tbf/TestBenchFramework/BenchControl/StateMachine.cs

using System;
using System.Text;
using System.Threading;
using System.Diagnostics;
using System.Collections.Generic;
using System.Windows.Forms;
using log4net;
using NHibernate;

using TBF.BenchControl.Generic;
using TBF.BenchControl.GenericDevices;
using TBF.BenchControl.Sequences;

namespace TBF.BenchControl
{
	public class QuitStateMachineException : Exception
	{
	}

    /// <summary>
    /// This class controls real test bench behavior.
    /// It is based on a state machine
    /// </summary>
    public static class StateMachine
    {
		private static readonly ILog log = LogManager.GetLogger(typeof(StateMachine));
		private static readonly ILog wlog = LogManager.GetLogger(typeof(StateMachine));

		/// Private devices and components
		static IList<IComponent> components;		/// list of all components
		static IList<IDevice> devices;				/// list of devices
													/// 
		/// Bench paths
		static IList<Entities.FeedingPath> feedingPaths;
		static IList<Entities.BenchPath> benchPaths;
		static IList<Entities.OutputPath> outputPaths;
		static IList<Entities.MetersPath> metersPaths;
		public static IList<Entities.TransitionSequence> TransitionSequences;

		/// Public components
		public static Elde.ControlBoardDev ControlBoard;
		public static GenericDevices.IAmbient Ambient;
		public static GenericDevices.IBalance Balance1;
		public static GenericDevices.IBalance Balance2;
        public static GenericDevices.IBalance Balance3;
        public static GenericDevices.IValve EmptyTankValve1;
		public static GenericDevices.IValve EmptyTankValve2;
        public static GenericDevices.IValve EmptyTankValve3;
        public static IList<IValve> MasterValves;	    /// list of directly controlled valves
		public static IList<IValve> CoupledValves;	    /// list of coupled valves

													
		/// Time and synchronization 
		public const int Period = 1;				/// State machine period in sec.		
		static DateTime startDateTime;				/// DateTime of time instance when the state machine worker thread starts
        static int currentTimeSec;					/// Time from the start of the state machine in seconds
        static bool quitStateMachine;				/// flag to stop the worker thread

        /// true when the state machine is running
        static bool stateMachineRunning;            
        public static bool Running { get { return stateMachineRunning; } }

		/// Worker thread and database session
        static Thread workerThread;
		public static ISession WtSession;

		static IList<State> states;					/// list of states


		public static IList<IValve> DefaultValvesOpen
		{
			get
			{
				return GenericDevices.ValveBase.Merge(
					Utils.ValvesOpen((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
					Utils.ValvesOpen((benchPaths != null && benchPaths.Count > 0)     ? benchPaths[0] : null),
					Utils.ValvesOpen((outputPaths != null && outputPaths.Count > 0)   ? outputPaths[0] : null)
					);
			}
		}

		public static IList<IValve> DefaultValvesClose
		{
			get
			{
                return GenericDevices.ValveBase.Merge(
					Utils.ValvesClose((feedingPaths != null && feedingPaths.Count > 0) ? feedingPaths[0] : null),
					Utils.ValvesClose((benchPaths != null && benchPaths.Count > 0)     ? benchPaths[0] : null),
					Utils.ValvesClose((outputPaths != null && outputPaths.Count > 0)   ? outputPaths[0] : null)
					);
			}
		}

		/// <summary>
		/// Loaded by LoadProcedure() or IOperation LoadProcedureOp(...)
		/// </summary>
		public static Entities.Procedure Procedure;					/// Procedure
		public static IList<Entities.Test> Tests;					/// Tests


		/// Hardware devices connected to the PC controlling the bench.
		public static IList<IComponent> Components { get { return components; } }
		public static IList<IDevice> Devices { get { return devices; } }

        /// <summary>
        /// DateTime of time instance when the state machine worker thread starts
        /// </summary>
        public static DateTime StartDateTime { get { return startDateTime; } }

        /// <summary>
        /// Current state name
        /// </summary>
        public static int Time { get { return currentTimeSec; } }

        /// <summary>
        /// Constructor
        /// </summary>
        static StateMachine()
        {
            devices = new List<IDevice>();
			states = new List<State>();

            currentTimeSec = 0;
            quitStateMachine = false;
        }

		/// <summary>
		/// Add a device to the state machine.
		/// </summary>
		/// <param name="obj">Device</param>
		public static void AddDevice(IDevice device)
		{
			if (device != null && !devices.Contains(device)) devices.Add(device);
		}

        /// <summary>
        /// Add a state to the state machine.
		/// In this way a sequence can be created programtically.
        /// </summary>
        /// <param name="obj">State</param>
		public static void AddState(State state)
		{
			if (state != null && !states.Contains(state)) states.Add(state);
		}

        /// <summary>
        /// Remove the state from the state machine.
        /// </summary>
		/// <param name="obj">State</param>
		public static void RemoveState(State state)
        {
			if (state != null && state != State.CurrentState && states.Contains(state)) states.Remove(state);
        }

        /// <summary>
        /// Get a state from a label
        /// </summary>
        /// <param name="label"></param>
        /// <returns>The matching state or null</returns>
        static State GetStateFromLabel(string label)
        {
			if (label == null) return null;

            foreach (State state in states)
            {
                if (state.Label != null && state.Label.Equals(label)) return state;
            }
            return null;
        }

        /// <summary>
        /// Start the state machine in the state 'label' in a desired mode of operation.
        /// This method is called in the UI thread and creates a new state machine thread. 
        /// This method call should be embedded in: try { StateMachine.Start(...); } catch { }
        /// to handle configuration problems. Calls CreateDevices(mode) and CreateStates(). 
        /// </summary>
        /// <param name="mode">Mode of operation</param>
        /// <param name="benchData">A copy of bench data used by the state machine</param>
        /// <param name="label">Identifies the initial state</param>
#if DN100
		public static void InitializeBoardEtc(ControlCom2VB.ControlCom2panel ctrlBrdComponent)
#elif MUNICH
		public static void InitializeBoardEtc(ControlComponent3Munich.UserControl1 ctrlBrdComponent)
#elif FUZHOU150
		public static void InitializeBoardEtc(ControlComponent3Munich.UserControl1 ctrlBrdComponent)
#elif FUZHOU300
        public static void InitializeBoardEtc(ControlComponent3F300.UserControl1 ctrlBrdComponent)
#endif
        {
            /// Load the list of components (entities) from the database.
			/// Then create the components (derived from IComponent).
			components = BenchControl.TbfComponents.LoadComponentsFromDB(FluentCommon.CreateSession(Database.Bench));
			MasterValves = GenericDevices.ValveBase.MasterValves(components);
			CoupledValves = GenericDevices.ValveBase.CoupledValves(components);

			/// Find all balances (to initialize tank capacities in the control board)
			/// Find the control board
			IList<IBalance> balances = new List<IBalance>();
            SequenceBase.RegulValves = new List<IRegulValve>();
			SequenceBase.WaterMeters = new List<IWaterMeter>();
			SequenceBase.Cameras = new List<ICamera>();
            ulong valvesToInvert = 0;
			foreach (var cmpnt in components)
			{
                if (cmpnt is Elde.ControlBoardDev) ControlBoard = cmpnt as Elde.ControlBoardDev;
                if (cmpnt is BenchId.Component) SequenceBase.BenchId = cmpnt as BenchId.Component;
				if (cmpnt is IRegulValve) SequenceBase.RegulValves.Add(cmpnt as IRegulValve);
				if (cmpnt is IWaterMeter) SequenceBase.WaterMeters.Add(cmpnt as IWaterMeter);
				if (cmpnt is ICamera) SequenceBase.Cameras.Add(cmpnt as ICamera);
				if (cmpnt is GenericDevices.IAmbient) Ambient = cmpnt as GenericDevices.IAmbient;
				if (cmpnt is IBalance)
				{
                    IBalance balance = cmpnt as IBalance;
                    balances.Add(balance);

                    if      (balance.BalanceNr == 0)    Balance1 = balance;
                    else if (balance.BalanceNr == 1)    Balance2 = balance;
                    else if (balance.BalanceNr == 2)    Balance3 = balance;
                }

                Elde.Valve.Valve eldeValve = (cmpnt as Elde.Valve.Valve);
                if ((eldeValve != null) && eldeValve.Inverted) valvesToInvert |= eldeValve.Mask;
			}

			/// Create an array with tank capacities
			float[] tankCapacities = new float[balances.Count];
			for (int i = 0; i < tankCapacities.Length; i++) tankCapacities[i] = balances[i].Capacity;

			/// Pre-initialize the control board (= buffer the arguments ctrlBrdComponent, tankCapacities)
            ControlBoard.InitializeComponent(ctrlBrdComponent, valvesToInvert, tankCapacities);
		}

        public static void InitializeDevices()
        {
			/// Add all devices to the state machine and initialize them
			foreach (var cmpnt in components)
			{
				if (cmpnt is IDevice)
				{
					AddDevice(cmpnt as IDevice);
					(cmpnt as IDevice).Initialize();
				}
			}

			/// Propagate debug levels from parents to children when necessary
			foreach (var cmpnt in components)
			{
				if (cmpnt.Cfg is IChildComponentCfg && !string.IsNullOrEmpty(cmpnt.Cfg.ParentName) &&
					(cmpnt.Cfg.DebugLevel == Entities.DebugMode.Inherit || cmpnt.Cfg.DebugLevel == Entities.DebugMode.AutoDetect))
				{
					foreach (var par in components)
					{
						if (par.Cfg.Name.Equals(cmpnt.Cfg.ParentName)) { cmpnt.Cfg.DebugLevel = par.Cfg.DebugLevel; break; }
					}
				}
			}
        }

		/// <summary>
		/// Start the state machine 
		/// </summary>
		public static void Start()
		{
            if (stateMachineRunning) return;

            workerThread = new Thread(Worker);
			workerThread.CurrentCulture = Thread.CurrentThread.CurrentCulture;
			workerThread.CurrentUICulture = Thread.CurrentThread.CurrentUICulture;
			workerThread.Start();
            stateMachineRunning = true;
        }

		public static void LoadProcedure(bool loadPathsOnly)
		{
			ISession session = FluentCommon.CreateSession(Database.Procedures);
			WtSession = session;

			feedingPaths = session.CreateQuery("FROM FeedingPath ORDER BY ItemNr").List<Entities.FeedingPath>();
			benchPaths = session.CreateQuery("FROM BenchPath ORDER BY ItemNr").List<Entities.BenchPath>();
			outputPaths = session.CreateQuery("FROM OutputPath ORDER BY ItemNr").List<Entities.OutputPath>();
			metersPaths = session.CreateQuery("FROM MetersPath ORDER BY ItemNr").List<Entities.MetersPath>();
			TransitionSequences = session.CreateQuery("FROM TransitionSequence ORDER BY ItemNr").List<Entities.TransitionSequence>();

			// Automatic detection of empty tank valves
			foreach (var opath in outputPaths)
			{
                if ((EmptyTankValve1 == null) && (Balance1 != null) && (opath.Balance == Balance1.Cfg.Name))
				{
					EmptyTankValve1 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
				}
                if ((EmptyTankValve2 == null) && (Balance2 != null) && (opath.Balance == Balance2.Cfg.Name))
                {
                    EmptyTankValve2 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
                }
                if ((EmptyTankValve3 == null) && (Balance3 != null) && (opath.Balance == Balance3.Cfg.Name))
                {
                    EmptyTankValve3 = TbfComponents.FindComponent(opath.EmptyTankValve) as IValve;
                }
            }
			
			if (loadPathsOnly) return;

			IList<Entities.Procedure> selectedProcs = session
				.CreateQuery("FROM Procedure WHERE Name = :name")
				.SetParameter("name", TBF.UiBridge.Bridge.SelectedProcedureName)
				.List<Entities.Procedure>();

			if (selectedProcs.Count != 1) return;

			Procedure = selectedProcs[0];
			Tests = selectedProcs[0].Tests;
		}

		public static void LoadProcedureParams(Entities.Procedure procedure)
		{
			foreach (var cmpnt in components)
			{
                if (cmpnt is ComponentBase)
                {
                    if (cmpnt.Cfg.Name.Equals("ROI2"))
                    {
                        int a = 5;
                    }
                    (cmpnt as ComponentBase).GetProcedureParams(procedure);
                }
			}
		}

		public static void LoadTestParams(Entities.Test test)
		{
			foreach (var cmpnt in components)
			{
				if (cmpnt is ComponentBase) (cmpnt as ComponentBase).GetTestParams(test);
			}
		}

        /// <summary>
        /// Processes the selection done by the bench control panel in the main sequence.
        /// </summary>
        /// <param name="selection">Selection.Q1, .Q2, .Q3 or .Test</param>
        /// <returns>The selected test or null</returns>
        public static Entities.Test GetTest(Sequences.MainSeq.Selection selection)
        {
			if ((selection == Sequences.MainSeq.Selection.Q1) && (Tests.Count >= 1))
            {
				return Tests[0];
            }
			else if ((selection == Sequences.MainSeq.Selection.Q2) && (Tests.Count >= 2))
            {
				return Tests[1];
			}
			else if ((selection == Sequences.MainSeq.Selection.Q3) && (Tests.Count >= 3))
            {
				return Tests[2];
			}
            else if (selection == Sequences.MainSeq.Selection.Test)
            {
                foreach (var test in Tests) if (test.Name.Contains(TBF.UiBridge.Bridge.SelectedTestName)) return test;
            }
            return null;
        }

		/// <summary>
		/// Called from the sequence to update paths based on the selected test
		/// </summary>
		/// <param name="test">Selected test</param>
		/// <param name="pfeed"></param>
		/// <param name="pben"></param>
		/// <param name="pout"></param>
		/// <param name="pmtrs"></param>
		/// <returns>true when all four paths are defined (non null)</returns>
		public static bool GetPaths(Entities.Test test,
									out FeedingPath pfeed, out BenchPath pben, out OutputPath pout, out MetersPath pmtrs,
									out Entities.TransitionSequence transitionStart, out Entities.TransitionSequence transitionEnd)
		{
			pfeed = null;
			pben = null;
			pout = null;
			pmtrs = null;
			transitionStart = null;
			transitionEnd = null;

			foreach (var path in feedingPaths)
			{
				if (test.FeedingPath == path.Name) { pfeed = new FeedingPath(path, components); break; }
			}

			foreach (var path in benchPaths)
			{
				if (test.BenchPath == path.Name) { pben = new BenchPath(path, components); break; }
			}

			foreach (var path in outputPaths)
			{
				if (test.OutputPath == path.Name) { pout = new OutputPath(path, components); break; }
			}

			foreach (var path in metersPaths)
			{
				if (test.MetersPath == path.Name) { pmtrs = new MetersPath(path, components); break; }
			}
			if (pmtrs != null)
			{
				for (int i = 0; i < Program.WMsCount; i++)
				{
					if ((pmtrs.RegisterReaders[i] != null) &&
						(pmtrs.RegisterReaders[i].Cfg.DebugLevel == Entities.DebugMode.DetectedOff))
					{
						pmtrs.RegisterReaders[i] = null;
					}
				}
			}

			foreach (var transition in TransitionSequences)
			{
				if (transition.Name == test.TransitionStart) transitionStart = transition;
				if (transition.Name == test.TransitionEnd)   transitionEnd = transition;
			}

			return (pfeed != null) && (pben != null) && (pout != null) && (pmtrs != null);
		}

		/// <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;
			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
			{
				(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);
        }
    }
}