LIBMAS/StageController/M3H/M3HController.cs

using System;
using System.Collections.Concurrent;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using PaintDotNet.Base.SettingModel;

namespace StageController
{
    public class M3HController : AxisController
    {
        #region Com Connection
        private SerialPort m_serialPort;
        private string m_portName;
        private int m_baudRate;
        #endregion

        public override bool IsMoving => StateX > 1 || StateY > 1 || StateZ > 1;

        /// <summary>
        /// 等待平台停稳
        /// </summary>
        public override void WaitMoveDone()
        {
            // Console.WriteLine(string.Format("{0} {1} {2}", StateX, StateY, StateZ));
            do Thread.Sleep(30);
            while (IsMoving && IsOpen);

            Thread.Sleep(100);
        }

        public M3HController() : base()
        {
            m_cmdQueueM = new ConcurrentQueue<CommandBase>();
            CommandBase.AddReceivedHandle(typeof(CommandAllPosition), new Action<CommandBase>(PositionUpdate));
            CommandBase.AddReceivedHandle(typeof(CommandVersion), new Action<CommandBase>(VersionUpdate));
        }

        public override object LoadingStageModel
        {
            set
            {
                var m_loadingStageModel = value as LoadingStageModel;
                m_portName = m_loadingStageModel.BaseSetPort;
                m_baudRate = m_loadingStageModel.BaseSetBps;

                base.LoadingStageModel = value;

                m_workSpeedXY = m_loadingStageModel.items[m_loadingStageModel.WorkSpeedSelect].LSpeed;
                m_workSpeedZ = m_loadingStageModel.items[m_loadingStageModel.WorkSpeedSelect].ZSpeed;
            }
        }

        #region Open Close

        /// <summary>
        /// 平台是否正常开启
        /// </summary>
        public override bool IsOpen
        {
            get => m_running;
        }
        public override string Version { get; internal set; }

        // TODO: 此函数测试期间使用
        public override string Open()
        {
            try
            {
                if (!m_running)
                    Open(m_portName, m_baudRate, Parity.None, 8, StopBits.One);
                return "";
            }
            catch (Exception ex)
            {
                return ex.Message;
            }
        }


        public override void Open(string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits)
        {
            if (m_serialPort == null || !m_serialPort.IsOpen)
            {
                m_serialPort = new SerialPort(portName, baudRate, parity, dataBits, stopBits);

                m_serialPort.Encoding = Encoding.ASCII;
                m_serialPort.ReadTimeout = 500;
                m_serialPort.DataReceived += new SerialDataReceivedEventHandler(SerialPort_DataReceived);
                m_serialPort.Open();
                var cmd = new CommandGlobal(M3H.ControlType.F);
                cmd.Send();
                Thread.Sleep(100);
                if (cmd.State == 1)
                    throw new Exception("Connection Failed!");
                CommandBase.SerialPort = m_serialPort;
            }

            if (!m_running)
            {
                m_cmdQueueM = new ConcurrentQueue<CommandBase>();
                m_curCommand = null;

                base.Open();

                ResetParameter();
            }
        }

        public override void Close()
        {
            if (IsOpen)
            {
                FreeStage();
                FreeZ();
                _closing = true;
            }
        }
        #endregion

        // 接收串口返回数据
        private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            if (!m_running) return;
            string recvData = ((SerialPort)sender).ReadExisting();
            m_curCommand.Receive(recvData);
        }

        #region Command Runtime
        private CommandBase m_curCommand = null;

        /// <summary>
        /// 发送试错次数
        /// </summary>
        private int m_retryCount = 3;

        protected override void Process()
        {
            base.Process();

            #region 执行当前指令
            if (m_curCommand != null)
            {
                switch (m_curCommand.State)
                {
                    case -1:                    //error:停止当前运动控制服务.
                        if (m_curCommand.SendCount > m_retryCount) CommandError();
                        m_curCommand.Send();
                        return;
                    case 1:                     //等待平台应答
                        if (m_curCommand.IsTimeout)
                        {
                            if (_timeoutTimes > 1)
                                CommandTimeout();
                            m_curCommand = null;
                            _timeoutTimes++;
                        }
                        break;
                    case 2:                     //完成应答处理
                        m_curCommand = null; _timeoutTimes = 0;
                        break;
                    case 0:                     //初始值, 此处不应该出现0的情况
                        CommandError();
                        break;
                    default:
                        break;
                }
            }
            #endregion

            #region 开始一个新指令,
            if (m_curCommand == null)
            {
                if (m_cmdQueueM.IsEmpty && _closing)
                {
                    m_running = false;
                    _closing = false;
                    return;
                }
                if (m_cmdQueueM.IsEmpty || !m_cmdQueueM.TryDequeue(out m_curCommand))
                {   // 空闲时间刷新位置
                    //m_curCommand = new CommandAllPosition();
                }
                if (m_curCommand != null && !m_curCommand.Send())
                {   //指令发送失败
                    CommandError();
                }
            }
            #endregion
        }

        protected override void CommandError()
        {
            Dispose();
            base.CommandError();
        }

        private void Dispose()
        {
            m_running = false;
            m_serialPort.Close();
            m_curCommand = null;
            m_currentMoveflow?.Stop();
        }
        int _timeoutTimes = 0;
        protected override void CommandTimeout()
        {
            Dispose();
            base.CommandTimeout();
        }

        public override void RefreshPosition()
        {
            if (m_cmdQueueM.Any(e => e is CommandAllPosition))
                return;
            AddCommand(new CommandAllPosition());
        }

        private void VersionUpdate(CommandBase cmd)
        {
            Version = (cmd as CommandVersion).Version;
        }
        #endregion

        #region Moveflow

        private bool IsSimulation = false;
        /// <summary>
        /// 平台中心位置
        /// </summary>
        protected override int _centerX => 106500;
        /// <summary>
        /// 平台中心位置
        /// </summary>
        protected override int _centerY => 73500;

        /// <summary>
        /// 正边界
        /// </summary>
        const int LIMIT_P = (int)Border.F;
        private bool _closing;

        /// <summary>
        /// 开始中心移动流程
        /// </summary>
        public override void ToCenter()
        {
            if (IsSimulation) return;
            base.ToCenter();
        }

        protected override void ClearPosXY()
        {
            base.ClearPosXY();
            AddCommand(new CommandAllPosition());
        }

        /// <summary>
        /// 开始复位流程
        /// </summary>
        public override void ResetStage(Action actDone)
        {
            if (IsSimulation)//模拟模式
            {
                ClearPosXY();
                actDone();
                return;
            }
            new System.Threading.Tasks.Task(new Action(() =>
            {
                while (m_cmdQueueM.Count > 0)
                {
                    Thread.Sleep(100);
                }
                StartResetStage(actDone);
            })).Start();
        }

        private void StartResetStage(Action actDone)
        {
            var mf = StartMoveflow();
            mf.Add(() =>
            {
                _LockStage();
            },
               null
                );
            mf.Add(() =>
            {
                this.Slide(AxisType.X, false);
                this.Slide(AxisType.Y, false);
            },
                () =>
                {
                    RefreshPosition();
                    return IsLimitXY();// m_AxisX.Limit == LIMIT_N && m_AxisY.Limit == LIMIT_N;
                });
            mf.Add(() =>
            {
                ClearPosXY();
            },
               null);
            mf.Start();
            mf.OnMoveflowDone += actDone;
            m_currentMoveflow = mf;
        }

        public override void ZScan(double start, double steplen, int times, Action shoot, Action package, Action actDone)
        {
            if (IsSimulation)//模拟模式
                return;
            base.ZScan(start, steplen, times, shoot, package, actDone);
        }
        #endregion

        #region Speed
        int m_workSpeedXY;
        int m_workSpeedZ;
        public override void SetWorkspeedXY()
        {
            SetSpeedXY(m_workSpeedXY);
            SetSpeedZ(m_workSpeedZ);
        }
        #endregion

        public void ResetParameter()
        {
            AddCommand(new CommandAllPosition());
            AddCommand(new CommandParameter() { AxisSelect = 'x' });
            AddCommand(new CommandParameter() { AxisSelect = 'y' });
            // AddCommand(new CommandParameter() { AxisSelect = 'z', LockOrFree = 'F' });  // z轴参数下发不识别
            AddCommand(new CommandVersion());
        }

        /// <summary>
        /// 拼图模式
        /// </summary>
        public override void SetMergeMode(bool isMerge)
        {
            if (isMerge)
                AddCommand(new CommandGlobal(M3H.ControlType.P));
            else
                AddCommand(new CommandGlobal(M3H.ControlType.Q));
        }

        /// <summary>
        /// 启用/禁用摇杆
        /// </summary>
        /// <param name="isAvailable">摇杆可用</param>
        public override void SetRockerEnabel(bool isAvailable)
        {

        }
    }
}