#include "stdafx.h"
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#include "Model.h"
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#include "Log.h"
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#include "Common.h"
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#include "ToolUnits.h"
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#include "CEqAlarmStep.h"
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#include "AlarmManager.h"
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#include "CGlassPool.h"
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#include "TransferManager.h"
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CModel::CModel()
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{
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m_pObservableEmitter = nullptr;
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m_pObservable = nullptr;
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}
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CModel::~CModel()
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{
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}
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IObservable* CModel::getObservable()
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{
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if (m_pObservable == nullptr) {
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m_pObservable = RX_AllocaObservable([&](IObservableEmitter* e) -> void {
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m_pObservableEmitter = e; // ±£´æ·¢ÉäÆ÷
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});
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}
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return m_pObservable;
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}
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SERVO::CMaster& CModel::getMaster()
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{
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return m_master;
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}
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void CModel::setWorkDir(const char* pszWorkDir)
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{
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m_strWorkDir = pszWorkDir;
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}
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void CModel::loadPortParams()
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{
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BOOL portEnable, autoChangeEnable;
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int portType, portMode, cassetteType, transferMode;
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for (int i = 0; i < 4; i++) {
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m_configuration.getPortParms(i, portEnable, portType, portMode,
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cassetteType, transferMode, autoChangeEnable);
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m_master.setPortType(i, portEnable, portType, portMode, cassetteType,
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transferMode, autoChangeEnable);
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}
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}
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int CModel::init()
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{
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CString strIniFile;
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CString strUnitId;
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strIniFile.Format(_T("%s\\ServoConfiguration.ini"), (LPTSTR)(LPCTSTR)m_strWorkDir);
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m_configuration.setFilepath((LPTSTR)(LPCTSTR)strIniFile);
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m_configuration.getUnitId(strUnitId);
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// »úÆ÷ÐͺźÍÈí¼þ°æ±¾ºÅÓ¦´ÓÅäÖÃÖжÁÈ¡£¬µ±Ç°Ïȹ̶¨Öµ
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CString strModeType = _T("Master");
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CString strSoftRev = _T("1.0.2");
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// CGlassPool
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m_glassPool.initPool();
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// Log
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CString strLogDir;
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strLogDir.Format(_T("%s\\Log"), (LPTSTR)(LPCTSTR)m_strWorkDir);
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::CreateDirectory(strLogDir, NULL);
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CLog::GetLog()->SetOnLogCallback([&](int level, const char* pszMessage) -> void {
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notifyTextAndInt(RX_CODE_LOG, pszMessage, level);
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});
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CLog::GetLog()->SetAutoAppendTimeString(TRUE);
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CLog::GetLog()->SetOutputTarget(OT_FILE);
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CLog::GetLog()->SetLogsDir(strLogDir);
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CLog::GetLog()->SetEquipmentId((LPTSTR)(LPCTSTR)strUnitId);
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LOGI("\r\n\r\n~~~ Prog Start! ~~~");
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SECSListener listener;
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listener.onEQOffLine = [&](void* pFrom) -> void {
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LOGI("Ô¶³ÌÇëÇóOffLine");
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};
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listener.onEQOnLine = [&](void* pFrom) -> void {
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LOGI("Ô¶³ÌÇëÇóOnLine");
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};
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listener.onCommand = [&](void* pFrom, const char* pszName, std::vector<CommandParameter>& params) -> void {
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LOGI("onCommand:%s", pszName);
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for (auto& item : params) {
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LOGI("param:%s,%s", item.szName, item.szValue);
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}
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};
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listener.onEQConstantRequest = [&](void* pFrom, std::vector<EQConstant>& eqcs) -> void {
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// ÔÚ´ËÌî³ä³£Á¿Öµ£¬Ä¿Ç°½öÊǼÓ1ºó·µ»Ø
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for (auto& item : eqcs) {
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sprintf_s(item.szValue, 256, "Test%d", item.id+1);
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}
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};
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listener.onEQConstantSend = [&](void* pFrom, std::vector<EQConstant>& eqcs) -> void {
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// Ôڴ˱£´æºÍÉèÖûúÆ÷³£Á¿Öµ
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for (auto& item : eqcs) {
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LOGI("onEQConstantRequest: %d, %s", item.id, item.szValue);
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}
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};
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m_hsmsPassive.setListener(listener);
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m_hsmsPassive.setEquipmentModelType((LPTSTR)(LPCTSTR)strModeType);
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m_hsmsPassive.setSoftRev((LPTSTR)(LPCTSTR)strSoftRev);
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m_hsmsPassive.init(this, "APP", 7000);
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SERVO::MasterListener masterListener;
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masterListener.onMasterStateChanged = [&](void* pMaster, SERVO::MASTERSTATE state) -> void {
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LOGI("<CModel>Master state changed(%d)", (int)state);
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notify(RX_CODE_MASTER_STATE_CHANGED);
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};
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masterListener.onEqAlive = [&](void* pMaster, SERVO::CEquipment* pEquipment, BOOL bAlive) -> void {
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LOGI("<CModel>Equipment onAlive:%s(%s).\n", pEquipment->getName().c_str(),
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bAlive ? _T("ON") : _T("OFF"));
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notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
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};
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masterListener.onEqCimStateChanged = [&](void* pMaster, SERVO::CEquipment* pEquipment, BOOL bOn) -> void {
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LOGI("<CModel>Equipment Cim State:%s(%s).\n", pEquipment->getName().c_str(),
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bOn ? _T("ON") : _T("OFF"));
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notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
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};
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masterListener.onEqAlarm = [&](void* pMaster, SERVO::CEquipment* pEquipment, int state, int alarmId, int unitId, int level) -> void {
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AlarmManager& alarmManager = AlarmManager::getInstance();
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std::string strAlarmText;
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const AlarmInfo* pAlarmInfo = alarmManager.getAlarmInfoByID(alarmId);
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if (pAlarmInfo != nullptr) {
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strAlarmText = pAlarmInfo->strAlarmText;
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}
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if (state == 1) {
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AlarmData alarmData;
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alarmData.nId = alarmId;
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alarmData.nSeverityLevel = level;
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alarmData.nDeviceId = pEquipment->getID();
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alarmData.nUnitId = unitId;
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alarmData.strDeviceName = alarmManager.getDeviceNameById(alarmData.nDeviceId);
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alarmData.strUnitName = alarmManager.getUnitNameById(alarmData.nDeviceId, alarmData.nUnitId);
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alarmData.strStartTime = CToolUnits::timeToString2(CToolUnits::getTimestamp());
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alarmData.strEndTime = "";
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const AlarmInfo* alarmInfo = alarmManager.getAlarmInfoByID(alarmData.nId);
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alarmData.strDescription = alarmInfo != nullptr ? alarmInfo->strAlarmText : "";
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int nAlarmEventId = 0;
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bool result = alarmManager.addAlarm(alarmData, nAlarmEventId);
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if (result) {
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LOGI("<CModel> Alarm added successfully!");
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}
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else {
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LOGE("<CModel> Failed to add alarm.");
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}
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notify(RX_CODE_ALARM_SET);
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}
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else {
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alarmManager.clearAlarmByAttributes(alarmId,
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pEquipment->getID(),
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unitId,
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CToolUnits::getCurrentTimeString());
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notify(RX_CODE_ALARM_CLEAR);
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}
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m_hsmsPassive.requestAlarmReport(state,
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pEquipment->getBaseAlarmId() + alarmId,
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strAlarmText.c_str());
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};
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masterListener.onEqVcrEventReport = [&](void* pMaster, SERVO::CEquipment* pEquipment, SERVO::CVcrEventReport* pReport) {
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LOGE("<CModel>onEqVcrEventReport.");
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};
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masterListener.onEqDataChanged = [&](void* pMaster, SERVO::CEquipment* pEquipment, int code) {
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LOGE("<CModel>onEqDataChanged.");
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notifyPtr(RX_CODE_EQ_DATA_CHANGED, pEquipment);
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};
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masterListener.onRobotTaskEvent = [&](void* pMaster, SERVO::CRobotTask* pTask, int code) {
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if (pTask == nullptr) {
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LOGE("<CModel>onRobotTaskEvent: ¿ÕÈÎÎñÖ¸Õ룬ºöÂÔʼþ code=%d", code);
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return;
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}
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// ÈÎÎñÃèÊöÓë ID ÓÃÓÚÈÕÖ¾
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const std::string& strDesc = pTask->getDescription();
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const std::string& strClassID = pTask->getId();
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// ÈÕÖ¾Êä³öÓë״̬´¦Àí
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switch (code) {
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case ROBOT_EVENT_CREATE:
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LOGI("<CModel>onRobotTaskEvent: ÐÂÈÎÎñ´´½¨(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
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break;
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case ROBOT_EVENT_FINISH:
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LOGI("<CModel>onRobotTaskEvent: ÈÎÎñÍê³É(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
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break;
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case ROBOT_EVENT_ERROR:
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LOGE("<CModel>onRobotTaskEvent: ÈÎÎñ´íÎó(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
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pTask->error();
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break;
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case ROBOT_EVENT_ABORT:
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LOGE("<CModel>onRobotTaskEvent: ÈÎÎñÍ£Ö¹(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
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pTask->abort();
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break;
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default:
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LOGE("<CModel>onRobotTaskEvent: δ֪ʼþ code=%d, ÈÎÎñ=%s", code, strDesc.c_str());
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break;
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}
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// °²È«¸ñʽ»¯Ê±¼ä
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auto format_time = [](time_t t) -> std::string {
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if (t < 0 || t == _I64_MIN || t == _I64_MAX) {
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return "";
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}
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// ʹÓà localtime_s È·±£Ḭ̈߳²È«
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tm tmBuf{};
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errno_t err = localtime_s(&tmBuf, &t);
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if (err != 0 || tmBuf.tm_mon < 0 || tmBuf.tm_mon > 11) {
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return "";
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}
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// ¸ñʽ»¯Ê±¼ä×Ö·û´®
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char buf[64] = {};
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strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tmBuf);
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return std::string(buf);
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};
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// ¹¹Ôì TransferData Êý¾Ý½á¹¹
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TransferData data;
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data.strClassID = strClassID;
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data.strCreateTime = format_time(pTask->getCreateTime());
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data.strPickTime = format_time(pTask->getFetchoutTime());
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data.strPlaceTime = format_time(pTask->getStoredTime());
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data.strEndTime = format_time(pTask->getFinishTime());
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data.strDescription = pTask->getSimpleDescription();
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// ״̬ӳÉä
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static const char* STATUS_STR[] = {
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"Unknown", "Ready", "Running", "Picking", "Placing", "Restoring", "Error", "Abort", "Completed"
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};
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auto state = pTask->getState();
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int index = static_cast<int>(state);
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if (index > 0 && index < static_cast<int>(std::size(STATUS_STR))) {
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data.strStatus = STATUS_STR[index];
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}
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else {
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data.strStatus = STATUS_STR[0];
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}
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// дÈëÊý¾Ý¿â
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int nRecordId = 0;
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TransferManager::getInstance().addTransferRecord(data, nRecordId);
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notifyPtrAndInt(RX_CODE_EQ_ROBOT_TASK, pTask, nullptr, code);
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LOGI("<CModel>onRobotTaskEvent: ÈÎÎñ¼Ç¼Òѱ£´æ£¬RecordID=%d", nRecordId);
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};
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m_master.setListener(masterListener);
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// master ÉèÖûº´æÎļþ
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CString strMasterDataFile;
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strMasterDataFile.Format(_T("%s\\Master.dat"), (LPTSTR)(LPCTSTR)m_strWorkDir);
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m_master.setCacheFilepath((LPTSTR)(LPCTSTR)strMasterDataFile);
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// ¼ÓÔؾ¯¸æÐÅÏ¢
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AlarmManager& alarmManager = AlarmManager::getInstance();
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char szBuffer[MAX_PATH];
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sprintf_s(szBuffer, MAX_PATH, "%s\\AlarmList.csv", (LPTSTR)(LPCTSTR)m_strWorkDir);
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alarmManager.readAlarmFile(szBuffer);
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return 0;
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}
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int CModel::term()
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{
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m_hsmsPassive.term();
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CLog::GetLog()->SetOnLogCallback(nullptr);
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m_master.term();
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m_glassPool.term();
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return 0;
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}
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int CModel::notify(int code)
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{
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/* code */
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 1;
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}
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int CModel::notifyPtr(int code, void* ptr/* = NULL*/)
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{
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/* code */
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setPtrValue("ptr", ptr);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 1;
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}
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int CModel::notifyObj(int code, IRxObject* pObj)
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{
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/* code */
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setObject("obj", pObj);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 1;
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}
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int CModel::notifyObjAndPtr(int code, IRxObject* pObj, void* ptr)
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{
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/* code */
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setObject("obj", pObj);
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pAny->setPtrValue("ptr", ptr);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 1;
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}
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int CModel::notifyInt(int code, int exCode)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setIntValue("exCode", exCode);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyInt2(int code, int exCode, int exCode2)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setIntValue("exCode", exCode);
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pAny->setIntValue("exCode2", exCode2);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyDouble(int code, double dValue)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setDoubleValue("value", dValue);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyObjAndInt(int code, IRxObject* pObj1, IRxObject* pObj2, int exCode)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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if (pObj1 != nullptr) pAny->setObject("obj", pObj1);
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if (pObj2 != nullptr) pAny->setObject("obj2", pObj2);
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pAny->setIntValue("exCode", exCode);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyText(int code, const char* pszText)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setStringValue("text", pszText);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyTextAndInt(int code, const char* pszText, int exCode)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setStringValue("text", pszText);
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pAny->setIntValue("exCode", exCode);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyPtrAndInt(int code, void* ptr1, void* ptr2, int exCode)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setPtrValue("ptr", ptr1);
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pAny->setPtrValue("ptr1", ptr1);
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pAny->setPtrValue("ptr2", ptr2);
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pAny->setIntValue("exCode", exCode);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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int CModel::notifyMesMsg(int code, int stream, int function, const char* pszText)
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{
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if (m_pObservableEmitter != NULL) {
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IAny* pAny = RX_AllocaAny();
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if (pAny != NULL) {
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pAny->addRef();
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pAny->setCode(code);
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pAny->setIntValue("stream", stream);
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pAny->setIntValue("function", function);
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pAny->setStringValue("text", pszText);
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m_pObservableEmitter->onNext(pAny);
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pAny->release();
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}
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}
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return 0;
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}
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