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();
        }

        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($"eSlnet {this.manager.BMUConfig.ID} - {exception.Message}");
                    //h.CloseSocket();
                }
                catch (ObjectDisposedException exception)
                {
                    logger.E(exception);
                    this.CanError();
                }
                catch (IOException exception)
                {
                    logger.E(exception);
                    this.CanError();
                }
                catch (Exception exception)
                {
                    this.CanError();
                    logger.E($"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 (stsResult == TPCANStatus.PCAN_ERROR_OK)
                {

                    if (canMsg.ID == 0x460)
                        this.PeackCANRecv(canMsg);
                }
                else
                {
                    this.IsConnected = this.GetStatus();
                    return stsResult;
                }

                //else if (canMsg.ID != 0x460)
                //{
                //    this.IsConnected = this.GetStatus();
                //    return stsResult = TPCANStatus.PCAN_ERROR_UNKNOWN;
                //}
            }

            return stsResult;
        }

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

            if (mb.Length < 8)
            {
                logger.E($" - [Battery Recv Length Error] - {mb.Length} -");
                return;
            }

            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(100);

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

            if (state != TPCANStatus.PCAN_ERROR_OK)
            {
                logger.E($"[BMS] - Disconnected [{state}]");
                return false;
            }

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

            return true;
        }

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

            this.manager._OnDisconnected();
        }
    }
}