353 lines
14 KiB
C#
353 lines
14 KiB
C#
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using MainShell.Common;
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using MainShell.PageCalib.OriginCalib.Model;
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using MaxwellFramework.Core.Attributes;
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using MwFramework.Device;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.IO;
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using System.Reflection;
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using System.Threading;
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using System.Xml.Serialization;
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namespace MainShell.Hardware.Acs
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{
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public interface IAcsStartupInitializationService
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{
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bool IsInitialized { get; }
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void Initialize();
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void WriteOriginCalibrationHomeOffsets();
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}
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public sealed class AcsStartupInitializationService : IAcsStartupInitializationService
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{
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private const int CorrectionArrayLength = 100;
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private const int StartupPollingIntervalMilliseconds = 100;
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private const int StartupTimeoutMilliseconds = 10000;
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private const string InterferometerConfigRelativePath = @"Configuration\Card\Acs\Interferometer.xml";
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private const string WorkspaceInterferometerConfigRelativePath = @"Bin\Configuration\Card\Acs\Interferometer.xml";
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private readonly object _syncRoot = new object();
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private readonly IAcsAddressAccessService _acsAddressAccessService;
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private readonly AcsAddressRepository _acsAddressRepository;
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private readonly HardwareManager _hardwareManager;
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private bool _isInitialized;
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public AcsStartupInitializationService(
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IAcsAddressAccessService acsAddressAccessService,
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AcsAddressRepository acsAddressRepository,
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HardwareManager hardwareManager)
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{
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_acsAddressAccessService = acsAddressAccessService ?? throw new ArgumentNullException(nameof(acsAddressAccessService));
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_acsAddressRepository = acsAddressRepository ?? throw new ArgumentNullException(nameof(acsAddressRepository));
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_hardwareManager = hardwareManager ?? throw new ArgumentNullException(nameof(hardwareManager));
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}
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public bool IsInitialized
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{
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get
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{
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return _isInitialized;
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}
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}
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public void Initialize()
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{
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lock (_syncRoot)
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{
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WriteInterferometerStartupParameters();
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WriteOriginCalibrationHomeOffsetsCore();
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_isInitialized = true;
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}
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}
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public void WriteOriginCalibrationHomeOffsets()
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{
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WriteOriginCalibrationHomeOffsetsCore();
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}
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private static void ValidateAxisIndex(int axisIndex, int axisCount)
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{
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if (axisIndex < 0 || axisIndex >= axisCount)
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{
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throw new ArgumentOutOfRangeException(nameof(axisIndex), axisIndex, "Axis index is outside the loaded ACS startup parameter range.");
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}
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}
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private void WriteInterferometerStartupParameters()
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{
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ObservableCollection<CorrectionItem> corrections = LoadInterferometerCorrections();
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AcsCommonAdress commonData = _acsAddressRepository.GetCommonData();
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AcsInterferometerCompensationAdress interferometerData = _acsAddressRepository.GetInterferometerCompensationData();
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AcsHomeSettingAdress homeSettingData = _acsAddressRepository.GetHomeSettingData();
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int axisCount = homeSettingData.PA_HomeMode.Length;
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double[] startPositions = new double[axisCount];
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double[] stepLengths = new double[axisCount];
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int[] correctionOpens = new int[axisCount];
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int[] homeModes = new int[axisCount];
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double[] homeVelocities = new double[axisCount];
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int[] homeOrders = new int[axisCount];
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foreach (CorrectionItem correctionItem in corrections)
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{
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if (correctionItem == null)
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{
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continue;
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}
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ValidateAxisIndex(correctionItem.AxisIndex, axisCount);
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double[] correctionValues = BuildCorrectionArray(correctionItem);
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startPositions[correctionItem.AxisIndex] = correctionItem.StartPos;
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stepLengths[correctionItem.AxisIndex] = correctionItem.StepLength;
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correctionOpens[correctionItem.AxisIndex] = correctionItem.Enable ? 1 : 0;
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homeModes[correctionItem.AxisIndex] = correctionItem.HomeMode;
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homeVelocities[correctionItem.AxisIndex] = correctionItem.HomeSpeed;
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homeOrders[correctionItem.AxisIndex] = correctionItem.HomeOrder;
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AcsAddressDefinition correctionBufferAddress;
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if (TryGetCorrectionBufferAddress(correctionItem.AxisName, interferometerData, out correctionBufferAddress))
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{
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_acsAddressAccessService.Write(correctionBufferAddress, correctionValues);
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}
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}
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_acsAddressAccessService.Write(interferometerData.PA_StartPos, startPositions);
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_acsAddressAccessService.Write(interferometerData.PA_Step_len, stepLengths);
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_acsAddressAccessService.Write(interferometerData.PA_CorrectionOpen, correctionOpens);
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_acsAddressAccessService.Write(homeSettingData.PA_HomeMode, homeModes);
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_acsAddressAccessService.Write(homeSettingData.PA_HomeVel, homeVelocities);
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_acsAddressAccessService.Write(homeSettingData.PA_HomeOrder, homeOrders);
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_acsAddressAccessService.Write(commonData.PA_ComSupMotionType, (int)ComSupMotionType.Interfere);
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WaitForStartupWriteResult(commonData);
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}
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private ObservableCollection<CorrectionItem> LoadInterferometerCorrections()
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{
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string configPath = ResolveInterferometerConfigPath();
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XmlSerializer xmlSerializer = new XmlSerializer(typeof(ObservableCollection<CorrectionItem>));
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using (FileStream fileStream = File.OpenRead(configPath))
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{
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ObservableCollection<CorrectionItem> corrections = xmlSerializer.Deserialize(fileStream) as ObservableCollection<CorrectionItem>;
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if (corrections == null)
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{
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throw new InvalidOperationException("The interferometer configuration could not be deserialized.");
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}
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return corrections;
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}
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}
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private static double[] BuildCorrectionArray(CorrectionItem correctionItem)
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{
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double[] correctionValues = new double[CorrectionArrayLength];
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if (correctionItem.CorrectionDatas == null)
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{
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return correctionValues;
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}
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int count = Math.Min(correctionItem.CorrectionDatas.Count, correctionValues.Length);
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for (int index = 0; index < count; index++)
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{
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CorrectionData correctionData = correctionItem.CorrectionDatas[index];
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if (correctionData == null)
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{
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continue;
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}
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correctionValues[index] = correctionData.ScaleData;
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}
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return correctionValues;
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}
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private void WriteOriginCalibrationHomeOffsetsCore()
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{
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OriginCalibSetting setting = OriginCalibSetting.LoadOrCreate();
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AcsHomeOffsetAdress homeOffsetData = _acsAddressRepository.GetHomeOffsetData();
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double[] homeOffsets = new double[homeOffsetData.PA_HomeOffset.Length];
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WriteHomeOffset(homeOffsets, _hardwareManager.Axis_X1, GetCalibrationOffset(setting, OriginCalibModuleNames.GantryX1Y1, AxisName.Axis_PHS_X1));
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WriteHomeOffset(homeOffsets, _hardwareManager.Axis_Y1, GetCalibrationOffset(setting, OriginCalibModuleNames.GantryX1Y1, AxisName.Axis_PHS_Y1));
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WriteHomeOffset(homeOffsets, _hardwareManager.Axis_X2, GetCalibrationOffset(setting, OriginCalibModuleNames.GantryX2, AxisName.Axis_PHS_X2));
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WriteHomeOffset(homeOffsets, _hardwareManager.Axis_Stage_Y3, GetCalibrationOffset(setting, OriginCalibModuleNames.StageY2, AxisName.Axis_Stage_Y3));
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WriteHomeOffset(homeOffsets, _hardwareManager.Axis_WS_X3, GetCalibrationOffset(setting, OriginCalibModuleNames.WSX3, AxisName.Axis_WS_X3));
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_acsAddressAccessService.Write(homeOffsetData.PA_HomeOffset, homeOffsets);
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}
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private static double GetCalibrationOffset(OriginCalibSetting setting, string moduleName, string axisName)
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{
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if (setting == null)
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{
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throw new ArgumentNullException(nameof(setting));
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}
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OriginCalibModuleItem module = setting.Modules.Find(item =>
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item != null && string.Equals(item.ModuleName, moduleName, StringComparison.OrdinalIgnoreCase));
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if (module == null || module.CalibrationAxes == null)
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{
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return 0d;
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}
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CalibrationAxisItem calibrationAxis = module.CalibrationAxes.Find(item =>
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item != null && string.Equals(item.AxisName, axisName, StringComparison.OrdinalIgnoreCase));
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if (calibrationAxis == null)
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{
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return 0d;
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}
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return calibrationAxis.Offset;
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}
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private static void WriteHomeOffset(double[] homeOffsets, IAxis axis, double offset)
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{
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if (homeOffsets == null)
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{
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throw new ArgumentNullException(nameof(homeOffsets));
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}
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if (axis == null)
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{
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throw new InvalidOperationException("The target axis for origin calibration home offset was not found.");
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}
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int axisIndex = axis.AxisIndex;
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ValidateAxisIndex(axisIndex, homeOffsets.Length);
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homeOffsets[axisIndex] = offset;
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}
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private void WaitForStartupWriteResult(AcsCommonAdress commonData)
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{
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if (commonData == null)
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{
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throw new ArgumentNullException(nameof(commonData));
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}
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DateTime deadline = DateTime.Now.AddMilliseconds(StartupTimeoutMilliseconds);
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int result = 0;
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while (DateTime.Now <= deadline)
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{
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object rawResult = _acsAddressAccessService.Read(commonData.AP_ComSupMotionRes);
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if (rawResult != null)
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{
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result = Convert.ToInt32(rawResult);
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if (result == -1)
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{
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throw new InvalidOperationException("Writing interferometer startup parameters to ACS failed.");
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}
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if (result == 1)
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{
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return;
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}
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}
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Thread.Sleep(StartupPollingIntervalMilliseconds);
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}
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throw new TimeoutException("Writing interferometer startup parameters to ACS timed out.");
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}
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private static string ResolveInterferometerConfigPath()
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{
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List<string> candidatePaths = new List<string>
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{
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Path.Combine(AppDomain.CurrentDomain.BaseDirectory, InterferometerConfigRelativePath),
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Path.Combine(Environment.CurrentDirectory, WorkspaceInterferometerConfigRelativePath),
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Path.Combine(Environment.CurrentDirectory, InterferometerConfigRelativePath)
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};
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foreach (string candidatePath in candidatePaths)
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{
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if (File.Exists(candidatePath))
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{
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return candidatePath;
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}
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}
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throw new FileNotFoundException("The interferometer startup configuration file was not found.");
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}
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private static bool TryGetCorrectionBufferAddress(
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string axisName,
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AcsInterferometerCompensationAdress interferometerData,
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out AcsAddressDefinition correctionBufferAddress)
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{
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if (interferometerData == null)
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{
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throw new ArgumentNullException(nameof(interferometerData));
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}
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correctionBufferAddress = null;
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if (string.IsNullOrWhiteSpace(axisName))
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{
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return false;
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}
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string normalizedAxisName = axisName.Trim().ToUpperInvariant();
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switch (normalizedAxisName)
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{
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case "X1":
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case "X11":
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correctionBufferAddress = interferometerData.PA_Correction_X1;
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return true;
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case "Y1":
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case "Y11":
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correctionBufferAddress = interferometerData.PA_Correction_Y1;
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return true;
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case "X2":
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case "X21":
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correctionBufferAddress = interferometerData.PA_Correction_X2;
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return true;
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case "Y2":
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case "Y21":
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correctionBufferAddress = interferometerData.PA_Correction_Y2;
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return true;
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default:
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return false;
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}
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}
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private static int ResolveInterfereMotionTypeValue()
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{
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Assembly[] assemblies = AppDomain.CurrentDomain.GetAssemblies();
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foreach (Assembly assembly in assemblies)
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{
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Type[] types;
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try
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{
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types = assembly.GetTypes();
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}
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catch (ReflectionTypeLoadException ex)
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{
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types = ex.Types;
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}
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foreach (Type type in types)
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{
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if (type == null || !type.IsEnum || !string.Equals(type.Name, "ComSupMotionType", StringComparison.Ordinal))
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{
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continue;
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}
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if (!Enum.IsDefined(type, "Interfere"))
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{
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continue;
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}
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object enumValue = Enum.Parse(type, "Interfere");
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return Convert.ToInt32(enumValue);
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}
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}
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throw new InvalidOperationException("The ComSupMotionType.Interfere enumeration value could not be resolved.");
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}
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}
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}
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