Initial commit
This commit is contained in:
ChiKyun Kim
459
Handler/Project/Class/Command.cs
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459
Handler/Project/Class/Command.cs
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@@ -0,0 +1,459 @@
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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 AR;
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namespace Project.Commands
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{
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public class CommandBuffer
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{
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public int Idx { get; set; }
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private int REGISTER_VALUE = 0;
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private Boolean REGISTER_TRUE = false;
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private Boolean REGISTER_FALSE = false;
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private Boolean REGISTER_EQUAL = false;
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private Boolean REGISTER_ABOVE = false;
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private Boolean REGISTER_BELOW = false;
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/// <summary>
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/// 순차실행명령
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/// </summary>
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public List<Command> Commands;
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/// <summary>
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/// 상시실행명령
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/// </summary>
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public List<Command> SPS;
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public CommandBuffer()
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{
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Commands = new List<Command>();
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SPS = new List<Command>();
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}
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public void AddSeq(Command cmd)
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{
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cmd.Idx = this.Commands.Count;
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this.Commands.Add(cmd);
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}
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public void AddSPS(Command cmd)
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{
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cmd.Idx = this.SPS.Count;
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this.SPS.Add(cmd);
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}
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public void Clear()
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{
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Commands.Clear();
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SPS.Clear();
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Idx = 0;
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}
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public StepResult Run()
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{
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//sps는 모두 실행한다
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StepResult rlt;
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foreach (var sps in this.SPS)
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{
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rlt = RunCode(sps);
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if (rlt == StepResult.Wait) return StepResult.Wait; //SPS에서 대기 코드가 있다
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else if (rlt == StepResult.Error) return StepResult.Error;
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}
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//sequece 는 현재 것만 실행한다.
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if (Idx < 0) Idx = 0;
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var cmd = this.Commands[Idx];
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rlt = RunCode(cmd);
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if (rlt == StepResult.Complete) //이 명령이 완료되면 다음으로 진행한다
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{
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Idx += 1;
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if (Idx >= this.Commands.Count) return StepResult.Complete;
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else return StepResult.Wait;
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}
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return rlt;
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}
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private StepResult RunCode(Command cmd)
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{
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switch (cmd.type)
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{
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case CType.NOP: return StepResult.Complete;
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case CType.Wait:
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var data0 = cmd.Data as CDWait;
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if (data0.Trigger == false)
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{
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//아직 시작을 안했으니 시작시키고 대기한다
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data0.SetTrigger(true);
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return StepResult.Wait;
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}
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else
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{
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//아직 시간을 다 쓰지 않았다면 넘어간다
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if (data0.TimeOver == false) return StepResult.Wait;
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}
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break;
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case CType.Output:
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var data1 = cmd.Data as CDOutput;
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if (data1.PinIndex < 0) return StepResult.Error;
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if (DIO.SetOutput((eDOName)data1.Pin, data1.Value) == false) return StepResult.Error;
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break;
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case CType.Move:
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var data2 = cmd.Data as CDMove;
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MOT.Move((eAxis)data2.Axis, data2.Position, data2.Speed, data2.Acc, data2.Relative);
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break;
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case CType.MoveForece:
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var data3 = cmd.Data as CDMove;
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MOT.Move((eAxis)data3.Axis, data3.Position, data3.Speed, data3.Acc, data3.Relative, false, false);
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break;
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case CType.MoveWait:
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var data4 = cmd.Data as CDMove;
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var axis = (eAxis)data4.Axis;
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var mrlt = MOT.CheckMotionPos(axis, new TimeSpan(1), data4.Position, data4.Speed, data4.Acc, data4.Dcc, cmd.description);
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if (mrlt == false) return StepResult.Wait;
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break;
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case CType.GetFlag:
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var data5 = cmd.Data as CDFlag;
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data5.Value = PUB.flag.get(data5.Flag);
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REGISTER_FALSE = data5.Value == false;
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REGISTER_TRUE = data5.Value == true;
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break;
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case CType.SetFlag:
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var data6 = cmd.Data as CDFlag;
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PUB.flag.set(data6.Flag, data6.Value, cmd.description);
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break;
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case CType.True:
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var data7 = cmd.Data as CDCommand;
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if (REGISTER_TRUE) return RunCode(data7.Command);
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break;
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case CType.False:
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var data8 = cmd.Data as CDCommand;
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if (REGISTER_FALSE) return RunCode(data8.Command);
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break;
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case CType.GetVar: //공용변수의값
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var data10 = cmd.Data as CDGetVar;
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if (data10.Key == "STEPTIME")
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{
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data10.Confirm = true;
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data10.Value = (int)PUB.sm.StepRunTime.TotalMilliseconds;
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}
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break;
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case CType.GetSetVar: //공용변수(설정)의 값
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var data11 = cmd.Data as CDGetVar;
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if (data11.Key == "TIMEOUT_HOMEFULL")
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{
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data11.Confirm = true;
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data11.Value = 60;// (int)Pub.sm.StepRunTime.TotalMilliseconds;
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}
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break;
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case CType.Compare:
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var data9 = cmd.Data as CDCompare<int>;
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if (data9 != null)
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{
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RunCode(data9.Source); //비교값(좌)
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RunCode(data9.Target); //비교값(우)
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var valS = data9.Source.Data as ICommandValue;
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var valT = data9.Target.Data as ICommandValue;
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int ValueS = (int)valS.Value;
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int ValueT = (int)valT.Value;
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REGISTER_ABOVE = ValueS > ValueT;
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REGISTER_BELOW = ValueS < ValueT;
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REGISTER_EQUAL = ValueS == ValueT;
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REGISTER_TRUE = ValueS == ValueT;
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REGISTER_FALSE = ValueS != ValueT;
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REGISTER_VALUE = ValueS - ValueT;
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}
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else return StepResult.Error;
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break;
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case CType.SetError:
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var data12 = cmd.Data as CDError;
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PUB.Result.SetResultMessage(data12.ResultCode, data12.ErrorCode, data12.NextStep);
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break;
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}
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return StepResult.Complete;
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}
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}
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public enum CType
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{
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NOP = 0,
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/// <summary>
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/// motion move
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/// </summary>
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Move,
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MoveForece,
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/// <summary>
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/// move and wait
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/// </summary>
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MoveWait,
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/// <summary>
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/// set digital output
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/// </summary>
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Output,
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Log,
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StepChange,
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/// <summary>
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/// check digital input
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/// </summary>
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InputCheck,
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/// <summary>
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/// check digital output
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/// </summary>
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OutputCheck,
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GetFlag,
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SetFlag,
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Equal,
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NotEqual,
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True,
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False,
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Zero,
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NonZero,
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SetError,
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Compare,
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SetVar,
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GetVar,
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GetSetVar,
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Above,
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Below,
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Wait,
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Run,
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}
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public class Command
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{
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public CType type { get; set; } = CType.NOP;
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public int Idx { get; set; }
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public string description { get; set; }
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public ICommandData Data { get; set; }
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public Command(CType type, string desc = "")
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{
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this.type = type;
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this.description = desc;
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}
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}
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public interface ICommandData
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{
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// string Description { get; set; }
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}
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public interface ICommandValue
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{
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object Value { get; set; }
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}
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public class CDGetVar : ICommandData, ICommandValue
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{
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public string Key { get; set; }
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public object Value { get; set; }
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public Boolean Confirm { get; set; }
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public CDGetVar(string key)
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{
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this.Key = key;
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}
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}
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public class CDGetSetVar : ICommandData, ICommandValue
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{
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public string Key { get; set; }
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public object Value { get; set; }
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public Boolean Confirm { get; set; }
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public CDGetSetVar(string key)
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{
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this.Key = key;
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}
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}
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public class CDSetVar : ICommandData
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{
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public string Key { get; set; }
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public int Value { get; set; }
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public CDSetVar(string key, int value)
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{
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this.Key = key;
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this.Value = Value;
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}
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}
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public class CDFlag : ICommandData
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{
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public eVarBool Flag { get; set; }
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public Boolean Value { get; set; }
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public CDFlag(eVarBool flag)
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{
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this.Flag = flag;
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Value = false;
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}
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}
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public class CDSetValI : ICommandData
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{
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public int Value { get; set; }
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public CDSetValI(int idx, int value)
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{
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this.Value = value;
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}
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}
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public class CDSetValB : ICommandData
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{
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public bool Value { get; set; }
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public CDSetValB(int idx, bool value)
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{
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this.Value = value;
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}
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}
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public class CDCommand : ICommandData
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{
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public Command Command { get; set; }
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public CDCommand(Command command)
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{
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this.Command = command;
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}
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}
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public class CDError : ICommandData
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{
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public eResult ResultCode { get; set; }
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public eECode ErrorCode { get; set; }
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public eNextStep NextStep { get; set; }
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public CDError(eResult resultCode, eECode errorCode, eNextStep nextStep)
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{
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ResultCode = resultCode;
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ErrorCode = errorCode;
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NextStep = nextStep;
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}
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}
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//public class CDCompare<T> : ICommandData
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//{
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// public T Value { get; set; }
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// public CDCompare(T value)
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// {
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// Value = value;
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// }
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// public CDCompare(Command source, Command target)
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// {
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// Value = value;
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// }
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//}
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public class CDCompare<T> : ICommandData
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{
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public Command Source { get; set; }
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public Command Target { get; set; }
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public CDCompare(Command source, Command target)
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{
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Source = source;
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Target = target;
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}
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}
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public class CDWait : ICommandData
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{
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public int WaitMS { get; set; }
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public DateTime StartTime { get; set; }
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public Boolean Trigger { get; set; }
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private TimeSpan GetTime { get { return DateTime.Now - StartTime; } }
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public Boolean TimeOver { get { return GetTime.TotalMilliseconds > WaitMS; } }
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public void SetTrigger(Boolean value)
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{
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Trigger = value;
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StartTime = DateTime.Now;
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}
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public CDWait() : this(100) { }
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public CDWait(int ms)
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{
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this.WaitMS = ms;
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}
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}
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public class CDMove : ICommandData
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{
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public int Axis { get; set; }
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public double Position { get; set; }
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public double Speed { get; set; }
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public double Acc { get; set; }
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public double Dcc { get; set; }
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public Boolean Relative { get; set; }
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// public string Description { get; set; }
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public CDMove(eAxis axis, double pos, double speed) : this((int)axis, pos, speed, 0) { }
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public CDMove(int axis, double pos, double speed, double acc, double dcc = 0, Boolean relatvie = false)
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{
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Axis = axis;
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Position = pos;
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Speed = speed;
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Acc = acc;
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Dcc = dcc == 0 ? acc : dcc;
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Relative = relatvie;
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}
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}
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public class CDOutput : ICommandData
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{
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public eDOName Pin { get; set; }
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public int PinIndex { get; set; }
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public Boolean Value { get; set; }
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// public string Description { get; set; }
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//public CDOutput(eDOName pin) : this(pin, false) { }
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public CDOutput(eDOName pin, Boolean value)
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{
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Pin = pin;
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PinIndex = (int)pin;
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Value = value;
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}
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public CDOutput(int point, Boolean value)
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{
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Pin = (eDOName)point;
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PinIndex = point;
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Value = value;
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}
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}
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public class CDRun : ICommandData
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{
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public Action Target { get; set; }
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public CDRun(Action target)
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{
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Target = target;
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}
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}
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public class CDRunRet<T> : ICommandData
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{
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public Func<T> Target { get; set; }
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public CDRunRet(Func<T> target)
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{
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Target = target;
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}
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}
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public class CDLog : ICommandData
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{
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public string Message { get; set; }
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public Boolean IsError { get; set; }
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public CDLog(string message, Boolean err = false)
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{
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Message = message;
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IsError = err;
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}
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}
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public class CDStep : ICommandData
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{
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public eSMStep Step { get; set; }
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public Boolean Force { get; set; }
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public CDStep(eSMStep step, Boolean force = false)
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{
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Step = step;
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Force = force;
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}
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}
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}
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Reference in New Issue
Block a user