>
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/// 设置或返回当前模组是否上线。
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/// </summary>
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public bool IsOnline { get; set; }
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/// <summary>
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/// 返回当前设备正在执行的Routine的列队。
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/// </summary>
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protected Queue<IRoutine> QueueRoutine => _qRoutines;
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#endregion
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#region Methods
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/// <summary>
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/// 初始化模组。
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/// </summary>
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/// <returns></returns>
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public override bool Initialize()
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{
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return base.Initialize();
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}
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/// <summary>
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/// 使用指定的参数启动Routine。
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/// </summary>
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/// <param name="routine">Routine对象的实例。</param>
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/// <param name="args">
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/// Routine的启动参数。
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/// <remarks>
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/// 该参数表会传递给Routine的Start()方法。
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/// </remarks>
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/// </param>
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/// <returns>
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/// <see cref="Result"/>
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/// <br/>
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/// Routine的执行状态。</returns>
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public Result StartRoutine(IRoutine routine, params object[] args)
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{
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QueueRoutine.Clear();
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QueueRoutine.Enqueue(routine);
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return QueueRoutine.Peek().Start(args);
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}
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/// <summary>
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/// 启动指定的Routine。
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/// </summary>
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/// <param name="routine">Routine对象的实例。</param>
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/// <returns>
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/// <see cref="Result"/>
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/// <br/>
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/// Routine的执行状态。</returns>
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public Result StartRoutine(IRoutine routine)
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{
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QueueRoutine.Clear();
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QueueRoutine.Enqueue(routine);
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return QueueRoutine.Peek().Start();
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}
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/// <summary>
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/// 启动列队中的Routine。
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/// </summary>
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/// <remarks>
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/// 需要将待执行的Routine添加到<see cref="QueueRoutine"/>队列中。
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/// </remarks>
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/// <returns>
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/// <see cref="Result"/>
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/// <br/>
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/// Routine的执行状态。
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/// </returns>
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public Result StartRoutine()
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{
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if (_qRoutines.Count == 0)
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{
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return Result.DONE;
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}
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var result = Result.DONE;
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var list = _qRoutines.ToList();
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for (int i = 0; i < list.Count; _qRoutines.Dequeue(), i++)
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{
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switch (list[i].Start())
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{
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case Result.DONE:
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continue;
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case Result.FAIL:
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return Result.FAIL;
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}
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break;
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}
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return Result.RUN;
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}
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/// <summary>
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/// 周期性扫描正在执行的Routine。
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/// </summary>
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/// <returns>
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/// <see cref="Result"/>
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/// <br/>
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/// Routine的执行状态。
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/// </returns>
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public Result MonitorRoutine()
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{
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if (_qRoutines.Count == 0)
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{
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return Result.DONE;
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}
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var routine = _qRoutines.Peek();
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var result = routine.Monitor();
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if (result == Result.DONE)
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{
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_qRoutines.Dequeue();
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var list = _qRoutines.ToList();
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for (var i = 0; i < list.Count; _qRoutines.Dequeue(), i++)
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{
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result = list[i].Start();
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switch (result)
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{
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case Result.DONE:
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continue;
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case Result.FAIL:
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return Result.FAIL;
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}
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break;
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}
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}
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return result;
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}
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/// <summary>
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/// 终止当前模组的所有正在执行的Routine。
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/// </summary>
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public void AbortRoutine()
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{
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if (_qRoutines != null)
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{
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if( _qRoutines.Count > 0)
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_qRoutines.Peek().Abort();
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_qRoutines.Clear();
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}
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}
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/// <summary>
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/// 产生模组异常事件。
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/// </summary>
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/// <param name="module"></param>
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protected virtual void InvokeOnEnterError(string module)
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{
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OnEnterError?.Invoke(this, module);
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}
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#endregion
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}
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}
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