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
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Shi.Ji
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using MaxwellFramework.Core.Attributes;
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using MainShell.Alarm;
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using MainShell.Hardware;
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using MainShell.Log;
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using MainShell.Motion.Safety;
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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.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MainShell.Motion
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{
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[Singleton]
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public sealed class MotionAlarmReporter
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{
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private readonly AlarmOperate _alarmOperate;
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public MotionAlarmReporter(AlarmOperate alarmOperate)
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{
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_alarmOperate = alarmOperate ?? throw new ArgumentNullException(nameof(alarmOperate));
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}
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public async Task<bool> ReportAlarmAsync(int? alarmId)
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{
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if (!alarmId.HasValue)
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{
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return false;
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}
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await _alarmOperate.AlertAsync(alarmId.Value).ConfigureAwait(false);
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return true;
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}
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}
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[Singleton]
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public sealed class StagePlatformSafetyOptionsProvider
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{
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private const double DefaultMaxPlaneSpread = 5.0d;
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private const double DefaultMaxTravelPerStep = 10.0d;
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public StagePlatformSafetyOptions GetOptions()
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{
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return new StagePlatformSafetyOptions(DefaultMaxPlaneSpread, DefaultMaxTravelPerStep);
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}
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}
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[Singleton]
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public sealed class MotionPrecheckService
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{
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private readonly MotionAlarmReporter _motionAlarmReporter;
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private readonly IReadOnlyList<IMotionSafetyCheck> _motionSafetyChecks;
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public MotionPrecheckService(HardwareManager hardware, MotionSafetyStateProvider motionSafetyStateProvider, MotionAlarmReporter motionAlarmReporter, StagePlatformSafetyOptionsProvider stagePlatformSafetyOptionsProvider)
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{
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if (hardware == null)
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{
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throw new ArgumentNullException(nameof(hardware));
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}
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if (motionSafetyStateProvider == null)
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{
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throw new ArgumentNullException(nameof(motionSafetyStateProvider));
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}
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_motionAlarmReporter = motionAlarmReporter ?? throw new ArgumentNullException(nameof(motionAlarmReporter));
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var stagePlatformSafetyOptions = (stagePlatformSafetyOptionsProvider ?? throw new ArgumentNullException(nameof(stagePlatformSafetyOptionsProvider))).GetOptions();
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_motionSafetyChecks = new IMotionSafetyCheck[]
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{
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new MotionRequestDuplicateAxisCheck(),
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new MotionBatchSameSourceCheck(),
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new EmergencyStopReleasedCheck(motionSafetyStateProvider),
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new SafetyDoorClosedCheck(motionSafetyStateProvider),
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new AutoFlowModeCheck(motionSafetyStateProvider),
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new StageVacuumReadyCheck(motionSafetyStateProvider),
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new BondHeadSafePositionCheck(motionSafetyStateProvider),
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new StagePlatformPlaneMoveSafetyCheck(hardware, stagePlatformSafetyOptions)
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};
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}
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public async Task ValidateAsync(MotionSafetyContext context, CancellationToken cancellationToken, int? fallbackAlarmId)
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (context == null)
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{
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throw new ArgumentNullException(nameof(context));
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}
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foreach (var check in _motionSafetyChecks)
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{
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var result = check.Check(context);
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if (result == null || result.IsPassed)
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{
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continue;
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}
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var failureMessage = string.Format("Motion precheck failed. Rule:{0} Kind:{1} Source:{2} Message:{3}", result.RuleName, context.RequestKind, context.Source ?? "N/A", result.Message);
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failureMessage.LogSysError();
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var alarmId = result.AlarmId ?? fallbackAlarmId;
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if (alarmId.HasValue)
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{
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await _motionAlarmReporter.ReportAlarmAsync(alarmId).ConfigureAwait(false);
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}
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throw new InvalidOperationException(failureMessage);
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}
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}
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}
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[Singleton]
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public sealed class MotionExecutionLogger
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{
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public void HandleMotionStarted(object sender, MotionStartedEventArgs e)
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{
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try
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{
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string.Format("Axis:{0} Motion:{1} Started StartPos:{2:F3} Target:{3}", e.AxisName, e.Operation, e.StartPosition, e.TargetPosition.HasValue ? e.TargetPosition.Value.ToString("F3") : "N/A").LogInfo();
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}
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catch (Exception ex)
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{
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string.Format("Axis:{0} motion start log failed. Error:{1}", e.AxisName, ex.Message).LogSysError();
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}
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}
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public void HandleMotionFinished(object sender, MotionFinishedEventArgs e)
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{
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try
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{
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var result = e.Result;
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var message = string.Format("Axis:{0} Motion:{1} Finished Success:{2} Cancelled:{3} EndPos:{4:F3} Duration:{5}ms FailureStage:{6}", result.AxisName, result.Operation, result.Succeeded, result.Cancelled, result.EndPosition, result.DurationMilliseconds, result.FailureStage ?? "N/A");
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if (result.Succeeded)
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{
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message.LogInfo();
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return;
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}
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var error = string.Format("{0} Error:{1}", message, result.Exception);
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error.LogSysError();
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}
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catch (Exception ex)
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{
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string.Format("Axis:{0} motion finish log failed. Error:{1}", e.AxisName, ex.Message).LogSysError();
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}
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}
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}
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[Singleton]
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public sealed class MotionControllerRegistry
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{
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private readonly Dictionary<string, ControllerEntry> _controllers = new Dictionary<string, ControllerEntry>(StringComparer.OrdinalIgnoreCase);
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private readonly object _syncRoot = new object();
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private readonly MotionExecutionLogger _motionExecutionLogger;
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private sealed class ControllerEntry
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{
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public ControllerEntry(IAxis axis, MotionController controller)
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{
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Axis = axis ?? throw new ArgumentNullException(nameof(axis));
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Controller = controller ?? throw new ArgumentNullException(nameof(controller));
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}
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public IAxis Axis { get; }
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public MotionController Controller { get; }
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}
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public MotionControllerRegistry(MotionExecutionLogger motionExecutionLogger)
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{
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_motionExecutionLogger = motionExecutionLogger ?? throw new ArgumentNullException(nameof(motionExecutionLogger));
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}
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public MotionController GetController(IAxis axis)
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{
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if (axis == null)
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{
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throw new ArgumentNullException(nameof(axis));
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}
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var axisName = axis.Name;
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if (string.IsNullOrWhiteSpace(axisName))
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{
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return CreateController(axis);
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}
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lock (_syncRoot)
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{
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ControllerEntry entry;
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if (_controllers.TryGetValue(axisName, out entry) && ReferenceEquals(entry.Axis, axis))
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{
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return entry.Controller;
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}
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var controller = CreateController(axis);
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_controllers[axisName] = new ControllerEntry(axis, controller);
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return controller;
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}
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}
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private MotionController CreateController(IAxis axis)
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{
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var controller = new MotionController(axis);
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controller.MotionStarted += _motionExecutionLogger.HandleMotionStarted;
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controller.MotionFinished += _motionExecutionLogger.HandleMotionFinished;
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return controller;
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}
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}
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}
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