636 lines
24 KiB
C#
636 lines
24 KiB
C#
///
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/// Copyright (c) 2013-2015 Sensus Metering Systems
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///
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using System;
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using System.Text;
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using System.Threading;
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using System.Diagnostics;
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using System.Collections.Generic;
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using System.Windows.Forms;
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using log4net;
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using NHibernate;
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using Config.Entities;
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using TBF.BenchControl.Generic;
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using TBF.BenchControl.GenericDevices;
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using TBF.BenchControl.Sequences;
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namespace TBF.BenchControl
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{
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public class QuitStateMachineException : Exception
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{
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}
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/// <summary>
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/// This class controls real test bench behavior.
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/// It is based on a state machine
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/// </summary>
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public static class StateMachine
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{
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private static readonly ILog log = LogManager.GetLogger(typeof(StateMachine));
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private static readonly ILog wlog = LogManager.GetLogger(typeof(StateMachine));
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/// Private devices and components
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static IList<IComponent> components; /// list of all components
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static IList<IDevice> devices; /// list of devices
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///
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/// Bench paths
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static IList<Config.Entities.FeedingPath> feedingPaths;
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static IList<Config.Entities.BenchPath> benchPaths;
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static IList<Config.Entities.OutputPath> outputPaths;
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static IList<Config.Entities.MetersPath> metersPaths;
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public static IList<Config.Entities.TransitionSequence> TransitionSequences;
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/// Public components
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public static Elde.ControlBoardDev ControlBoard;
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public static GenericDevices.IAmbient Ambient;
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public static GenericDevices.IBalance Balance1;
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public static GenericDevices.IBalance Balance2;
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public static GenericDevices.IBalance Balance3;
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public static GenericDevices.IValve EmptyTankValve1;
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public static GenericDevices.IValve EmptyTankValve2;
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public static GenericDevices.IValve EmptyTankValve3;
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public static IList<IValve> MasterValves; /// list of directly controlled valves
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public static IList<IValve> CoupledValves; /// list of coupled valves
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public static IList<Elde.ValveEx.Valve> ExtendedValves; /// list of extended valves
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/// Time and synchronization
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#if IPERLST
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public const int Period = 2; /// State machine period in sec.
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#else
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public const int Period = 1; /// State machine period in sec.
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#endif
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static DateTime startDateTime; /// DateTime of time instance when the state machine worker thread starts
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static int currentTimeSec; /// Time from the start of the state machine in seconds
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static bool quitStateMachine; /// flag to stop the worker thread
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/// true when the state machine is running
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static bool stateMachineRunning;
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public static bool Running { get { return stateMachineRunning; } }
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/// Worker thread and database session
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static Thread workerThread;
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public static ISession WtSession;
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static IList<State> states; /// list of states
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static DateTime cycleStartTimeStamp;
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public static DateTime CycleStartTimeStamp
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{
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get { return cycleStartTimeStamp; }
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set
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{
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cycleStartTimeStamp = value;
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CycleStartYY = (cycleStartTimeStamp.Year % 100).ToString("D2");
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CycleStartMM = cycleStartTimeStamp.Month.ToString("D2");
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CycleStartDD = cycleStartTimeStamp.Day.ToString("D2");
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CycleStartHH_MI_SS = string.Format("{0}_{1}_{2}",
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cycleStartTimeStamp.Hour.ToString("D2"),
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cycleStartTimeStamp.Minute.ToString("D2"),
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cycleStartTimeStamp.Second.ToString("D2"));
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}
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}
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public static string CycleStartYY;
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public static string CycleStartMM;
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public static string CycleStartDD;
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public static string CycleStartHH_MI_SS;
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public static IList<IValve> DefaultValvesOpen
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{
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get
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{
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return GenericDevices.ValveBase.Merge(
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Utils.ValvesOpen((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
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Utils.ValvesOpen((benchPaths != null && benchPaths.Count > 0) ? benchPaths[0] : null),
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Utils.ValvesOpen((outputPaths != null && outputPaths.Count > 0) ? outputPaths[0] : null)
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);
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}
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}
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public static IList<IValve> DefaultValvesClose
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{
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get
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{
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return GenericDevices.ValveBase.Merge(
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Utils.ValvesClose((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
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Utils.ValvesClose((benchPaths != null && benchPaths.Count > 0) ? benchPaths[0] : null),
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Utils.ValvesClose((outputPaths != null && outputPaths.Count > 0) ? outputPaths[0] : null)
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);
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}
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}
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/// <summary>
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/// Loaded by LoadProcedure() or IOperation LoadProcedureOp(...)
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/// </summary>
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public static Procedure Procedure; /// Procedure
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public static IList<Test> Tests; /// Tests
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/// Hardware devices connected to the PC controlling the bench.
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public static IList<IComponent> Components { get { return components; } }
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public static IList<IDevice> Devices { get { return devices; } }
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/// <summary>
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/// DateTime of time instance when the state machine worker thread starts
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/// </summary>
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public static DateTime StartDateTime { get { return startDateTime; } }
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/// <summary>
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/// Current state name
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/// </summary>
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public static int Time { get { return currentTimeSec; } }
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/// <summary>
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/// Constructor
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/// </summary>
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static StateMachine()
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{
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devices = new List<IDevice>();
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states = new List<State>();
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currentTimeSec = 0;
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quitStateMachine = false;
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}
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/// <summary>
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/// Add a device to the state machine.
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/// </summary>
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/// <param name="obj">Device</param>
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public static void AddDevice(IDevice device)
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{
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if (device != null && !devices.Contains(device)) devices.Add(device);
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}
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/// <summary>
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/// Add a state to the state machine.
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/// In this way a sequence can be created programtically.
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/// </summary>
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/// <param name="obj">State</param>
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public static void AddState(State state)
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{
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if (state != null && !states.Contains(state)) states.Add(state);
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}
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/// <summary>
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/// Remove the state from the state machine.
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/// </summary>
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/// <param name="obj">State</param>
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public static void RemoveState(State state)
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{
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if (state != null && state != State.CurrentState && states.Contains(state)) states.Remove(state);
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}
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/// <summary>
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/// Get a state from a label
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/// </summary>
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/// <param name="label"></param>
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/// <returns>The matching state or null</returns>
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static State GetStateFromLabel(string label)
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{
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if (label == null) return null;
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foreach (State state in states)
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{
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if (state.Label != null && state.Label.Equals(label)) return state;
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}
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return null;
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}
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/// <summary>
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/// Start the state machine in the state 'label' in a desired mode of operation.
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/// This method is called in the UI thread and creates a new state machine thread.
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/// This method call should be embedded in: try { StateMachine.Start(...); } catch { }
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/// to handle configuration problems. Calls CreateDevices(mode) and CreateStates().
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/// </summary>
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/// <param name="mode">Mode of operation</param>
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/// <param name="benchData">A copy of bench data used by the state machine</param>
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/// <param name="label">Identifies the initial state</param>
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#if DN100
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public static void InitializeBoardEtc(ControlCom2VB.ControlCom2panel ctrlBrdComponent)
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#elif MUNICH
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public static void InitializeBoardEtc(ControlComponent3Munich.UserControl1 ctrlBrdComponent)
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#elif FUZHOU150
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public static void InitializeBoardEtc(ControlComponent3Munich.UserControl1 ctrlBrdComponent)
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#elif FUZHOU300
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public static void InitializeBoardEtc(ControlComponent3F300.UserControl1 ctrlBrdComponent)
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#elif PT200IL
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public static void InitializeBoardEtc(ControlComponent_Izrael2014.UserControl1 ctrlBrdComponent)
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#else /// all newer benches
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public static void InitializeBoardEtc(ControlComponent_Torino2015.UserControl1 ctrlBrdComponent)
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#endif
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{
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/// Load the list of components (entities) from the database.
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/// Then create the components (derived from IComponent).
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components = BenchControl.TbfComponents.LoadComponentsFromDB(Config.FluentCommon.CreateSession(Config.Entities.DBKind.Config));
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MasterValves = GenericDevices.ValveBase.MasterValves(components);
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CoupledValves = GenericDevices.ValveBase.CoupledValves(components);
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ExtendedValves = GenericDevices.ValveBase.ExtendedValves(components);
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/// Find all balances (to initialize tank capacities in the control board)
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/// Find the control board
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IList<IBalance> balances = new List<IBalance>();
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SequenceBase.FlowMeters = new List<IFlowMeter>();
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SequenceBase.RegulValves = new List<IRegulValve>();
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SequenceBase.PumpsWithFM = new List<IPumpFM>();
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SequenceBase.WaterMeters = new List<IWaterMeter>();
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SequenceBase.Cameras = new List<ICamera>();
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ulong valvesToInvert = 0;
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foreach (var cmpnt in components)
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{
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if (cmpnt is Elde.ControlBoardDev) ControlBoard = cmpnt as Elde.ControlBoardDev;
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if (cmpnt is IBenchInfo) ProcessData.BenchInfo = cmpnt as IBenchInfo;
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if (cmpnt is IFlowMeter) SequenceBase.FlowMeters.Add(cmpnt as IFlowMeter);
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if ((cmpnt is IRegulValve) && !(cmpnt is BenchControl.Elde.RegulValveTandem.RegulValveTandem))
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{
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SequenceBase.RegulValves.Add(cmpnt as IRegulValve);
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}
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if (cmpnt is IPumpFM) SequenceBase.PumpsWithFM.Add(cmpnt as IPumpFM);
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if (cmpnt is IWaterMeter) SequenceBase.WaterMeters.Add(cmpnt as IWaterMeter);
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if (cmpnt is ICamera) SequenceBase.Cameras.Add(cmpnt as ICamera);
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if (cmpnt is GenericDevices.IAmbient) Ambient = cmpnt as GenericDevices.IAmbient;
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if (cmpnt is IBalance)
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{
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IBalance balance = cmpnt as IBalance;
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balances.Add(balance);
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if (balance.BalanceNr == 0) Balance1 = balance;
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else if (balance.BalanceNr == 1) Balance2 = balance;
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else if (balance.BalanceNr == 2) Balance3 = balance;
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}
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Elde.Valve.Valve eldeValve = (cmpnt as Elde.Valve.Valve);
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if ((eldeValve != null) && eldeValve.Inverted) valvesToInvert |= eldeValve.Mask;
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cmpnt.StartChangeHandler(); /// Start handling parameter change events
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}
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/// Create an array with tank capacities
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float[] tankCapacities = new float[balances.Count];
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for (int i = 0; i < tankCapacities.Length; i++) tankCapacities[i] = balances[i].Capacity;
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/// Pre-initialize the control board (= buffer the arguments ctrlBrdComponent, tankCapacities)
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ControlBoard.InitializeComponent(ctrlBrdComponent, valvesToInvert, tankCapacities);
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}
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public static string InitializeDevices()
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{
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bool anyComponentIsInSimulMode = false;
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StringBuilder inSimulMode = new StringBuilder();
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/// Add all devices to the state machine and initialize them
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foreach (var cmpnt in components)
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{
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if (cmpnt.DebugLevel == DebugMode.Simulate)
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{
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inSimulMode.AppendFormat("{0}{1}", anyComponentIsInSimulMode ? ", " : "", cmpnt.Name);
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anyComponentIsInSimulMode = true;
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}
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if (cmpnt is IDevice)
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{
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AddDevice(cmpnt as IDevice);
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(cmpnt as IDevice).Initialize();
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}
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}
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/// Propagate debug levels from parents to children when necessary
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foreach (var cmpnt in components)
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{
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if (cmpnt.Cfg is IChildComponentCfg && !string.IsNullOrEmpty(cmpnt.Cfg.ParentName) &&
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(cmpnt.Cfg.DebugLevel == DebugMode.Inherit || cmpnt.Cfg.DebugLevel == DebugMode.AutoDetect))
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{
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foreach (var par in components)
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{
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if (par.Cfg.Name.Equals(cmpnt.Cfg.ParentName)) { cmpnt.Cfg.DebugLevel = par.Cfg.DebugLevel; break; }
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}
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}
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}
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if (anyComponentIsInSimulMode)
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return inSimulMode.ToString();
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else
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return null;
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}
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/// <summary>
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/// Start the state machine
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/// </summary>
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public static void Start()
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{
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if (stateMachineRunning) return;
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workerThread = new Thread(Worker);
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workerThread.CurrentCulture = Thread.CurrentThread.CurrentCulture;
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workerThread.CurrentUICulture = Thread.CurrentThread.CurrentUICulture;
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workerThread.Start();
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stateMachineRunning = true;
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}
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public static void LoadProcedure(bool loadPathsOnly)
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{
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ISession session = Config.FluentCommon.CreateSession(Config.Entities.DBKind.Config);
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WtSession = session;
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feedingPaths = session.CreateQuery("FROM FeedingPath ORDER BY ItemNr").List<Config.Entities.FeedingPath>();
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benchPaths = session.CreateQuery("FROM BenchPath ORDER BY ItemNr").List<Config.Entities.BenchPath>();
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outputPaths = session.CreateQuery("FROM OutputPath ORDER BY ItemNr").List<Config.Entities.OutputPath>();
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metersPaths = session.CreateQuery("FROM MetersPath ORDER BY ItemNr").List<Config.Entities.MetersPath>();
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TransitionSequences = session.CreateQuery("FROM TransitionSequence ORDER BY ItemNr").List<TransitionSequence>();
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// Automatic detection of empty tank valves
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foreach (var opath in outputPaths)
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{
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if ((EmptyTankValve1 == null) && (Balance1 != null) && (opath.Balance == Balance1.Cfg.Name))
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{
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EmptyTankValve1 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
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}
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if ((EmptyTankValve2 == null) && (Balance2 != null) && (opath.Balance == Balance2.Cfg.Name))
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{
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EmptyTankValve2 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
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}
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if ((EmptyTankValve3 == null) && (Balance3 != null) && (opath.Balance == Balance3.Cfg.Name))
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{
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EmptyTankValve3 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
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}
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}
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if (loadPathsOnly) return;
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IList<Procedure> selectedProcs = session
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.CreateQuery("FROM Procedure WHERE ProcedureState = 'Active' AND Name = :name")
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.SetParameter("name", TBF.UiBridge.Bridge.SelectedProcedureName)
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.List<Procedure>();
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if (selectedProcs.Count != 1) return;
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Procedure = selectedProcs[0];
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Tests = selectedProcs[0].Tests;
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}
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public static void LoadProcedureParams(Procedure procedure)
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{
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foreach (var cmpnt in components)
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{
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cmpnt.Cfg.UpdateProcedureParams(procedure);
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}
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}
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public static void LoadTestParams(Test test)
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{
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foreach (var cmpnt in components)
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{
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cmpnt.Cfg.UpdateTestParams(test);
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}
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}
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/// <summary>
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/// Processes the selection done by the bench control panel in the main sequence.
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/// </summary>
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/// <param name="selection">Selection.Q1, .Q2, .Q3 or .Test</param>
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/// <returns>The selected test or null</returns>
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public static Config.Entities.Test GetTest(Sequences.MainSeq.Selection selection)
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{
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if ((selection == Sequences.MainSeq.Selection.Q1) && (Tests.Count >= 1))
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{
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return Tests[0];
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}
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else if ((selection == Sequences.MainSeq.Selection.Q2) && (Tests.Count >= 2))
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{
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return Tests[1];
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}
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else if ((selection == Sequences.MainSeq.Selection.Q3) && (Tests.Count >= 3))
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{
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return Tests[2];
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}
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else if (selection == Sequences.MainSeq.Selection.Test)
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{
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foreach (var test in Tests)
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{
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if (Utils.TestTitle(test, 1).Equals(UiBridge.Bridge.SelectedTestName)) return test;
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}
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}
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return null;
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}
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/// <summary>
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/// Called from the sequence to update paths based on the selected test
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/// </summary>
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/// <param name="test">Selected test</param>
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/// <param name="pfeed"></param>
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/// <param name="pben"></param>
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/// <param name="pout"></param>
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/// <param name="pmtrs"></param>
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/// <param name="transitionBefore">Transition sequence entity</param>
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/// <param name="transitionAfter">Transition sequence entity</param>
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/// <param name="errorMsg">Error message in case of incorrect configuration</param>
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/// <returns>true when loaded configuration is correct (all four paths are defined !=null, etc.)</returns>
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public static bool GetPaths(Test test,
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out FeedingPath pfeed,
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out BenchPath pben,
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out OutputPath pout,
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out MetersPath pmtrs,
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out TransitionSequence transitionBefore,
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out TransitionSequence transitionAfter,
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out string errorMsg)
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{
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pfeed = null;
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pben = null;
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pout = null;
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transitionBefore = null;
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transitionAfter = null;
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foreach (var path in feedingPaths)
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{
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if (test.FeedingPath == path.Name) { pfeed = new FeedingPath(path, components); break; }
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}
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foreach (var path in benchPaths)
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{
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if (test.BenchPath == path.Name) { pben = new BenchPath(path, components); break; }
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}
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foreach (var path in outputPaths)
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{
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if (test.OutputPath == path.Name) { pout = new OutputPath(path, components); break; }
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}
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pmtrs = GetMetersPath(test);
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foreach (var tr in TransitionSequences)
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{
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if (tr.Name == test.RelTransBefore) transitionBefore = tr;
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if (tr.Name == test.TransitionAfter) transitionAfter = tr;
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}
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if ((pfeed == null) || (pben == null) || (pout == null) || (pmtrs == null))
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{
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errorMsg = "Cannot load paths";
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return false;
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}
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if (pout.Balance == null)
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{
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errorMsg = string.Format("No balance specified in path {0}", test.OutputPath);
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return false;
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}
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if (Program.LocalSettings.RealDensity < 500.0f || Program.LocalSettings.RealDensity > 2000.0f)
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{
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errorMsg = string.Format("Density was not specified");
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return false;
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}
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errorMsg = string.Empty;
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return true;
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}
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/// <summary>
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/// Updates paths based on the selected test
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/// </summary>
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public static MetersPath GetMetersPath(Test test)
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{
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MetersPath pmtrs = null;
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foreach (var path in metersPaths)
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{
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if (test.MetersPath == path.Name) { pmtrs = new MetersPath(path, components); break; }
|
|
}
|
|
if (pmtrs != null)
|
|
{
|
|
int count = Math.Min(Config.Data.WMsCount, pmtrs.RegisterReaders.Length);
|
|
for (int i = 0; i < count; i++)
|
|
{
|
|
if ((pmtrs.RegisterReaders[i] != null) &&
|
|
(pmtrs.RegisterReaders[i].Cfg.DebugLevel == DebugMode.DetectedOff))
|
|
{
|
|
pmtrs.RegisterReaders[i] = null;
|
|
}
|
|
}
|
|
}
|
|
return pmtrs;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Stops the state machine (and the worker thread)
|
|
/// </summary>
|
|
public static void Stop()
|
|
{
|
|
if (stateMachineRunning) quitStateMachine = true;
|
|
}
|
|
|
|
|
|
/*
|
|
* This is and example sequence of RunDeviceBefore() / RunOperations() / RunDeviceAfter() calls
|
|
* as they are executed during normal run from the progran start to the end.
|
|
*
|
|
foreach (var device in devices) device.RunDeviceBefore(); . . . . . . in StateMachine.Worker()
|
|
State.Create(...).AddOperation(...).AddOperation(...).EnterState() . . in the sequence in Execute(...)
|
|
|
|
foreach (var device in devices) device.RunDeviceAfter(); . . . . . . . in WaitRunDevsRunOps()
|
|
WaitNextTick() (may throw QuitStateMachineException) . . . . . . . . in WaitRunDevsRunOps()
|
|
foreach (var device in devices) device.RunDeviceBefore(); . . . . . . in WaitRunDevsRunOps()
|
|
IList<Event> events = State.RunOperations(); . . . . . . . . . . . . . in WaitRunDevsRunOps()
|
|
|
|
foreach (var device in devices) device.RunDeviceAfter(); . . . . . . . in WaitRunDevsRunOps()
|
|
WaitNextTick() (may throw QuitStateMachineException) . . . . . . . . in WaitRunDevsRunOps()
|
|
foreach (var device in devices) device.RunDeviceBefore(); . . . . . . in WaitRunDevsRunOps()
|
|
IList<Event> events = State.RunOperations(); . . . . . . . . . . . . . in WaitRunDevsRunOps()
|
|
|
|
State.Create(...).AddOperation(...).AddOperation(...).EnterState() . . in the sequence in Execute(...)
|
|
|
|
foreach (var device in devices) device.RunDeviceAfter(); . . . . . . . in WaitRunDevsRunOps()
|
|
WaitNextTick() (may throw QuitStateMachineException) . . . . . . . . in WaitRunDevsRunOps()
|
|
foreach (var device in devices) device.RunDeviceBefore(); . . . . . . in WaitRunDevsRunOps()
|
|
IList<Event> events = State.RunOperations(); . . . . . . . . . . . . . in WaitRunDevsRunOps()
|
|
|
|
foreach (var device in devices) device.RunDeviceAfter(); . . . . . . . in WaitRunDevsRunOps()
|
|
WaitNextTick() (assume QuitStateMachineException thrown) . . . . . . in WaitRunDevsRunOps()
|
|
State.StopOperations(); . . . . . . . . . . . . . . . . . . . . . . . in StateMachine.Worker() catch()
|
|
foreach (var device in devices) device.StopDevice(); . . . . . . . . . in StateMachine.Worker() catch()
|
|
*/
|
|
|
|
/// <summary>
|
|
/// Worker thread: calls Start(), Run() and Stop() methods of operations.
|
|
/// It uses 'currentState', 'nextState' and 'quitStateMachine' static fields.
|
|
/// </summary>
|
|
static void Worker()
|
|
{
|
|
startDateTime = DateTime.Now;
|
|
CycleStartTimeStamp = startDateTime; /// To prevent it is undefined
|
|
|
|
wlog.InfoFormat(" currentTime = {0}s startDateTime = {1}", currentTimeSec.ToString(), startDateTime.ToString());
|
|
|
|
/// Run all devices for the first time
|
|
foreach (var device in devices) device.RunDeviceBefore();
|
|
|
|
try
|
|
{
|
|
SequenceBase.ReferenceFlowmetersCount = SequenceBase.FlowMeters.Count;
|
|
SequenceBase.LtrPerRefPulse = new float[SequenceBase.ReferenceFlowmetersCount];
|
|
foreach (var flowmtr in SequenceBase.FlowMeters)
|
|
{
|
|
int ix = flowmtr.Idx1;
|
|
if (ix > 0 && ix <= SequenceBase.ReferenceFlowmetersCount)
|
|
{
|
|
SequenceBase.LtrPerRefPulse[ix - 1] = flowmtr.NominalFlow / 7200.0f;
|
|
}
|
|
}
|
|
|
|
(new Sequences.MainSeq()).Execute(null);
|
|
}
|
|
catch (QuitStateMachineException)
|
|
{
|
|
State.StopOperations();
|
|
foreach (var device in devices) device.StopDevice();
|
|
|
|
quitStateMachine = false;
|
|
stateMachineRunning = false;
|
|
}
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Do stuff that is repeated in the state execution loops most often
|
|
/// </summary>
|
|
/// <returns>List of Event-s returned from the state operations</returns>
|
|
public static IList<Event> WaitRunDevsRunOps()
|
|
{
|
|
foreach (var device in devices) device.RunDeviceAfter();
|
|
WaitNextTick();
|
|
foreach (var device in devices) device.RunDeviceBefore();
|
|
IList<Event> events = State.RunOperations();
|
|
return events;
|
|
/// This is followed by a state change in the sequence
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Wait time period - synchronize
|
|
/// </summary>
|
|
/// <returns>true when interrupted by 'quitStateMachine', otherwise false</returns>
|
|
public static void WaitNextTick()
|
|
{
|
|
currentTimeSec += Period;
|
|
|
|
TimeSpan timeFromStart = TimeSpan.FromSeconds(currentTimeSec);
|
|
DateTime nextLoopDateTime = startDateTime + timeFromStart;
|
|
while (DateTime.Now < nextLoopDateTime)
|
|
{
|
|
if (quitStateMachine)
|
|
{
|
|
quitStateMachine = false;
|
|
wlog.Info("quitStateMachine == true ... going to stop the StateMachine()");
|
|
throw new QuitStateMachineException();
|
|
}
|
|
Thread.Sleep(100);
|
|
}
|
|
|
|
wlog.DebugFormat(" currentTime = {0}s", currentTimeSec);
|
|
}
|
|
}
|
|
}
|