tbf/TestBenchFramework/BenchControl/Elde/RegulValve/SetFlowOp.cs

///
/// Copyright (c) 2013-2015 Sensus Metering Systems
///
using System;
using System.Collections.Generic;
using log4net;
using TBF.BenchControl.GenericDevices;
using TBF.Boxes;

namespace TBF.BenchControl.Elde.RegulValve
{
	public class SetFlowOp : IOperation
	{
		private static readonly ILog log = LogManager.GetLogger(typeof(SetFlowOp));
		public override string ToString()
		{
			return string.Format("SetFlowOp({0}, Qfrom={1}, Qto={2}, PID={3})", regulValve.Name, reqFlowLo, reqFlowHi, pidCoef);
		}

		const int CoaxValveNr = 7;			/// Coax. valve has number 7


		/// Set by the constructor
		readonly ControlBoardDev controlBoard;
        readonly Elde.RegulValve.RegulValve regulValve;
		readonly int regulValveNr;
		readonly int flowMeterNr;
		readonly float reqFlowLo;
        readonly float reqFlowHi;
		readonly float reqFlowAve;
		readonly float pidCoef;
		readonly int timeout;
        readonly bool leaveMeasurementRunning;

        readonly float nominalFlow;

		///
        ///  Internal states of this operation
		///
		enum OpState
		{
			Idle = 0,
			ValveMoveToPosition1,			/// Wait 1 takt
			ValveMoveToPosition2,			/// This is actual move to position
			ValveMoveToPosition3,			/// Wait 1 takt
			ValveMoveToPosition4,			/// Verify
			SettingPosition,
			ValveMoveToFlow1,				/// Wait 1 takt
			ValveMoveToFlow2,				/// This is actual move to flow
			ValveMoveToFlow3,				/// Wait 1 takt
			ValveMoveToFlow4,				/// Verify
			SettingFlow,
			FlowReached,
			SendCommandAgain,
		}
		OpState opState;

		float targetPositionLo;
		float targetPositionHi;

        int expireTime;
        FloatBox measuredFlow;
        int flowWithinBoundsTime;

		
		/// <summary>
        /// Set required water flow. Conditionally leave the measurement running.
        /// Events:  FlowSet, FlowTimeOut
		/// </summary>
		/// <param name="controlBoard">Control board device</param>
		/// <param name="_regulValve">Regulation valve component</param>
        /// <param name="flowMeter">Flowmeter component</param>
		/// <param name="requiredFlowLo">Lower limit of the flow to be achieved in [m3/h]</param>
		/// <param name="requiredFlowHi">Upper limit of the flow to be achieved in [m3/h]</param>
		/// <param name="pidCoef">PID coefficient (float)</param>
		/// <param name="timeout">Timeout for the flow setting in [s]</param>
        /// <param name="leaveMeasurementRunning">true = Leave the measurement running after op. stop</param>
        /// <remarks>Only Elde.Valve flow are used, other flow on the lists are ignored</remarks>
        public SetFlowOp(ControlBoardDev controlBoard, IRegulValve _regulValve, IFlowMeter flowMeter,
						 float requiredFlowLo, float requiredFlowHi, float pidCoef, FloatBox measuredFlow,
						 int timeout, bool leaveMeasurementRunning)
        {
			if (controlBoard == null) throw new ArgumentNullException("ctrlBoard");
			this.controlBoard = controlBoard;

            regulValve = _regulValve as Elde.RegulValve.RegulValve;
            if (regulValve == null) throw new ArgumentNullException("regValve is null or not Elde");
			regulValveNr = this.regulValve.Idx1;

            if (flowMeter is Elde.FlowMeter.FlowMeter)
            {
                this.flowMeterNr = (flowMeter as Elde.FlowMeter.FlowMeter).Idx1;
            }
            else if (flowMeter is Elde.FlowMeterTwins.FlowMeter)
            {
                this.flowMeterNr = 0;
            }
            else
            {
                throw new ArgumentNullException("flowMeter is null or not Elde");
            }

            nominalFlow = flowMeter.NominalFlow;

            this.reqFlowLo = requiredFlowLo;
            this.reqFlowHi = requiredFlowHi;
			this.reqFlowAve = (reqFlowLo + reqFlowHi) / 2.0f;
			this.pidCoef = pidCoef;
			this.measuredFlow = measuredFlow;

            this.timeout = timeout;

            this.leaveMeasurementRunning = leaveMeasurementRunning;

			log.Debug(this.ToString());
        }

        /// <summary>
        /// Set required water flow - Do not leave the measurement running.
        /// Events:  FlowSet
        /// </summary>
        public SetFlowOp(ControlBoardDev controlBoard, IRegulValve regValve, IFlowMeter flowMeter,
						 float requiredFlowLo, float requiredFlowHi, float pidCoef, FloatBox measuredFlow, int timeout)
			: this(controlBoard, regValve, flowMeter, requiredFlowLo, requiredFlowHi, pidCoef, measuredFlow, timeout, false)
        {
        }

        /// <summary>
        /// Set required water flow - No timeout.
        /// Events:  FlowSet
        /// </summary>
        public SetFlowOp(ControlBoardDev controlBoard, IRegulValve regValve, IFlowMeter flowMeter,
                         float requiredFlowLo, float requiredFlowHi, float pidCoef, FloatBox measuredFlow)
			: this(controlBoard, regValve, flowMeter, requiredFlowLo, pidCoef, requiredFlowHi, measuredFlow, int.MaxValue, false)
        {
        }

		/// <summary>
        /// Fetch target position limits from the dictionary or return false
		/// </summary>
        /// <param name="avgReqFlow">Average of the flow targer range (input)</param>
		/// <param name="positionLo">Target valve position low limit (output)</param>
		/// <param name="positionHi">Target valve position high limit (output)</param>
		/// <returns>true when positions for the target flow are stored in the memory, otherwise return false</returns>
		bool FetchTargetPosition(float avgReqFlow, out float positionLo, out float positionHi)
		{
			float targetPosition;
			if (regulValve.Dict.TryGetValue(avgReqFlow, out targetPosition))
			{
				positionLo = Math.Max(targetPosition * 0.95f, 0.0f);
				positionHi = Math.Min(targetPosition * 1.05f, 100.0f);
				return true;
			}
			else
			{
				positionLo = 0.0f;
				positionHi = 0.0f;
				return false;
			}
		}

        void StoreTargetPosition(float avgReqFlow, float actPosition)
		{
			if (!regulValve.Dict.ContainsKey(reqFlowAve))
			{
                regulValve.Dict.Add(new KeyValuePair<float, float>(avgReqFlow, actPosition));
			}
			return;
		}

		/// <summary>Start this operation</summary>
		public void Start()
        {
            flowWithinBoundsTime = 0;

            if (regulValve.RegulValveCfg.StoredPositionReuse && FetchTargetPosition(reqFlowAve, out targetPositionLo, out targetPositionHi))
			{
                log.InfoFormat("SetFlowOp:Start() rv#={0} flowMtr#={1} TARGET: flowLo={2} flowHi={3} FETCHED: posLo={4} posHi={5}",
                                regulValveNr, flowMeterNr, reqFlowLo, reqFlowHi, targetPositionLo, targetPositionHi);

				opState = OpState.ValveMoveToPosition1;
			}
			else
			{
                log.InfoFormat("SetFlowOp:Start() rv#={0} flowMtr#={1} TARGET: flowLo={2} flowHi={3}",
                                regulValveNr, flowMeterNr, reqFlowLo, reqFlowHi);

				opState = OpState.ValveMoveToFlow1;
			}

            expireTime = StateMachine.Time + timeout;
            if (expireTime < 0) expireTime = int.MaxValue;

            TestMethods tm = 0;
            StopDevs sd = 0;
			// '_regulValve.RegulValveCfg.PidCoef' replaced by a casted operation parameter 'pidCoef'
			controlBoard.SendCommand(Command.Start, flowMeterNr, controlBoard.Route,
									 int.MaxValue, int.MaxValue, tm,
                                     0.0f, (int)pidCoef, 0, sd); 
		}

		/// <summary>Run this operation</summary>
		/// <returns>
		///		Event.None, Event.FlowReached, Event.RegulValveTimeOut, Event.OpArgumentError
		/// </returns>
		public Event Run()
		{
            float rvPosition = controlBoard.RValvePosition(regulValveNr);
			float flowMtrFreq = controlBoard.ReferenceFreq;
            float flow = flowMtrFreq * nominalFlow / 2000.0f;

			if (measuredFlow != null) measuredFlow.Val = flow;

            log.InfoFormat("SetFlowOp:Run() rv#={0} pos={1}% freq={2} flow={3} opState={4}",
                            regulValveNr, rvPosition.ToString("F1"), flowMtrFreq, flow, opState);


			if (opState == OpState.SendCommandAgain)
			{
				flowWithinBoundsTime = 0;

				if (regulValve.RegulValveCfg.StoredPositionReuse && FetchTargetPosition(reqFlowAve, out targetPositionLo, out targetPositionHi))
				{
                    log.InfoFormat("Run(): rv#={0} flowMtr#={1} TARGET: flowLo={2} flowHi={3} FETCHED: posLo={4} posHi={5}",
                                    regulValveNr, flowMeterNr, reqFlowLo, reqFlowHi, targetPositionLo, targetPositionHi);

					opState = OpState.ValveMoveToPosition1;
				}
				else
				{
                    log.InfoFormat("Run(): rv#={0} flowMtr#={1} TARGET: flowLo={2} flowHi={3}",
                                    regulValveNr, flowMeterNr, reqFlowLo, reqFlowHi);

					opState = OpState.ValveMoveToFlow1;
				}

				expireTime = StateMachine.Time + timeout;
				if (expireTime < 0) expireTime = int.MaxValue;

				TestMethods tm = 0;
				StopDevs sd = 0;
				// '_regulValve.RegulValveCfg.PidCoef' replaced by a casted operation parameter 'pidCoef'
				controlBoard.SendCommand(Command.Start, flowMeterNr, controlBoard.Route,
										 int.MaxValue, int.MaxValue, tm,
										 0.0f, (int)pidCoef, 0, sd);
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToPosition1)
			{
				opState = OpState.ValveMoveToPosition2;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToPosition2)	/// Move to position
			{
				/// Issues the appropriate ValveMove(...) command
				controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetPosition,
									   new float[2] { targetPositionLo, targetPositionHi },
									   regulValve.StableTime);

				opState = OpState.SettingPosition;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToPosition3)
			{
				opState = OpState.ValveMoveToPosition4;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToPosition4)	/// Verify
			{
				if (((ulong)controlBoard.StatusP & (ulong)StatusP.RefPulsesMsrmnt) == 0)
				{
					opState = OpState.SendCommandAgain;
					return Event.None;
				}
				else if (regulValveNr == CoaxValveNr && ((ulong)controlBoard.StatusP & (ulong)StatusP.CoaxRegValveBusy) == 0)
				{
					/// Repeat appropriate ValveMove(...) command
					controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetPosition,
										   new float[2] { (targetPositionLo + targetPositionHi) / 2, (targetPositionLo + targetPositionHi) / 2 },
										   regulValve.StableTime);

                    log.InfoFormat("SetFlowOp: ValveMove({0}, Position, {1}, {2}, {3})",
                                    regulValveNr, (targetPositionLo + targetPositionHi) / 2, (targetPositionLo + targetPositionHi) / 2, regulValve.StableTime);

                    opState = OpState.ValveMoveToPosition3;
					return Event.None;
				}
				else if (regulValveNr < 6 && controlBoard.RegulValveState(regulValveNr) != RegulValveState.DacValueRegul)
				{
					/// Repeat appropriate ValveMove(...) command
					controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetPosition,
										   new float[2] { targetPositionLo, targetPositionHi },
										   regulValve.StableTime);

                    log.InfoFormat("SetFlowOp: ValveMove({0}, Position, {1}, {2}, {3})",
                                    regulValveNr, targetPositionLo, targetPositionHi, regulValve.StableTime);

					opState = OpState.ValveMoveToPosition3;
					return Event.None;
				}
				else
				{
					opState = OpState.SettingPosition;
					return Event.None;
				}
			}
			else if (opState == OpState.SettingPosition)
			{
				/// Repeated untill position is reached
				if ((targetPositionLo <= rvPosition) && (rvPosition <= targetPositionHi))
				{
					opState = OpState.ValveMoveToFlow1;
				}
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToFlow1)
			{
				opState = OpState.ValveMoveToFlow2;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToFlow2)	/// Move to flow
			{
				///
				/// Done once, issues an appropriate ValveMove(...) command
				///
				if (reqFlowLo >= reqFlowHi || reqFlowLo > nominalFlow || reqFlowHi <= 0)
				{
					return Event.OpArgumentError;
				}

				log.InfoFormat("Run(): rv#={0} flowMtr#={1} TARGET: flowLo={2} flowHi={3}",
								regulValveNr, flowMeterNr, reqFlowLo, reqFlowHi);

				float freqLo = 2000.0f * reqFlowLo / nominalFlow;
				float freqHi = 2000.0f * reqFlowHi / nominalFlow;
				controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetFrequency,
									   new float[2] { freqLo, freqHi },
									   regulValve.StableTime);

				opState = OpState.ValveMoveToFlow3;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToFlow3)
			{
				opState = OpState.ValveMoveToFlow4;
				return Event.None;
			}
			else if (opState == OpState.ValveMoveToFlow4)       /// Verify the flow setting
			{
				if (regulValveNr != CoaxValveNr && (((ulong)controlBoard.StatusP & (ulong)StatusP.RefPulsesMsrmnt) == 0 ||
                                                    (controlBoard.RegulValveState(regulValveNr) & RegulValveState.PwOrFreqRegul) != RegulValveState.PwOrFreqRegul))
				{
					opState = OpState.SendCommandAgain;
					return Event.None;
				}
				else if (regulValveNr == CoaxValveNr && ((ulong)controlBoard.StatusP & (ulong)StatusP.CoaxRegValveBusy) == 0)
				{
					/// Done once, issues an appropriate ValveMove(...) command
					float freqLo = 2000.0f * reqFlowLo / nominalFlow;
					float freqHi = 2000.0f * reqFlowHi / nominalFlow;
					controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetFrequency,
										   new float[2] { (freqLo + freqHi) / 2.0f, (freqLo + freqHi) / 2.0f },
										   regulValve.StableTime);

                    log.InfoFormat("SetFlowOp: ValveMove({0}, Frequency, {1}, {2}, {3})",
                                    regulValveNr, (freqLo + freqHi) / 2.0f, (freqLo + freqHi) / 2.0f, regulValve.StableTime);

					opState = OpState.ValveMoveToFlow3;
					return Event.None;
				}
				else if (regulValveNr < 6 && controlBoard.RegulValveState(regulValveNr) != RegulValveState.PwOrFreqRegul)
				{
					/// Done once, issues an appropriate ValveMove(...) command
					float freqLo = 2000.0f * reqFlowLo / nominalFlow;
					float freqHi = 2000.0f * reqFlowHi / nominalFlow;
					controlBoard.ValveMove(regulValveNr, RegulValveMode.TargetFrequency,
										   new float[2] { freqLo, freqHi },
										   regulValve.StableTime);

                    log.InfoFormat("SetFlowOp: ValveMove({0}, Frequency, {1}, {2}, {3})",
                                    regulValveNr, freqLo, freqHi, regulValve.StableTime);

                    opState = OpState.ValveMoveToFlow3;
					return Event.None;
				}
				else
				{
					opState = OpState.SettingFlow;
					return Event.None;
				}
			}
			else if (opState == OpState.SettingFlow)
			{
				///
				/// Repeated untill the required flow is reached
				/// 
				if ((reqFlowLo <= flow) && (flow <= reqFlowHi))
				{
					if (flowWithinBoundsTime++ >= regulValve.FlowStableSec)
					{
						if (regulValve.RegulValveCfg.StoredPositionReuse)
						{
							float storedPosition;
							if (regulValve.Dict.TryGetValue(reqFlowAve, out storedPosition))
							{
								/// update the stored valve position
								StoreTargetPosition(reqFlowAve, (rvPosition + storedPosition) / 2.0f);
								log.InfoFormat("Run(): rv#={0} reqFlow={1} pos={2}% stored={3} <--- Updating a stored position",
												regulValveNr, reqFlowAve, rvPosition.ToString("F1"), storedPosition);
							}
							else
							{
								/// store the valve position
								StoreTargetPosition(reqFlowAve, rvPosition);
								log.InfoFormat("Run(): rv#={0} reqFlow={1} pos={2}% <--- Storing a new position",
												regulValveNr, reqFlowAve, rvPosition.ToString("F1"));
							}
						}

						log.InfoFormat("flow = {0} m3/h (lo={1}, hi={2}, REACHED)", flow, reqFlowLo, reqFlowHi);

						opState = OpState.FlowReached;
						return Event.FlowReached;
					}
					else
					{
						log.InfoFormat("flow = {0} m3/h (lo={1}, hi={2}, FLOW_OK_TIMER={3}s)", flow, reqFlowLo, reqFlowHi, flowWithinBoundsTime);
						return Event.None;
					}
				}
				else if (StateMachine.Time > expireTime)
				{
					return Event.RegulValveTimeOut;
				}
				else
				{
					log.InfoFormat("flow = {0} m3/h (lo={1}, hi={2})", flow, reqFlowLo, reqFlowHi);
					flowWithinBoundsTime = 0;
					return Event.None;
				}
			}
			else /// opState == OpState.FlowReached
			{
				log.InfoFormat("flow = {0} m3/h (lo={1}, hi={2}, REACHED)", flow, reqFlowLo, reqFlowHi);
				return Event.FlowReached;
			}
		}

        /// <summary>Start this operation</summary>
        public void Stop()
		{
			opState = OpState.Idle;

            if (leaveMeasurementRunning) return;
            
			/// Stop measurement
            TestMethods tm = 0;
            StopDevs sd = StopDevs.RegValveRegulation;
            controlBoard.SendCommand(Command.Stop, flowMeterNr, controlBoard.Route,
									 50000, 50000, tm,
                                     0.0f, 20, 0, sd);
        }
	}
}