添加 MX-PD-盘古 项目文件
将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
This commit is contained in:
Shi.Ji
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using MainShell.DeviceMaintance.Model;
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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.Threading;
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using System.Threading.Tasks;
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namespace MainShell.Hardware
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{
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public interface IDeviceCylinderService
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{
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IReadOnlyList<CylinderDefinition> Definitions { get; }
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bool TryGetDefinition(string name, out CylinderDefinition definition);
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bool TryExtend(string name);
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bool TryExtend(string name, out string failureReason);
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bool TryRetract(string name);
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bool TryRetract(string name, out string failureReason);
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Task<bool> TryExtendAndWaitAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken));
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Task<bool> TryRetractAndWaitAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken));
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Task<CylinderExecutionResult> TryExtendAndWaitResultAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken));
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Task<CylinderExecutionResult> TryRetractAndWaitResultAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken));
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}
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public class DeviceCylinderService : IDeviceCylinderService
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{
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private readonly IDeviceIoMonitorService _ioMonitorService;
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private readonly Dictionary<string, CylinderDefinition> _definitionsByName;
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private static readonly StringComparer PointReferenceComparer = StringComparer.OrdinalIgnoreCase;
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private static readonly TimeSpan ActiveRefreshTimeout = TimeSpan.FromMilliseconds(120);
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private static readonly TimeSpan FeedbackRetryInterval = TimeSpan.FromMilliseconds(50);
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public IReadOnlyList<CylinderDefinition> Definitions { get; }
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public DeviceCylinderService(IDeviceIoMonitorService ioMonitorService)
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{
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_ioMonitorService = ioMonitorService;
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Definitions = CylinderDefinitionLoader.LoadDefinitions();
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_definitionsByName = Definitions.ToDictionary(x => x.Name, x => x, StringComparer.OrdinalIgnoreCase);
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}
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public bool TryGetDefinition(string name, out CylinderDefinition definition)
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{
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return _definitionsByName.TryGetValue(name, out definition);
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}
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public bool TryExtend(string name)
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{
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string failureReason;
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return TryExtend(name, out failureReason);
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}
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public bool TryExtend(string name, out string failureReason)
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{
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CylinderDefinition definition;
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if (!TryGetDefinition(name, out definition))
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{
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failureReason = "未找到对应气缸定义。";
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return false;
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}
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return Execute(definition, true, out failureReason);
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}
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public bool TryRetract(string name)
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{
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string failureReason;
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return TryRetract(name, out failureReason);
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}
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public bool TryRetract(string name, out string failureReason)
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{
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CylinderDefinition definition;
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if (!TryGetDefinition(name, out definition))
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{
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failureReason = "未找到对应气缸定义。";
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return false;
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}
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return Execute(definition, false, out failureReason);
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}
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public async Task<bool> TryExtendAndWaitAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken))
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{
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var result = await TryExtendAndWaitResultAsync(name, timeout, cancellationToken);
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return result.Success;
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}
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public async Task<bool> TryRetractAndWaitAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken))
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{
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var result = await TryRetractAndWaitResultAsync(name, timeout, cancellationToken);
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return result.Success;
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}
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public async Task<CylinderExecutionResult> TryExtendAndWaitResultAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken))
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{
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CylinderDefinition definition;
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string failureReason;
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if (!TryGetDefinition(name, out definition))
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{
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return CreateFailureResult("未找到对应气缸定义。");
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}
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if (!Execute(definition, true, out failureReason))
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{
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return CreateFailureResult(failureReason);
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}
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return await WaitForFeedbackResultAsync(definition.ExtendedFeedbackPoints, definition.RetractedFeedbackPoints, timeout, cancellationToken);
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}
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public async Task<CylinderExecutionResult> TryRetractAndWaitResultAsync(string name, TimeSpan timeout, CancellationToken cancellationToken = default(CancellationToken))
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{
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CylinderDefinition definition;
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string failureReason;
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if (!TryGetDefinition(name, out definition))
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{
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return CreateFailureResult("未找到对应气缸定义。");
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}
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if (!Execute(definition, false, out failureReason))
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{
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return CreateFailureResult(failureReason);
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}
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return await WaitForFeedbackResultAsync(definition.RetractedFeedbackPoints, definition.ExtendedFeedbackPoints, timeout, cancellationToken);
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}
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private bool Execute(CylinderDefinition definition, bool extend, out string failureReason)
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{
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if (!TryValidateConditions(definition, extend, out failureReason))
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{
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return false;
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}
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List<DeviceIoOutputWriteRequest> requests;
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if (!TryBuildWriteRequests(definition, extend, out requests, out failureReason))
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{
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return false;
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}
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string failurePointReference;
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var result = _ioMonitorService.TrySetOutputStates(requests, out failurePointReference);
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failureReason = result
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? string.Empty
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: string.IsNullOrWhiteSpace(failurePointReference)
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? "输出控制执行失败。"
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: $"输出控制执行失败：{failurePointReference}";
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return result;
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}
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private bool TryValidateConditions(CylinderDefinition definition, bool extend, out string failureReason)
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{
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failureReason = string.Empty;
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var conditions = extend ? definition.ExtendConditions : definition.RetractConditions;
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if (conditions == null || conditions.Count == 0)
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{
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return true;
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}
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_ioMonitorService.TryRefreshNow(ActiveRefreshTimeout);
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foreach (var condition in conditions)
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{
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DeviceIoPointState point;
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if (!TryGetPoint(condition.PointReference, out point))
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{
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failureReason = !string.IsNullOrWhiteSpace(condition.Message)
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? condition.Message
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: $"条件 IO {condition.PointReference} 状态不可用。";
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return false;
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}
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if (point.Value != condition.ExpectedState)
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{
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failureReason = !string.IsNullOrWhiteSpace(condition.Message)
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? condition.Message
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: $"条件 IO {point.Name} 未满足，要求 {(condition.ExpectedState ? "ON" : "OFF")}。";
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return false;
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}
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}
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return true;
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}
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private async Task<CylinderExecutionResult> WaitForFeedbackResultAsync(IReadOnlyList<string> requiredOnPoints, IReadOnlyList<string> requiredOffPoints, TimeSpan timeout, CancellationToken cancellationToken)
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{
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var normalizedOnPoints = NormalizePointReferences(requiredOnPoints);
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var normalizedOffPoints = NormalizePointReferences(requiredOffPoints);
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if (normalizedOnPoints.Count == 0 && normalizedOffPoints.Count == 0)
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{
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return CreateSuccessResult();
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}
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var start = DateTime.UtcNow;
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while (DateTime.UtcNow - start < timeout)
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{
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cancellationToken.ThrowIfCancellationRequested();
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var remaining = timeout - (DateTime.UtcNow - start);
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var refreshTimeout = remaining < ActiveRefreshTimeout ? remaining : ActiveRefreshTimeout;
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if (refreshTimeout > TimeSpan.Zero)
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{
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await _ioMonitorService.TryRefreshNowAsync(refreshTimeout, cancellationToken);
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}
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var onReady = normalizedOnPoints.All(IsPointOn);
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var offReady = normalizedOffPoints.All(pointReference => !IsPointOn(pointReference));
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if (onReady && offReady)
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{
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return CreateSuccessResult();
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}
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await Task.Delay(FeedbackRetryInterval, cancellationToken);
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}
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return CreateFeedbackTimeoutResult(normalizedOnPoints, normalizedOffPoints);
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}
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private bool TryBuildWriteRequests(CylinderDefinition definition, bool extend, out List<DeviceIoOutputWriteRequest> requests, out string failureReason)
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{
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requests = new List<DeviceIoOutputWriteRequest>();
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failureReason = string.Empty;
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var desiredStates = new Dictionary<string, bool>(PointReferenceComparer);
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if (!AddOutputRequests(desiredStates, definition.ExtendOutputPoints, extend, out failureReason) ||
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!AddOutputRequests(desiredStates, definition.RetractOutputPoints, !extend, out failureReason))
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{
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return false;
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}
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requests.AddRange(desiredStates.Select(x => new DeviceIoOutputWriteRequest
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{
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PointReference = x.Key,
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OutputOn = x.Value
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}));
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if (requests.Count > 0)
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{
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return true;
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}
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failureReason = "未配置输出控制点。";
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return false;
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}
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private bool AddOutputRequests(IDictionary<string, bool> desiredStates, IEnumerable<string> pointReferences, bool outputOn, out string failureReason)
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{
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failureReason = string.Empty;
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if (pointReferences == null)
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{
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return true;
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}
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foreach (var pointReference in pointReferences.Where(x => !string.IsNullOrWhiteSpace(x)))
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{
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bool existingState;
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if (desiredStates.TryGetValue(pointReference, out existingState))
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{
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if (existingState != outputOn)
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{
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failureReason = $"气缸输出配置冲突：{pointReference} 同时要求为 {(existingState ? "ON" : "OFF")} 和 {(outputOn ? "ON" : "OFF")}。";
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return false;
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}
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continue;
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}
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desiredStates[pointReference] = outputOn;
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}
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return true;
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}
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private static List<string> NormalizePointReferences(IEnumerable<string> pointReferences)
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{
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return (pointReferences ?? Enumerable.Empty<string>())
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.Where(x => !string.IsNullOrWhiteSpace(x))
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.Distinct(PointReferenceComparer)
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.ToList();
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}
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private bool TryGetPoint(string pointReference, out DeviceIoPointState point)
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{
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return _ioMonitorService.TryGetPoint(pointReference, out point)
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|| _ioMonitorService.TryGetPointByPointKey(pointReference, out point);
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}
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private bool IsPointOn(string pointReference)
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{
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return _ioMonitorService.IsPointOn(pointReference)
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|| _ioMonitorService.IsPointOnByPointKey(pointReference);
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}
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private CylinderExecutionResult CreateFeedbackTimeoutResult(IReadOnlyList<string> requiredOnPoints, IReadOnlyList<string> requiredOffPoints)
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{
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var missingOnPoints = requiredOnPoints.Where(pointReference => !IsPointOn(pointReference)).ToList();
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var missingOffPoints = requiredOffPoints.Where(IsPointOn).ToList();
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var messages = new List<string>();
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if (missingOnPoints.Count > 0)
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{
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messages.Add("以下反馈未到位(期望ON)：" + string.Join("，", missingOnPoints.Select(GetPointDisplayName)));
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}
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if (missingOffPoints.Count > 0)
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{
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messages.Add("以下反馈未复位(期望OFF)：" + string.Join("，", missingOffPoints.Select(GetPointDisplayName)));
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}
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var failurePoints = missingOnPoints.Concat(missingOffPoints).Distinct(PointReferenceComparer).ToList();
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return new CylinderExecutionResult
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{
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Success = false,
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FailureReason = messages.Count > 0 ? string.Join("；", messages) : "等待气缸反馈超时。",
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FailurePointReferences = failurePoints
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};
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}
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private string GetPointDisplayName(string pointReference)
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{
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DeviceIoPointState point;
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return TryGetPoint(pointReference, out point) ? point.Name : pointReference;
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}
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private static CylinderExecutionResult CreateSuccessResult()
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{
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return new CylinderExecutionResult
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{
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Success = true,
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FailureReason = string.Empty
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};
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}
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private static CylinderExecutionResult CreateFailureResult(string failureReason)
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{
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return new CylinderExecutionResult
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{
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Success = false,
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FailureReason = failureReason ?? string.Empty
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};
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}
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}
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}
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