261 lines
8.2 KiB
C#
261 lines
8.2 KiB
C#
using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Fsm;
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using Aitex.Core.RT.DataCenter;
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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 System.Text;
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using System.Threading.Tasks;
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using Aitex.Core.RT.OperationCenter;
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using MECF.Framework.Common.Event;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.WalkingAixs
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{
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public abstract class WalkingAxisBaseDevice : Entity, IDevice
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{
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public bool IsBusy { get; private set; }
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protected WalkingAxisBaseDevice(string module, string name)
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: base()
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{
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Module = module;
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Name = name;
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InitializeMotion();
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}
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private void InitializeMotion()
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{
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BuildTransitionTable();
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SubscribeDataVariable();
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SubscribeOperation();
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Running = true;
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}
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public event Action<string, AlarmEventItem> OnDeviceAlarmStateChanged;
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public bool HasAlarm { get; }
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public string Module { get; set; }
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public string Name { get; set ; }
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public WalkingAxisState DeviceState { get => (WalkingAxisState)fsm.State; }
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public abstract int GetCurrentStation();
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public bool IsArrivedTarget
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{
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get { return (TargetStation == GetCurrentStation()); }
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}
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public int TargetStation { get; private set; }
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public abstract void Monitor();
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public void Reset()
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{
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}
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public enum WalkingAxisMsg
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{
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Reset,
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Init,
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StartMove,
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Stop,
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Error,
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ActionDone,
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}
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public enum WalkingAxisState
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{
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Init,
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Initializing,
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Idle,
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Moving,
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ERROR,
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Stopped,
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Busy,
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}
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private void BuildTransitionTable()
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{
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fsm = new StateMachine<WalkingAxisBaseDevice>(Module + Name + ".StateMachine", (int)WalkingAxisState.Init, 50);
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AnyStateTransition(WalkingAxisMsg.Error, fError, WalkingAxisState.ERROR);
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AnyStateTransition(WalkingAxisMsg.Stop, fStop, WalkingAxisState.Stopped);
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Transition(WalkingAxisState.Init, WalkingAxisMsg.Init, fStartInit, WalkingAxisState.Initializing);
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Transition(WalkingAxisState.Initializing, FSM_MSG.TIMER, fMonitorInit, WalkingAxisState.Initializing);
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Transition(WalkingAxisState.Initializing, WalkingAxisMsg.ActionDone, fInitComplete, WalkingAxisState.Idle);
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Transition(WalkingAxisState.Idle, WalkingAxisMsg.Init, fStartInit, WalkingAxisState.Initializing);
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Transition(WalkingAxisState.Idle, WalkingAxisMsg.StartMove, fStartMove, WalkingAxisState.Moving);
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Transition(WalkingAxisState.Moving, FSM_MSG.TIMER, fMonitorMove, WalkingAxisState.Moving);
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Transition(WalkingAxisState.Moving, WalkingAxisMsg.ActionDone, fMoveComplete, WalkingAxisState.Idle);
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Transition(WalkingAxisState.ERROR, WalkingAxisMsg.Reset, fStartReset, WalkingAxisState.Init);
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Transition(WalkingAxisState.Stopped, WalkingAxisMsg.Reset, fStartReset, WalkingAxisState.Init);
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Transition(WalkingAxisState.Idle, WalkingAxisMsg.Reset, fStartReset, WalkingAxisState.Idle);
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Transition(WalkingAxisState.Init, WalkingAxisMsg.Reset, fStartReset, WalkingAxisState.Idle);
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}
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public virtual bool IsReady()
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{
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return ((!IsBusy) && (DeviceState == WalkingAxisState.Idle));
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}
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private void SubscribeDataVariable()
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{
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DATA.Subscribe($"{Module}.{Name}.State", () => DeviceState.ToString());
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}
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private void SubscribeOperation()
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{
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OP.Subscribe($"{Module}.{Name}.Home", (string cmd, object[] param) =>
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{
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string reason = "";
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if (!Home(null))
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{
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EV.PostWarningLog(Module, $"{Name} can not home, {reason}");
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return false;
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}
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EV.PostInfoLog(Module, $"{Name} home");
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return true;
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});
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OP.Subscribe($"{Module}.{Name}.Reset", (string cmd, object[] param) =>
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{
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string reason = "";
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if (!Reset(null))
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{
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EV.PostWarningLog(Module, $"{Name} can not clear alarm, {reason}");
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return false;
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}
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EV.PostInfoLog(Module, $"{Name} reset alarm");
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return true;
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});
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OP.Subscribe($"{Module}.{Name}.MoveTo", (string cmd, object[] param) =>
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{
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string reason = "";
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if (!MoveTo(param))
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{
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EV.PostWarningLog(Module, $"{Name} can not move to {param[0].ToString()}, {reason}");
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return false;
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}
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EV.PostInfoLog(Module, $"{Name} move to {param[0]}");
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return true;
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});
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OP.Subscribe($"{Module}.{Name}.Stop", (string cmd, object[] param) =>
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{
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string reason = "";
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if (!Stop(null))
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{
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EV.PostWarningLog(Module, $"{Name} can not Stop, {reason}");
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return false;
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}
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EV.PostInfoLog(Module, $"{Name} Stop");
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return true;
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});
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}
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protected virtual bool fStop(object[] param)
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{
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IsBusy = false;
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return true;
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}
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protected abstract bool fStartReset(object[] param);
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protected abstract bool fMonitorMove(object[] param);
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protected abstract bool fStartMove(object[] param);
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protected abstract bool fMonitorInit(object[] param);
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protected abstract bool fStartInit(object[] param);
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protected virtual bool fError(object[] param)
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{
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return true;
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}
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protected virtual bool fInitComplete(object[] param)
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{
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IsBusy = false;
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return true;
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}
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protected virtual bool fMoveComplete(object[] param)
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{
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IsBusy = false;
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return true;
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}
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public virtual bool Home(object[] param)
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{
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IsBusy = true;
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return CheckToPostMessage((int)WalkingAxisMsg.Init, param);
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}
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public virtual bool MoveTo(object[] param)
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{
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int temp;
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if (int.TryParse(param[0].ToString(), out temp))
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{
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TargetStation = temp;
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IsBusy = true;
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return CheckToPostMessage((int)WalkingAxisMsg.StartMove, new object[] { temp});
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}
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return false;
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}
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public virtual bool Reset(object[] param)
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{
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IsBusy = false;
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return CheckToPostMessage((int)WalkingAxisMsg.Reset, param);
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}
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public virtual bool Stop(object[] param)
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{
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IsBusy = true;
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return CheckToPostMessage((int)WalkingAxisMsg.Stop, param);
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}
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public virtual bool OnActionDone(object[] param)
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{
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IsBusy = false;
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return CheckToPostMessage((int)WalkingAxisMsg.ActionDone, param);
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}
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public virtual bool OnError(object[] param)
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{
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return CheckToPostMessage((int)WalkingAxisMsg.Error, param);
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}
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public bool CheckToPostMessage(int msg, params object[] args)
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{
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if (!fsm.FindTransition(fsm.State, msg))
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{
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EV.PostWarningLog(Name, $"{Name} is in { (WalkingAxisState)fsm.State} state,can not do {(WalkingAxisMsg)msg}");
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return false;
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}
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fsm.PostMsg(msg, args);
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return true;
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}
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public bool Check(int msg, out string reason, params object[] args)
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{
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if (!fsm.FindTransition(fsm.State, msg))
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{
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reason = String.Format("{0} is in {1} state,can not do {2}", Name, (WalkingAxisState)fsm.State, (WalkingAxisMsg)msg);
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return false;
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}
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reason = "";
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return true;
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}
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}
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}
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