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@@ -1,12 +1,10 @@
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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 FluentResults;
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using GSG.NET.Concurrent;
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-using GSG.NET.LINQ;
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using GSG.NET.Logging;
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-using GSG.NET.Utils;
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using OHV.Common.Events;
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using OHV.Common.Shareds;
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using OHV.SqliteDAL;
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@@ -25,25 +23,25 @@ namespace VehicleControlSystem.ControlLayer
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IEventAggregator eventAggregator;
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TaskCancel taskCancel = new TaskCancel();
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- public Clamp( SqliteManager sqliteManager , IEventAggregator ea )
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+ public Clamp(SqliteManager sqliteManager, IEventAggregator ea)
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{
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this.sql = sqliteManager;
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this.eventAggregator = ea;
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}
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- public void Init( )
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+ public void Init()
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{
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this.CreateAxis();
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- this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Unsubscribe( ReceivedMessageEvent );
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- this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Subscribe( ReceivedMessageEvent );
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+ this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Unsubscribe(ReceivedMessageEvent);
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+ this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Subscribe(ReceivedMessageEvent);
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}
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- void ReceivedMessageEvent( AxisControlEventArgs args )
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+ void ReceivedMessageEvent(AxisControlEventArgs args)
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{
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- if ( args.Dir == AxisControlEventArgs.eEventDir.ToBack )
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+ if (args.Dir == AxisControlEventArgs.eEventDir.ToBack)
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{
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- switch ( args.Kind )
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+ switch (args.Kind)
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{
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case AxisControlEventArgs.eAxisControlKind.Stop:
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break;
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@@ -52,15 +50,15 @@ namespace VehicleControlSystem.ControlLayer
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case AxisControlEventArgs.eAxisControlKind.Move:
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break;
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case AxisControlEventArgs.eAxisControlKind.Jog:
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- this.ReqJog( args );
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+ this.ReqJog(args);
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break;
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case AxisControlEventArgs.eAxisControlKind.CurrentPosition:
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break;
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case AxisControlEventArgs.eAxisControlKind.ServoOn:
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- //this.ReqServoOn( args );
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+ this.ReqServoOn( args );
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break;
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case AxisControlEventArgs.eAxisControlKind.ServoOff:
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- //this.ReqServoOff( args );
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+ this.ReqServoOff( args );
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break;
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case AxisControlEventArgs.eAxisControlKind.ReqCurrentPosition:
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this.ReqStartCurrentPosition();
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@@ -70,10 +68,10 @@ namespace VehicleControlSystem.ControlLayer
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this.taskCancel.WaitAll();
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break;
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case AxisControlEventArgs.eAxisControlKind.OriginReturn:
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- this.ReqOriginReturn( args );
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+ this.ReqOriginReturn(args);
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break;
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case AxisControlEventArgs.eAxisControlKind.FaultReset:
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- //this.ReqFaultReset( args );
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+ this.ReqFaultReset( args );
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break;
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default:
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break;
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@@ -81,178 +79,239 @@ namespace VehicleControlSystem.ControlLayer
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}
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}
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- void PublishEvent( AxisControlEventArgs args )
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+
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+ void PublishEvent(AxisControlEventArgs args)
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+ {
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+ this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Publish(args);
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+ }
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+
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+ #region Requst Method
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+ private void ReqFaultReset(AxisControlEventArgs args)
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+ {
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+ var axis = this.axes.Where(x => x.Config.AxisName.Equals(args.AxisName)).FirstOrDefault();
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+ int resultNo = axis.ResetAmpFault();
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+
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+ var msg = new AxisControlEventArgs
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+ {
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+ AxisName = args.AxisName,
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+ Kind = AxisControlEventArgs.eAxisControlKind.FaultReset,
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+ };
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+ msg.Result = Results.Ok("Servo On");
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+ this.PublishEvent(msg);
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+ }
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+
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+ private void ReqServoOn(AxisControlEventArgs args)
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{
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- this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Publish( args );
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+ var axis = this.axes.Where(x => x.Config.AxisName.Equals(args.AxisName)).FirstOrDefault();
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+ axis.ServoOn();
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+
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+ var msg = new AxisControlEventArgs
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+ {
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+ AxisName = args.AxisName,
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+ Kind = AxisControlEventArgs.eAxisControlKind.ServoOn,
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+ };
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+ msg.Result = Results.Ok("Servo On");
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+ this.PublishEvent(msg);
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}
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- void ReqStartCurrentPosition( )
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+ private void ReqServoOff(AxisControlEventArgs args)
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{
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- var task = Task.Factory.StartNew( ( ) =>
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- {
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- while ( !this.taskCancel.Canceled )
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- {
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- LockUtils.Wait( 500 );
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-
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- this.axes.ForEach( a =>
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- {
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-
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- var msg = new AxisControlEventArgs
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- {
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- AxisName = a.Config.AxisName ,
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- Dir = AxisControlEventArgs.eEventDir.ToFront ,
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- Kind = AxisControlEventArgs.eAxisControlKind.CurrentPosition ,
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- CurrentPosition = NumUtils.Random( 0 , 300 ) ,
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- };
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-
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- this.PublishEvent( msg );
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- } );
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- }
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- } );
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-
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- this.taskCancel.Add( task );
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+ var axis = this.axes.Where(x => x.Config.AxisName.Equals(args.AxisName)).FirstOrDefault();
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+ axis.ServoOff();
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+
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+ var msg = new AxisControlEventArgs
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+ {
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+ AxisName = args.AxisName,
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+ Kind = AxisControlEventArgs.eAxisControlKind.ServoOff,
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+ };
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+ msg.Result = Results.Ok("Servo Off");
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+ this.PublishEvent(msg);
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}
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- void ReqJog( AxisControlEventArgs arg )
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+ void ReqStartCurrentPosition()
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{
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- if ( arg.JogDir == AxisControlEventArgs.eJogMoveDir.Positive )
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- this.JogMove( arg.AxisName , E_JogMoveDir.Positive , 0 );
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+ var task = Task.Factory.StartNew(() =>
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+ {
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+ double[] beforePosition = new double[this.axes.Count];
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+ beforePosition.Initialize();
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+
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+ while (!this.taskCancel.Canceled)
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+ {
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+ LockUtils.Wait(500);
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+
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+ int index = 0;
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+ this.axes.ForEach(a =>
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+ {
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+ if (beforePosition[index] != a.CurrentPosition)
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+ {
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+ beforePosition[index] = a.CurrentPosition;
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+
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+ var msg = new AxisControlEventArgs
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+ {
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+ AxisName = a.Config.AxisName,
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+ Dir = AxisControlEventArgs.eEventDir.ToFront,
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+ Kind = AxisControlEventArgs.eAxisControlKind.CurrentPosition,
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+ CurrentPosition = a.CurrentPosition,
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+ };
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+ this.PublishEvent(msg);
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+ }
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+ index++;
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+ });
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+ }
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+ });
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+
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+ this.taskCancel.Add(task);
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+ }
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+
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+ void ReqJog(AxisControlEventArgs arg)
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+ {
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+ if (arg.JogDir == AxisControlEventArgs.eJogMoveDir.Positive)
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+ this.JogMove(arg.AxisName, E_JogMoveDir.Positive, 0);
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else
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- this.JogMove( arg.AxisName , E_JogMoveDir.Negative , 0 );
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+ this.JogMove(arg.AxisName, E_JogMoveDir.Negative, 0);
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}
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- void ReqOriginReturn( AxisControlEventArgs arg )
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+ void ReqOriginReturn(AxisControlEventArgs arg)
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{
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int result = 0;
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- if ( arg.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) )
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+ if (arg.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT))
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result = this.LeftOriginReturn();
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else
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result = this.RightOriginReturn();
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- //TODO: 결과를 UI에 알려 줘야 하는데.
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- if ( result != EziMOTIONPlusELib.FMM_OK ) { }
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+ var msg = new AxisControlEventArgs
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+ {
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+ AxisName = arg.AxisName,
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+ Kind = AxisControlEventArgs.eAxisControlKind.OriginReturn,
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+ };
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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+ msg.Result = Results.Fail<int>("Origin Fail").WithValue(result);
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+ else
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+ msg.Result = Results.Ok();
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+ this.PublishEvent(msg);
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}
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+ #endregion
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- void CreateAxis( )
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+ void CreateAxis()
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{
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- sql.AxisConfigDAL.All.ForEach( config =>
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- {
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- Axis.AxisConfig c = new Axis.AxisConfig
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- {
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- AxisName = config.Name ,
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- AxisNo = config.Id ,
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- Scale = config.Scale ,
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- Address = config.Address ,
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- };
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- axes.Add( new EzAxis( c ) );
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- } );
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-
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- this.axes.ForEach( axis =>
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- {
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- var data = sql.AxisVelocityDataDAL.GetK( axis.Config.AxisName );
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- Axis.AxisData axisData = new AxisData
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- {
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- AxisNo = data.id ,
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- AxisName = data.AxisName ,
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- AutoRunVelocity = data.AutoRunVelocity ,
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- AutoRunAccelerate = data.AutoRunAccelerate ,
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- AutoRunDecelerate = data.AutoRunDecelerate ,
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- ManualRunVelocity = data.ManualRunVelocity ,
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- JogFast = data.JogFast ,
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- JogSlow = data.JogSlow ,
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- Tolerance = data.Tolerance ,
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- };
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-
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- axis.Initialize( axisData );
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- } );
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+ sql.AxisConfigDAL.All.ForEach(config =>
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+ {
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+ Axis.AxisConfig c = new Axis.AxisConfig
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+ {
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+ AxisName = config.Name,
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+ AxisNo = config.Id,
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+ Scale = config.Scale,
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+ Address = config.Address,
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+ };
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+ axes.Add(new EzAxis(c));
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+ });
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+
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+ this.axes.ForEach(axis =>
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+ {
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+ var data = sql.AxisVelocityDataDAL.GetK(axis.Config.AxisName);
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+ Axis.AxisData axisData = new AxisData
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+ {
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+ AxisNo = data.id,
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+ AxisName = data.AxisName,
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+ AutoRunVelocity = data.AutoRunVelocity,
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+ AutoRunAccelerate = data.AutoRunAccelerate,
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+ AutoRunDecelerate = data.AutoRunDecelerate,
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+ ManualRunVelocity = data.ManualRunVelocity,
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+ JogFast = data.JogFast,
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+ JogSlow = data.JogSlow,
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+ Tolerance = data.Tolerance,
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+ };
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+
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+ axis.Initialize(axisData);
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+ });
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}
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- public int LeftOriginReturn( )
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+ public int LeftOriginReturn()
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{
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- var servo = this.axes.Where( s => s.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
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- return servo.OriginReturn( true );
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+ var servo = this.axes.Where(s => s.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT)).Single();
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+ return servo.OriginReturn(true);
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}
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- public int RightOriginReturn( )
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+ public int RightOriginReturn()
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{
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- var servo = this.axes.Where( s => s.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
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- return servo.OriginReturn( true );
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+ var servo = this.axes.Where(s => s.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_RIGHT)).Single();
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+ return servo.OriginReturn(true);
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}
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- public int AllOriginReturn( )
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+ public int AllOriginReturn()
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{
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int result = 0;
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result = LeftOriginReturn();
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- if ( result != EziMOTIONPlusELib.FMM_OK )
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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return 7;
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result = RightOriginReturn();
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- if ( result != EziMOTIONPlusELib.FMM_OK )
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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return 8;
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return result;
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}
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- public int IsAllAxisOriginReturn( )
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+ public int IsAllAxisOriginReturn()
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{
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int result = 0;
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- this.axes.ForEach( x =>
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- {
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- if ( !x.IsOriginReturn() )
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- {
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- if ( x.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) )
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- result = 5;
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- else
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- result = 6;
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- return;
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- }
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- } );
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+ this.axes.ForEach(x =>
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+ {
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+ if (!x.IsOriginReturn())
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+ {
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+ if (x.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT))
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+ result = 5;
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+ else
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+ result = 6;
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+ return;
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+ }
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+ });
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return result;
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}
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#region Data
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- public void SavePositionData( string pos , double left , double right )
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+ public void SavePositionData(string pos, double left, double right)
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{
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- var dataList = sql.AxisPositionDataDAL.GetKFromPostion( pos );
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- var sqlLeft = dataList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
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- var sqlRight = dataList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
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+ var dataList = sql.AxisPositionDataDAL.GetKFromPostion(pos);
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+ var sqlLeft = dataList.Where(x => x.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT)).Single();
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+ var sqlRight = dataList.Where(x => x.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_RIGHT)).Single();
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sqlLeft.Value = left;
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- sql.AxisPositionDataDAL.Update( sqlLeft );
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+ sql.AxisPositionDataDAL.Update(sqlLeft);
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sqlRight.Value = right;
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- sql.AxisPositionDataDAL.Update( sqlRight );
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+ sql.AxisPositionDataDAL.Update(sqlRight);
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}
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#endregion
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- public int JogMove( string axisName , E_JogMoveDir dir , int velocity )
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+ public int JogMove(string axisName, E_JogMoveDir dir, int velocity)
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{
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- logger.D( $"JogMove - Axis[{axisName}] / Dir[{dir}] / vel[{velocity}]" );
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+ logger.D($"JogMove - Axis[{axisName}] / Dir[{dir}] / vel[{velocity}]");
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- var axis = this.axes.Where( x => x.Config.AxisName.Equals( axisName ) ).Single();
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- return axis.JogMove( dir , velocity );
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+ var axis = this.axes.Where(x => x.Config.AxisName.Equals(axisName)).Single();
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+ return axis.JogMove(dir, velocity);
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}
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- public int MoveToLockPosition( string axisName )
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+ public int MoveToLockPosition(string axisName)
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{
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- var servo = this.axes.Where( x => x.Config.AxisName.Equals( axisName ) ).Single();
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- var axisPositionDatas = sql.AxisPositionDataDAL.GetKFromName( axisName ).ToList();
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- var data = axisPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).Single();
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+ var servo = this.axes.Where(x => x.Config.AxisName.Equals(axisName)).Single();
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+ var axisPositionDatas = sql.AxisPositionDataDAL.GetKFromName(axisName).ToList();
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+ var data = axisPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_LOCK)).Single();
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- int result = servo.Move( data.Value );
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+ int result = servo.Move(data.Value);
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return result;
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}
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- public int MoveToUnlockPosition( string axisName )
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+ public int MoveToUnlockPosition(string axisName)
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{
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- var servo = this.axes.Where( x => x.Config.AxisName.Equals( axisName ) ).Single();
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- var axisPositionDatas = sql.AxisPositionDataDAL.GetKFromName( axisName ).ToList();
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- var data = axisPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_UNLOCK ) ).Single();
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+ var servo = this.axes.Where(x => x.Config.AxisName.Equals(axisName)).Single();
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+ var axisPositionDatas = sql.AxisPositionDataDAL.GetKFromName(axisName).ToList();
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+ var data = axisPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_UNLOCK)).Single();
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- int result = servo.Move( data.Value );
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+ int result = servo.Move(data.Value);
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return result;
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}
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@@ -261,36 +320,36 @@ namespace VehicleControlSystem.ControlLayer
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/// 두개를 동시에 Lock
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/// </summary>
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/// <returns></returns>
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- public int Lock_Sync( )
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+ public int Lock_Sync()
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{
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int result = 0;
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result = this.AllOriginReturn();
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- if ( result != 0 )
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+ if (result != 0)
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return result;
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- var leftPositionDatas = sql.AxisPositionDataDAL.GetKFromName( ConstString.AXIS_CARRIER_LOCK_LEFT ).ToList();
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- var leftData = leftPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).Single();
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- var left = this.axes.Where( x => x.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
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+ var leftPositionDatas = sql.AxisPositionDataDAL.GetKFromName(ConstString.AXIS_CARRIER_LOCK_LEFT).ToList();
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+ var leftData = leftPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_LOCK)).Single();
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+ var left = this.axes.Where(x => x.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT)).Single();
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- var rightPositionDatas = sql.AxisPositionDataDAL.GetKFromName( ConstString.AXIS_CARRIER_LOCK_RIGHT ).ToList();
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- var rightData = leftPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).Single();
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- var right = this.axes.Where( x => x.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
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+ var rightPositionDatas = sql.AxisPositionDataDAL.GetKFromName(ConstString.AXIS_CARRIER_LOCK_RIGHT).ToList();
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+ var rightData = leftPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_LOCK)).Single();
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+ var right = this.axes.Where(x => x.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_RIGHT)).Single();
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- result = left.StartMove( leftData.Value , 0 );
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- if ( result != EziMOTIONPlusELib.FMM_OK )
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+ result = left.StartMove(leftData.Value, 0);
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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return result;
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- result = right.StartMove( rightData.Value , 0 );
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- if ( result != EziMOTIONPlusELib.FMM_OK )
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+ result = right.StartMove(rightData.Value, 0);
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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|
return result;
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result = left.Wait4Done();
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- if ( result != EziMOTIONPlusELib.FMM_OK )
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|
+ if (result != EziMOTIONPlusELib.FMM_OK)
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|
|
return result;
|
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result = right.Wait4Done();
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|
- if ( result != EziMOTIONPlusELib.FMM_OK )
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+ if (result != EziMOTIONPlusELib.FMM_OK)
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|
|
return result;
|
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|
|
|
|
|
@@ -301,36 +360,36 @@ namespace VehicleControlSystem.ControlLayer
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|
/// 두개의 Axis 를 동시에 Unlock
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|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
- public int Unlock_Sync( )
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|
|
+ public int Unlock_Sync()
|
|
|
{
|
|
|
int result = 0;
|
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|
|
|
|
result = this.AllOriginReturn();
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|
|
- if ( result != 0 )
|
|
|
+ if (result != 0)
|
|
|
return result;
|
|
|
|
|
|
- var leftPositionDatas = sql.AxisPositionDataDAL.GetKFromName( ConstString.AXIS_CARRIER_LOCK_LEFT ).ToList();
|
|
|
- var leftData = leftPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_UNLOCK ) ).Single();
|
|
|
- var left = this.axes.Where( x => x.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
|
|
|
+ var leftPositionDatas = sql.AxisPositionDataDAL.GetKFromName(ConstString.AXIS_CARRIER_LOCK_LEFT).ToList();
|
|
|
+ var leftData = leftPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_UNLOCK)).Single();
|
|
|
+ var left = this.axes.Where(x => x.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_LEFT)).Single();
|
|
|
|
|
|
- var rightPositionDatas = sql.AxisPositionDataDAL.GetKFromName( ConstString.AXIS_CARRIER_LOCK_RIGHT ).ToList();
|
|
|
- var rightData = leftPositionDatas.Where( x => x.Name.Equals( ConstString.TEACH_POSITION_UNLOCK ) ).Single();
|
|
|
- var right = this.axes.Where( x => x.Config.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
|
|
|
+ var rightPositionDatas = sql.AxisPositionDataDAL.GetKFromName(ConstString.AXIS_CARRIER_LOCK_RIGHT).ToList();
|
|
|
+ var rightData = leftPositionDatas.Where(x => x.Name.Equals(ConstString.TEACH_POSITION_UNLOCK)).Single();
|
|
|
+ var right = this.axes.Where(x => x.Config.AxisName.Equals(ConstString.AXIS_CARRIER_LOCK_RIGHT)).Single();
|
|
|
|
|
|
- result = left.StartMove( leftData.Value , 0 );
|
|
|
- if ( result != EziMOTIONPlusELib.FMM_OK )
|
|
|
+ result = left.StartMove(leftData.Value, 0);
|
|
|
+ if (result != EziMOTIONPlusELib.FMM_OK)
|
|
|
return result;
|
|
|
|
|
|
- result = right.StartMove( rightData.Value , 0 );
|
|
|
- if ( result != EziMOTIONPlusELib.FMM_OK )
|
|
|
+ result = right.StartMove(rightData.Value, 0);
|
|
|
+ if (result != EziMOTIONPlusELib.FMM_OK)
|
|
|
return result;
|
|
|
|
|
|
result = left.Wait4Done();
|
|
|
- if ( result != EziMOTIONPlusELib.FMM_OK )
|
|
|
+ if (result != EziMOTIONPlusELib.FMM_OK)
|
|
|
return result;
|
|
|
|
|
|
result = right.Wait4Done();
|
|
|
- if ( result != EziMOTIONPlusELib.FMM_OK )
|
|
|
+ if (result != EziMOTIONPlusELib.FMM_OK)
|
|
|
return result;
|
|
|
|
|
|
|
SK.Kang