OHV/Dev/OHV/VehicleControlSystem/Managers/AutoManager.cs

using System;
using System.Threading;
using GSG.NET.Concurrent;
using GSG.NET.Logging;
using OHV.Common.Shareds;
using VehicleControlSystem.ControlLayer.IO;
using Prism.Events;
using OHV.SqliteDAL;
using OHV.Common.Model;
using OHV.Common.Events;
using VehicleControlSystem.ControlLayer;
using GSG.NET.Utils;
using System.Collections.Generic;
using System.Linq;

namespace VehicleControlSystem.Managers
{
    /// <summary>
    /// Vehicle 전체 상태를 관리.
    /// </summary>
    public class AutoManager : IDisposable
    {
        static Logger logger = Logger.GetLogger();

        Thread threadWorker = null;
        bool isThreadAlive = false;

        IIO iO = null;

        private bool isErrorProcessing = false;
        public bool IsErrorProcessing
        {
            get { return this.isErrorProcessing; }
            set
            {
                if ( this.isErrorProcessing == value ) return;
                this.isErrorProcessing = value;
                if ( value )
                {
                    if ( this.activeAlarm == null ) return;
                    this.OnOccurAlarm?.BeginInvoke( this.activeAlarm.AlarmId, null, null );
                }
                else
                {
                    if ( this.activeAlarm == null ) return;
                    this.OnClearAlarm?.BeginInvoke( this.activeAlarm.AlarmId, null, null );
                    this.activeAlarm = null;
                    this.BuzzerOnOff( false );
                }
            }
        }
        public event Action<int> OnOccurAlarm;
        public event Action<int> OnClearAlarm;
        Alarm activeAlarm = null;
        List<Alarm> Alarms { get; set; }

        IEventAggregator eventAggregator = null;
        SqliteManager sql = null;

        private eOperatationMode operationMode;
        public eOperatationMode OperationModeProperty
        {
            get { return operationMode; }
            set
            {
                if ( operationMode == value ) return;

                operationMode = value;
                logger.D( $"[AutoManager] OperationMode - {value}" );

                this.OnOperationModeChanged?.Invoke( value );

                if ( value == eOperatationMode.AutoMode )
                    this.iO.OutputOff( "OUT_TEACH_MODE" );
                else
                    this.iO.OutputOn( "OUT_TEACH_MODE" );
            }
        }
        public event Action<eOperatationMode> OnOperationModeChanged;

        private eAutoModeState autoModeState;
        public eAutoModeState AutoModeStateProperty
        {
            get { return autoModeState; }
            set
            {
                if ( autoModeState == value ) return;

                autoModeState = value;
                logger.D( $"[AutoManager] AutoModeState - {value}" );
                switch ( value )
                {
                    case eAutoModeState.ErrorStop:
                        this.LampStateProperty = eLampState.Alarm;
                        break;
                    case eAutoModeState.StartRun:
                        this.LampStateProperty = eLampState.AutoRunNChargingFull;
                        break;
                    case eAutoModeState.Run:
                        this.LampStateProperty = eLampState.AutoRunNChargingFull;
                        break;
                    case eAutoModeState.Stop:
                        this.LampStateProperty = eLampState.Alarm;
                        break;
                    case eAutoModeState.WaitStop:
                        this.LampStateProperty = eLampState.Alarm;
                        break;
                    default:
                        break;
                }
            }
        }

        private eLampState lampState = eLampState.None;
        public eLampState LampStateProperty
        {
            get { return lampState; }
            set
            {
                if ( lampState == value ) return;

                lampState = value;
                this.LampStateChange( value );
            }
        }

        private eBuzzerKind buzzerState;
        public eBuzzerKind BuzzerStateProperty
        {
            get { return buzzerState; }
            set { buzzerState = value; }
        }

        public AutoManager( IIO io, IEventAggregator ea, SqliteManager sql, List<Alarm> al )
        {
            this.iO = io;
            this.eventAggregator = ea;
            this.sql = sql;
            this.Alarms = al;
        }

        #region Vehicle Events
        private void Vehicle_OnChargingFull()
        {
            if ( this.OperationModeProperty == eOperatationMode.AutoMode )
                LampStateChange( eLampState.AutoRunNChargingFull );
            else
                LampStateChange( eLampState.Alarm );
        }

        private void Vehicle_OnCharging()
        {
            LampStateChange( eLampState.Charging );
        }

        private void Vehicle_OnMoveFinish()
        {
            BuzzerOnOff( false );
            logger.D( "Vehicle Move Finish" );
        }

        private void Vehicle_OnMoving()
        {
            BuzzerOnOff( true, eBuzzerKind.Moving );
            logger.D( "Vehicle Moving" );
        }

        private void Vehicle_OnMoveReady()
        {
            BuzzerOnOff( true, eBuzzerKind.StartWarn );
            logger.D( "Vehicle Move Ready" );
        }
        #endregion

        public void Init( Vehicle vehicle )
        {
            this.OperationModeProperty = eOperatationMode.ManualMode;
            this.AutoModeStateProperty = eAutoModeState.Stop;

            this.isThreadAlive = true;
            this.threadWorker = ThreadUtils.Invoke( this.ThreadWork );

            vehicle.OnMoveReady += Vehicle_OnMoveReady;
            vehicle.OnMoving += Vehicle_OnMoving;
            vehicle.OnMoveFinish += Vehicle_OnMoveFinish;
            vehicle.OnCharging += Vehicle_OnCharging;
            vehicle.OnChargingFull += Vehicle_OnChargingFull;
        }

        #region Lamp & Buzzer
        void LampStateChange( eLampState state )
        {
            this.iO.OutputOff( "OUT_TOWER_LAMP_RED" );
            this.iO.OutputOff( "OUT_TOWER_LAMP_GREEN" );

            switch ( state )
            {
                case eLampState.Alarm:
                    this.iO.OutputOn( "OUT_TOWER_LAMP_RED" );
                    break;
                case eLampState.Charging:
                    this.iO.OutputOn( "OUT_TOWER_LAMP_RED" );
                    this.iO.OutputOn( "OUT_TOWER_LAMP_GREEN" );
                    break;
                case eLampState.AutoRunNChargingFull:
                    this.iO.OutputOn( "OUT_TOWER_LAMP_GREEN" );
                    //Blue 없음
                    //this.iO.OutputOff("OUT_TOWER_LAMP_BLUE");
                    break;
                default:
                    break;
            }
        }

        void BuzzerOnOff( bool isOn, eBuzzerKind kind = eBuzzerKind.Alarm )
        {
            this.iO.OutputOff( "OUT_BUZZER_00" );
            this.iO.OutputOff( "OUT_BUZZER_01" );
            this.iO.OutputOff( "OUT_BUZZER_02" );

            if ( !isOn )
                return;

            switch ( kind )
            {
                case eBuzzerKind.Alarm:
                    this.iO.OutputOn( "OUT_BUZZER_00" );
                    break;
                case eBuzzerKind.StartWarn:
                    this.iO.OutputOn( "OUT_BUZZER_01" );
                    break;
                case eBuzzerKind.Moving:
                    this.iO.OutputOn( "OUT_BUZZER_02" );
                    break;
                default:
                    break;
            }
        }
        #endregion

        void ThreadWork()
        {
            while ( this.isThreadAlive )
            {
                try
                {
                    Thread.Sleep( 5 );

                    DoWork();
                }
                catch ( Exception ex )
                {
                    logger.E( $"{GetType().Name} - Thread Exception : {ex.StackTrace}" );
                }
            }
            logger.D( "[AutoManager] - Work Thread Dispose" );
        }


        public void DoWork()
        {
            switch ( this.OperationModeProperty )
            {
                case eOperatationMode.ManualMode:
                    break;
                case eOperatationMode.AutoMode:
                    switch ( this.AutoModeStateProperty )
                    {
                        case eAutoModeState.ErrorStop:
                            this.AutoModeStateProperty = eAutoModeState.WaitStop;
                            break;
                        case eAutoModeState.WaitStop:
                            this.AutoModeStateProperty = eAutoModeState.Stop;
                            break;
                        case eAutoModeState.Stop:
                            this.OperationModeProperty = eOperatationMode.ManualMode;
                            break;
                        case eAutoModeState.StartRun:
                            this.AutoModeStateProperty = eAutoModeState.Run;
                            break;
                        case eAutoModeState.Run:
                            break;
                        default:
                            break;
                    }
                    break;
                case eOperatationMode.InitialMode:
                    break;
                default:
                    break;
            }
        }

        public void ProcessAlarm( int alarmID )
        {
            this.AutoModeStateProperty = eAutoModeState.ErrorStop;
            this.LampStateProperty = eLampState.Alarm;
            this.BuzzerStateProperty = eBuzzerKind.Alarm;

            HisAlarm hisAlarm = new HisAlarm();
            var alarm = this.Alarms.Where( x => x.AlarmId == alarmID ).FirstOrDefault();
            if ( alarm == null )
            {
                hisAlarm.AlarmId = alarmID;
                hisAlarm.Text = "Not Define Alarm";

                alarm = new Alarm();
                alarm.AlarmId = alarmID;
                alarm.Text = "Not Define Alarm";

                logger.E( $"[{this.GetType().Name}] - Not Defiine Alarm No {alarmID}" );
            }
            else
            {
                hisAlarm.AlarmId = alarmID;
                hisAlarm.Text = alarm.Name + " - " + alarm.Text;
                hisAlarm.Solution = alarm.Solution;
                //hisAlarm.Alarm = alarm;
            }
            sql.HisAlarmDAL.Insert( hisAlarm );

            logger.I( $"[Alarm Occur] - ID : {alarmID} / Text : {hisAlarm.Text}" );

            //UI 로는 처음 발생한 Error 만 전송한다.
            if ( IsErrorProcessing )
                return;

            this.BuzzerOnOff( true, eBuzzerKind.Alarm );

            this.sql.CommandDAL.Clean();
            this.sql.SubCmdDAL.Clean();

            this.activeAlarm = ObjectCopyUtils.DeepClone<Alarm>( alarm );

            IsErrorProcessing = true;

            var msg = new GUIMessageEventArgs
            {
                Kind = GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange,
                MessageKey = MessageKey.Alarm,
                MessageText = hisAlarm.Text,
                Args = hisAlarm,
            };
            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Publish( msg );
        }

        #region IDisposable Support
        private bool disposedValue = false; // 중복 호출을 검색하려면

        protected virtual void Dispose( bool disposing )
        {
            if ( !disposedValue )
            {
                if ( disposing )
                {
                    // TODO: 관리되는 상태(관리되는 개체)를 삭제합니다.
                    this.isThreadAlive = false;
                    if ( !this.threadWorker.Join( 3000 ) )
                        ThreadUtils.Kill( this.threadWorker );
                }

                // TODO: 관리되지 않는 리소스(관리되지 않는 개체)를 해제하고 아래의 종료자를 재정의합니다.
                // TODO: 큰 필드를 null로 설정합니다.

                disposedValue = true;
            }
        }

        // TODO: 위의 Dispose(bool disposing)에 관리되지 않는 리소스를 해제하는 코드가 포함되어 있는 경우에만 종료자를 재정의합니다.
        // ~AutoManager()
        // {
        //   // 이 코드를 변경하지 마세요. 위의 Dispose(bool disposing)에 정리 코드를 입력하세요.
        //   Dispose(false);
        // }

        // 삭제 가능한 패턴을 올바르게 구현하기 위해 추가된 코드입니다.
        public void Dispose()
        {
            // 이 코드를 변경하지 마세요. 위의 Dispose(bool disposing)에 정리 코드를 입력하세요.
            Dispose( true );
            // TODO: 위의 종료자가 재정의된 경우 다음 코드 줄의 주석 처리를 제거합니다.
            // GC.SuppressFinalize(this);
        }
        #endregion
    }
}