OHV/Dev/OHV/VehicleControlSystem/ControlLayer/Serial/BatteryTabos/Peak/Peak.cs

using GSG.NET.Concurrent;
using GSG.NET.Extensions;
using GSG.NET.Logging;
using GSG.NET.TCP;
using GSG.NET.Utils;
using Peak.Can.Basic;
using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using VehicleControlSystem.ControlLayer.IO;
using VehicleControlSystem.ControlLayer.Serial.DataModel;



namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
{
    public class Peak : ICanConnecter
    {
        /// <summary>
        /// Peak USB Handle
        /// </summary>
        UInt16 handle = PCANBasic.PCAN_PCIBUS2;

        static Logger logger = Logger.GetLogger();

        protected TsQueue<object> qqW = new TsQueue<object>( 128 );//write

        BMUManager manager = null;

        object lockObject = new object();

        uint idOffset = 0x460;
        string errormsg = string.Empty;

        #region Enum
        public enum eSendMode
        {
            MANUAL = 0,
            AUTO,
            AUTO_STOP
        }

        public enum eCanRecvCase
        {
            NONE = 0,
            CASE1,
            CASE2,
            CASE3,
        }


        enum eMsgCaseFirst : int
        {
            Voltage_LOW = 2,
            Voltage_HIGH = 3,

            Current_LOW = 4,
            Current_HIGH = 5,

            BatteryBitStatus_LOW = 6,
            BatteryBitStatus_HIGH = 7
        }
        enum eMsgCaseSecond : int
        {
            ChargeFull_LOW = 2,
            ChargeFull_HIGH = 3,

            DisChargeEmpty_LOW,
            DisChargeEmpty_HIGH,

            SOC,
            SOH
        }

        enum eMsgCaseThird
        {
            Capacity_LOW = 2,
            Capacity_High,

            Energy_LOW,
            Energy_HIGH,

            Temperature_LOW,
            Temperature_HIGH
        } 
        #endregion

        public Peak( BMUManager mrg )
        {
            this.manager = mrg;
        }

        public void Enqueue(object o )
        {
            this.qqW.Enqueue( o );
        }

        void TryToConnect()
        {
            this.qqW.Clear();

            var ll = PCANBasic.Reset( this.handle );
            ll = PCANBasic.Uninitialize( this.handle );

            var result = PCANBasic.Initialize( this.handle , TPCANBaudrate.PCAN_BAUD_500K , TPCANType.PCAN_TYPE_ISA , IOPort: 460 , 3 );
            
            if ( result == TPCANStatus.PCAN_ERROR_OK )
                this.IsConnected = this.GetStatus();
        }

        //Todo:Dll 에서 상태 가져오기
        bool isConnected = false;
        public bool IsConnected
        {
            get => this.isConnected;
            set
            {
                if ( this.isConnected == value ) return;
                this.isConnected = value;

                if ( value )
                    this.manager._OnConnected();
                else
                    this.manager._OnDisconnected();
            }
        }

        public void _ThreadPoolingReceiveData()
        {
            while ( !this.manager.cancel.Canceled )
            {
                try
                {
                    if ( !IsConnected )
                    {
                        Thread.Sleep( 3000 );
                        this.TryToConnect();
                        continue;
                    }

                    object o = this.qqW.Dequeue();

                    if ( o is PollingObject ) //Scan 을 주기적 으로 진행.
                    {
                        //this.PollingBattery();
                        this.Write(eSendMode.MANUAL);
                        this.ReadMessage();
                    }
                    //else if ( o is ISetData ) //하나의 명령을 수행.
                    //{
                    //    //ExecuteSetData( o as ISetData );
                    //}
                    else if ( o is DoInvokeChangedReceivedData ) //Scan 이후 결과를 처리. Manager 에서 처리
                    {
                        //this.manager._InvokeChgdReceivedData();
                        this.manager._InvokeChgdWordsAndBits();
                    }
                }
                catch ( ThreadAbortException exception )
                {
                    logger.E( $"eSlnet {this.manager.BMUConfig.ID} - {exception.Message}" );
                    //h.CloseSocket();
                }
                catch ( ObjectDisposedException exception )
                {
                    this.CanError(  );
                }
                catch ( IOException exception )
                {
                    this.CanError(  );
                }
                catch ( Exception exception )
                {
                    this.CanError(  );
                    logger.E( $"eSlnet {exception.Message}" );
                }
            }

        }

        private void PollingBattery()
        {
            var ll = this.manager.ReceivedDataDic.Values.ToList();
            ll.ForEach( x => 
            {
                var kind = CastTo<eDataKind>.From<Enum>( x.DataKind );
                switch ( kind )
                {
                    case eDataKind.Voltage:
                        break;
                    case eDataKind.Current:
                        break;
                    case eDataKind.BatteryState:
                        break;
                    case eDataKind.ChargeCompleteTime:
                        break;
                    case eDataKind.DisChargeCompleteTime:
                        break;
                    case eDataKind.SOC:
                        break;
                    case eDataKind.SOH:
                        break;
                    case eDataKind.ResidualCapacity:
                        break;
                    case eDataKind.ResidualEnergy:
                        break;
                    case eDataKind.Temperature:
                        break;
                    default:
                        break;
                }
            } );

        }
        
        int Write(eSendMode mode)
        {
            var data = new TPCANMsg();
            data.DATA = new byte[ 8 ];
            data.ID = idOffset + Convert.ToByte( this.manager.BMUConfig.ID );
            data.LEN = Convert.ToByte( 8 );
            data.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;

            switch ( mode )
            {
                case eSendMode.MANUAL:
                    data.DATA[ 0 ] = Convert.ToByte( 0x60 + Convert.ToByte( this.manager.BMUConfig.ID ) );
                    break;
                case eSendMode.AUTO:
                    data.DATA[ 0 ] = 0xAA;
                    data.DATA[ 1 ] = 0xE0;
                    break;
                case eSendMode.AUTO_STOP:
                    data.DATA[ 0 ] = 0xAA;
                    data.DATA[ 1 ] = 0x60;
                    break;
            }

            var result = PCANBasic.Write( this.handle , ref data );

            if ( result != TPCANStatus.PCAN_ERROR_OK )
                throw new Exception( "Peak Write Fail" );

            return 0;
        }

        int Write(bool auto = false)
        {
            var data = new TPCANMsg();
            data.DATA = new byte[ 8 ];
            data.ID = idOffset + Convert.ToByte( this.manager.BMUConfig.ID );
            data.LEN = Convert.ToByte( 8 );
            data.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;

            if ( auto )
            {
                data.DATA[ 0 ] = 0xAA;
                data.DATA[ 1 ] = 0xE0;
            }
            else
            {
                data.DATA[ 0 ] = Convert.ToByte( 0x60 + Convert.ToByte(this.manager.BMUConfig.ID) );
            }

            var result = PCANBasic.Write( this.handle , ref data );

            // Write Error
            if ( result != TPCANStatus.PCAN_ERROR_OK )
            {
                logger.E( $"[Battery Peak] - {result} -" );
                return 9999;
            }

            return (int)result;
        }

        /// <summary>
        /// Peak Receive
        /// </summary>
        /// <returns></returns>
        TPCANStatus ReadMessage()
        {
            TPCANMsg canMsg = new TPCANMsg();
            canMsg.DATA = new byte[ 8 ];
            TPCANTimestamp CANTimeStamp;
            TPCANStatus stsResult = TPCANStatus.PCAN_ERROR_UNKNOWN;

            for ( int i = 0; i < 3; i++ )
            {
                Thread.Sleep( 30 );
                stsResult = PCANBasic.Read( this.handle , out canMsg , out CANTimeStamp );

                //if ( canMsg.ID != 0x460 )
                //{
                //    this.IsConnected = false;
                //    return 0;
                //}

                if ( stsResult == TPCANStatus.PCAN_ERROR_OK && canMsg.ID == 0x460 )
                    this.PeackCANRecv( canMsg );
                else if ( canMsg.ID != 0x460 )
                    this.isConnected = this.GetStatus();
            }

            return stsResult;
        }

        void PeackCANRecv(TPCANMsg recv)
        {
            var mb = new MemoryBuffer( recv.DATA );

            mb.Read1Byte();
            var index =  ( eCanRecvCase )mb.Read1Byte();

            switch ( index )
            {
                case eCanRecvCase.NONE:
                    break;
                case eCanRecvCase.CASE1:
                    this.manager.ReceivedDataDic[ eDataKind.Voltage ].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[eDataKind.Current].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[ eDataKind.BatteryState ].Value = mb.ReadLeShort();
                    break;
                case eCanRecvCase.CASE2:
                    this.manager.ReceivedDataDic[ eDataKind.ChargeCompleteTime ].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[ eDataKind.DisChargeCompleteTime ].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[ eDataKind.SOC ].Value = mb.ReadByte();
                    this.manager.ReceivedDataDic[ eDataKind.SOH ].Value = mb.ReadByte();
                    break;
                case eCanRecvCase.CASE3:
                    this.manager.ReceivedDataDic[ eDataKind.ResidualCapacity ].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[ eDataKind.ResidualEnergy ].Value = mb.ReadLeShort();
                    this.manager.ReceivedDataDic[ eDataKind.Temperature ].Value = mb.ReadLeShort();
                    break;
            }
        }

        /// <summary>
        /// Battery State To -> [2^6] Bool List 
        /// </summary>
        /// <param name="state"></param>
        void BatteryStateCheck(double state)
        {
            var cd = Convert.ToByte( state );
            var rs = new BitArray( new byte[] { cd } );

            var result = rs.Cast<object>().ToList();
        }

        void CanError()
        {
            this.IsConnected = false;
            var result = PCANBasic.Uninitialize( this.handle );
        }

        bool GetStatus()
        {
            bool result = false;

            TPCANMsg msg;
            msg.DATA = new byte[ 8 ];
            TPCANTimestamp canTimeStamp;

            Write(eSendMode.MANUAL);

            Thread.Sleep( 10 );

            var state = PCANBasic.Read( this.handle , out msg , out canTimeStamp );

            if ( msg.ID == 0x460 )
                result = true;
            else
                result = false;

            return result;
        }

        private void DisConnect( )
        {
            this.IsConnected = false;
            PCANBasic.Reset( this.handle );
            PCANBasic.Uninitialize( this.handle );

            this.manager._OnDisconnected();
        }
    }
}