protected virtual void CheckAxisNo(CompInfoTemp c)
{
if (int.Parse(c.content[KeyWordDef.AN]) >= c.axisOccupied)
{
throw new Exception($"{c.rname}轴号{c.content[KeyWordDef.AN]}超限");
}
}
//Scan macro and store
string[] ScanMacro(string[] input)
{
string temp = string.Join("\r\n", input);
Dictionary <string, string> tcontent = new Dictionary <string, string>()
{
{ KeyWordDef.AT, "MACRO" },
};
Dictionary <string, List <string> > macroDict = RegFunctions.GetMacroDictAndRemove(temp, out string output);
foreach (var kv in macroDict)
{
CompInfoTemp ct = new CompInfoTemp()
{
gname = "MACRO", rname = kv.Key, content = tcontent
};
ct.contents = (from mkv in macroDict
from value in kv.Value
let key = "#ITEM#"
select new { key, value })
.Select(dict => new Dictionary <string, string> {
{ dict.key, dict.value }
})
.ToList();
gTopoList.Add(ct);
}
return(output.Split(new[] { "\r\n" }, StringSplitOptions.RemoveEmptyEntries));
}
protected virtual void FillContent(Dictionary <string, string> source, ref CompInfoTemp output)
{
foreach (var kv in source)
{
DictionaryFunctions.UpdatePair(kv, output.content);
}
}
protected override void WriteAuto(CompInfoTemp c, int autoBufferNo, ref string scripts)
{
bool LL, RL;
LL = c.content.ContainsKey(KeyWordDef.LL);
RL = c.content.ContainsKey(KeyWordDef.RL);
if (LL || RL)
{
int index = CompManager.GetBufferIndex(autoBufferNo, scripts);
int count = CompManager.GetBufferIndex(autoBufferNo, scripts);
List <Dictionary <string, string> > autoDictList = new List <Dictionary <string, string> >()
{
new Dictionary <string, string>()
{
{ "#AxisNo#", GetAxisNo(c).ToString() },
{ "@RL", RL ? c.content[KeyWordDef.RL] : "#RL" },
{ "@LL", LL ? c.content[KeyWordDef.LL] : "#LL" },
{ "#RightLimit#", RL ? "" : "!" },
{ "#LeftLimit#", LL ? "" : "!" },
}
};
string repeatKeyWord = "LimitRepeat";
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, autoDictList, index, count);
}
}
protected override List <Dictionary <string, string> > GenerateDictList(CompInfoTemp c, out int IIndex, out int OIndex)
{
List <Dictionary <string, string> > IODictList = new List <Dictionary <string, string> >();
IIndex = GetIOStartIndex(true, c);
OIndex = GetIOStartIndex(false, c);
int IOIncrement = 0;
foreach (var dt in TopoDict)
{
int i = dt.First().Value;
bool isIn = dt.First().Key;
if (i % 8 != 0)
{
throw new Exception($"部件{c.rname}属性错误：IO数目必须是8的整数倍");
}
for (int jj = 0; i > 0; i -= 8, jj++)
{
var l = GenerateSingleDictList(c, isIn, ref IOIncrement, ref IIndex, ref OIndex);
IIndex -= isIn ? 1 : 0;
OIndex -= !isIn ? 1 : 0;
l.RemoveAt(1);
l.First()["#NUM#"] = jj.ToString();
l.First()["#MappingName#"] = isIn ? "DI1" : "DO1";
IOIncrement = 0;
IODictList.Add(l.First());
}
}
return(IODictList);
}
protected override void WriteComp(CompInfoTemp c, int compBufferNo, List <int> homeBufferNo, ref string scripts)
{
foreach (var content in c.contents)
{
c.content = content;
base.WriteComp(c, compBufferNo, homeBufferNo, ref scripts);
}
}
protected override void WriteAuto(CompInfoTemp c, int autoBufferNo, ref string scripts)
{
foreach (var content in c.contents)
{
c.content = content;
WriteAutoSingle(c, autoBufferNo, ref scripts);
}
}
public virtual void FillContentFromDefLine(CompInfoTemp t, string defLine)
{
Dictionary <string, string> dt = RegFunctions.GetDefLineDict(defLine);
foreach (var kv in dt)
{
DictionaryFunctions.AddOrUpdatePair(kv, t.content);
}
}
protected override void WriteHome(CompInfoTemp c, List <int> homeBufferNo, ref string scripts)
{
foreach (var content in c.contents)
{
c.content = content;
CheckAxisNo(c);
base.WriteHome(c, homeBufferNo, ref scripts);
}
}
protected virtual int GetHomeBufferNo(CompInfoTemp c, List <int> homeBufferNo)
{
int HG = int.Parse(c.content[KeyWordDef.HG]);
if (!homeBufferNo.Contains(HG))
{
throw new Exception("回零Buffer号不在定义范围内");
}
return(HG);
}
protected override int GetSO(Dictionary <string, string> d, CompInfoTemp output)
{
int so = base.GetSO(d, output);
ParseTopo(output.content.ContainsKey(KeyWordDef.TOP) ? output.content[KeyWordDef.TOP] : d[KeyWordDef.TOP]);
foreach (var dt in TopoDict)
{
so -= dt.First().Value;
}
return(so);
}
public virtual void WriteScript(CompInfoTemp c, Dictionary <ST, List <int> > scriptNo, ref string scripts)
{
if (IsSkip(c))
{
return;
}
WriteHome(c, scriptNo[ST.HOME], ref scripts);
WriteComp(c, scriptNo[ST.COMP][0], scriptNo[ST.HOME], ref scripts);
WriteLaser(c, scriptNo[ST.LASER][0], ref scripts);
WriteAuto(c, scriptNo[ST.AUTO][0], ref scripts);
WriteDBuffer(c, ref scripts);
}
protected override void WriteComp(CompInfoTemp c, int compBufferNo, List <int> homeBufferNo, ref string scripts)
{
string CHM = c.content[KeyWordDef.HM];
if (!CHM.Contains("D"))
{
TextFunctions.AppendMultiRepeat(
ref scripts,
"SingleAxisHome",
new List <Dictionary <string, string> >()
{
new Dictionary <string, string>()
{
{ "#AxisNo#", GetAxisNo(c).ToString() },
{ "#NAME#", GetAxisName(c, false) },
{ "@HG", GetHomeBufferNo(c, homeBufferNo).ToString() },
}
},
CompManager.GetBufferIndex(compBufferNo, scripts),
CompManager.GetBufferCount(compBufferNo, scripts)
);
}
bool CN = int.Parse(c.content[KeyWordDef.CN]) > 0 ? true : false;
if (!CN)
{
return;
}
int index = GetHomeIndex(c, homeBufferNo, scripts);
int count = GetHomeCount(c, homeBufferNo, scripts);
List <Dictionary <string, string> > compDictList = new List <Dictionary <string, string> >()
{
new Dictionary <string, string>()
{
{ "#AxisNo#", GetAxisNo(c).ToString() },
{ "#BCNo#", compBufferNo.ToString() },
{ "@CS", c.content[KeyWordDef.CS] },
{ "@CT", c.content[KeyWordDef.CT] },
{ "@CND", c.content[KeyWordDef.CND] },
{ "#NAME#", GetAxisName(c, false) },
{ "@HG", GetHomeBufferNo(c, homeBufferNo).ToString() },
}
};
string repeatKeyWord = "CompRepeat";
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, compDictList, index, count);
index = CompManager.GetBufferIndex(compBufferNo, scripts);
count = CompManager.GetBufferCount(compBufferNo, scripts);
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, compDictList, index, count);
index = CompManager.GetBufferIndex(ST.DEF, scripts);
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, compDictList, index);
}
public virtual void FillAllAxisAndContent(ref int axisIndex,
Dictionary <string, string> source,
ref CompInfoTemp output)
{
FillContent(source, ref output);
if (Type != ACSStr)
{
output.axisStart = axisIndex;
output.axisOccupied = GetAO(source, output);
axisIndex += output.axisOccupied;
}
}
protected virtual int GetIOStartIndex(bool isIn, CompInfoTemp c)
{
string s = c.content[isIn ? KeyWordDef.ISI : KeyWordDef.OSI];
if (s == "AUTO")
{
return(isIn ? inputIndexes.Max() + 1 : outputIndexes.Max() + 1);
}
else
{
return(int.Parse(s));
}
}
string GenerateBase(Dictionary <ST, string> STContent, CompInfoTemp c)
{
scriptNo = new Dictionary <ST, List <int> >();
List <int> homeBuffer = c.content[KeyWordDef.BH].Split(",".ToArray(), StringSplitOptions.RemoveEmptyEntries)
.Select(s => int.Parse(s)).ToList();
int compBuffer = int.Parse(c.content[KeyWordDef.BC]);
int laserBuffer = int.Parse(c.content[KeyWordDef.BL]);
int autoBuffer = int.Parse(c.content[KeyWordDef.BA]);
string ss = "";
List <int> li = new List <int>();
foreach (int i in homeBuffer)
{
ss += ContraScript(i, STContent, ST.HOME);
li.Add(i);
}
scriptNo.Add(ST.HOME, new List <int>(li));
ss += ContraScript(compBuffer, STContent, ST.COMP);
scriptNo.Add(ST.COMP, new List <int>()
{
compBuffer
});
li.Add(compBuffer);
ss += ContraScript(laserBuffer, STContent, ST.LASER);
scriptNo.Add(ST.LASER, new List <int>()
{
laserBuffer
});
li.Add(laserBuffer);
ss += ContraScript(autoBuffer, STContent, ST.AUTO);
scriptNo.Add(ST.AUTO, new List <int>()
{
autoBuffer
});
li.Add(autoBuffer);
CheckBufferNo(li);
ss += ContraScript(999, STContent, ST.DEF);
scriptNo.Add(ST.DEF, new List <int>()
{
999
});
return(ss);
}
void FillTopoFromGeneralCompInfo(List <CompInfoTemp> topolist, string[] input)
{
for (int i = 0; i < topolist.Count; i++)
{
CompInfoTemp c = topolist[i];
if (!defaultDict.ContainsKey(c.gname))
{
Dictionary <string, string> d = ScanFile(c.gname);
if (!DictionaryFunctions.NotNullOrEmpty(d))
{
throw new Exception($"未定义的部件{c.gname}");
}
defaultDict.Add(c.gname, d);
}
}
}
public virtual void FillSlaveAndACSAxis(ref int slaveIndex, ref int axisIndex,
Dictionary <string, string> source, ref CompInfoTemp output)
{
int ao = GetAO(source, output);
if (Type != ACSStr)
{
ao = 0;
}
output.axisStart = axisIndex;
output.slaveStart = slaveIndex;
output.axisOccupied = ao;
output.slaveOccupied = GetSO(source, output);
axisIndex += output.axisOccupied;
slaveIndex += output.slaveOccupied;
}
protected override void WriteLaser(CompInfoTemp c, int laserBufferNo, ref string scripts)
{
int index = CompManager.GetBufferIndex(laserBufferNo, scripts);
int count = CompManager.GetBufferCount(laserBufferNo, scripts);
List <Dictionary <string, string> > LCMDictList = new List <Dictionary <string, string> >()
{
new Dictionary <string, string>()
{
{ "#AxisNo#", (c.axisStart + 3).ToString() },
}
};
string repeatKeyWord = "LaserRepeat_LCM_" + c.content[KeyWordDef.LM];
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, LCMDictList, index, count);
}
protected override void WriteAuto(CompInfoTemp c, int autoBufferNo, ref string scripts)
{
int index = CompManager.GetBufferIndex(autoBufferNo, scripts);
int count = CompManager.GetBufferIndex(autoBufferNo, scripts);
List <Dictionary <string, string> > autoDictList;
autoDictList = new List <Dictionary <string, string> >()
{
c.content.ToDictionary(k => '@' + k.Key, v => v.Value)
};
autoDictList.First().Add("#AxisNo#", c.axisStart.ToString());
string repeatKeyWord = "CANRepeat";
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, autoDictList, index, count);
base.WriteAuto(c, autoBufferNo, ref scripts);
}
protected virtual List <Dictionary <string, string> > GetOADictList(CompInfoTemp c, string OAKey)
{
try
{
var v = c.content[OAKey]
.Split(',')
.Select(s => new Dictionary <string, string>()
{
{ "#Item#", s.Split(':')[0] },
{ "#Value#", s.Split(':')[1] },
})
.ToList();
return(v);
}
catch (Exception e)
{
throw new Exception($"{c.rname}@{OAKey}:{c.content[OAKey]}表达式错误: {e.Message}");
}
}
protected override void WriteAuto(CompInfoTemp c, int autoBufferNo, ref string scripts)
{
ParseTopo(c.content[KeyWordDef.TOP]);
//Write IO Config
string KeyWord = "IORepeat";
int startIndex = CompManager.GetBufferIndex(ST.AUTO, scripts);
List <Dictionary <string, string> > IODictList = GenerateDictList(c, out int IIndex, out int OIndex);
IODictList = IODictList.OrderByDescending(d => d["#IOType#"]).Select((d, i) =>
{
if (i != 0)
{
d.Remove("#StartIndex#");
}
return(d);
}).ToList();
CheckIndexes(IODictList);
TextFunctions.AppendMultiRepeat(ref scripts, KeyWord, IODictList, startIndex);
Dictionary <string, string> OADict = new Dictionary <string, string>
{
{ "OA1", "BeforeUnstopRepeat" },
{ "OA2", "DuringEMGRepeat" },
{ "OA3", "EscapeEMGRepeat" },
};
foreach (var kv in OADict)
{
if (c.content.ContainsKey(kv.Key))
{
KeyWord = kv.Value;
IODictList = GetOADictList(c, kv.Key);
TextFunctions.AppendMultiRepeat(ref scripts, KeyWord, IODictList, startIndex);
}
}
if (!c.content.ContainsKey("EMG"))
{
c.content.Add("EMG", "EMG");
}
TextFunctions.ReplaceSingle(ref scripts, c.content, startIndex);
TextFunctions.AppendMultiNoRepeat(ref scripts, c.content, startIndex);
}
protected virtual List <Dictionary <string, string> > GenerateDictList(CompInfoTemp c, out int IIndex, out int OIndex)
{
List <Dictionary <string, string> > IODictList = new List <Dictionary <string, string> >();
IIndex = GetIOStartIndex(true, c);
OIndex = GetIOStartIndex(false, c);
int IOIncrement = 0;
foreach (var dt in TopoDict)
{
int i = dt.First().Value;
bool isIn = dt.First().Key;
for (; i > 0; i--)
{
IODictList.AddRange(GenerateSingleDictList(c, isIn, ref IOIncrement, ref IIndex, ref OIndex));
}
}
return(IODictList);
}
public string GenerateScript(Dictionary <ST, string> STContent, List <CompInfoTemp> topoList)
{
if (!CheckMainController(topoList[0]))
{
throw new Exception("第一个部件不是EC");
}
string baseScripts = GenerateBase(STContent, topoList[0]);
for (int i = 0; i < topoList.Count; i++)
{
CompInfoTemp c = topoList[i];
if (CheckMainController(c) && i > 0)
{
throw new Exception("存在多个EC");
}
GetCompFromType(c.content[KeyWordDef.AT]).WriteScript(c, scriptNo, ref baseScripts);
}
return(baseScripts);
}
protected override void FillContent(Dictionary <string, string> source, ref CompInfoTemp output)
{
string v;
string name = output.rname;
if (output.contents.Count == 0)
{
output.contents.Add(source);
}
output.contents = (from dict in output.contents
let t = dict.TryGetValue(KeyWordDef.AN, out v) ? v :
DictionaryFunctions.GetValueOrThrowException(name, source, KeyWordDef.AN)
from n in t.Split(',').Select(i => int.Parse(i))
let ndict = new Dictionary <string, string>(dict)
group ndict by n into gdict orderby gdict.Key
let rdict = AggregateDicts(gdict).Concat(source)
.GroupBy(d => d.Key)
.ToDictionary(d => d.Key, d => d.First().Value)
select rdict).ToList();
output.content = output.contents[0];
}
protected virtual string GetAxisName(CompInfoTemp c, bool check = true)
{
if (c.content.TryGetValue(KeyWordDef.NAME, out string name))
{
if (!Regex.IsMatch(name, @"^\w+$") || Regex.IsMatch(name, @"^Axis\d+$"))
{
throw new Exception($"轴名称非法{name}");
}
}
else
{
name = $"Axis{GetAxisNo(c)}";
}
if (nameList.Contains(name) && check)
{
throw new Exception($"轴名称重复{name}");
}
nameList.Add(name);
return(name);
}
protected virtual void WriteAutoSingle(CompInfoTemp c, int autoBufferNo, ref string scripts)
{
bool MU = int.Parse(c.content[KeyWordDef.MU]) > 0 ? true : false;
int index = CompManager.GetBufferIndex(autoBufferNo, scripts);
int count = CompManager.GetBufferIndex(autoBufferNo, scripts);
List <Dictionary <string, string> > autoDictList;
if (MU)
{
autoDictList = new List <Dictionary <string, string> >()
{
new Dictionary <string, string>()
{
{ "#AxisNo#", GetAxisNo(c).ToString() },
}
};
string repeatKeyWord = "CommutRepeat";
TextFunctions.AppendMultiRepeat(ref scripts, repeatKeyWord, autoDictList, index, count);
}
base.WriteAuto(c, autoBufferNo, ref scripts);
}
public virtual List <Dictionary <string, string> > GenerateSingleDictList(CompInfoTemp c, bool isIn, ref int IOIncrement, ref int IIndex, ref int OIndex)
{
string MapCommand = isIn ? "ECIN" : "ECOUT";
string IOType = isIn ? "1" : "0";
string MappingName = isIn ? "Input" : "Output";
string IOName = isIn ? c.content[KeyWordDef.INAME] : c.content[KeyWordDef.ONAME];
int _IONameIndex = isIn ? IIndex : OIndex;
int _IOIncrement = IOIncrement;
IIndex += isIn ? 2 : 0;
OIndex += !isIn ? 2 : 0;
IOIncrement++;
return(new List <Dictionary <string, string> >
{
new Dictionary <string, string>
{
{ "#StartIndex#", (c.slaveStart + 1).ToString() },
{ "#MapCommand#", MapCommand },
{ "#MappingName#", MappingName },
{ "#Increment#", _IOIncrement.ToString() },
{ "#IOType#", IOType },
{ "#NUM#", "0" },
{ "@IONAME", IOName },
{ "#IOIndex#", _IONameIndex.ToString() },
},
new Dictionary <string, string>
{
{ "#StartIndex#", (c.slaveStart + 1).ToString() },
{ "#MapCommand#", MapCommand },
{ "#MappingName#", MappingName },
{ "#Increment#", _IOIncrement.ToString() },
{ "#IOType#", IOType },
{ "#NUM#", "1" },
{ "@IONAME", IOName },
{ "#IOIndex#", (++_IONameIndex).ToString() },
},
});
}
void FillTopoFromUserCompInfo(List <CompInfoTemp> topolist, string[] input)
{
input = (from cc in input
let rt = Regex.Match(cc, RegFunctions.compCustomReg)
where rt.Success
let name = rt.Groups[1].Value
let num = rt.Groups[2].Value.Split(',')
from n in num
select name + n + rt.Groups[4]).ToArray();
foreach (string s in input)
{
CompInfoTemp t = topolist.Find(c => c.rname == s.Split('@')[0]);
if (t == null)
{
continue;
}
string type = defaultDict[t.gname][KeyWordDef.AT];
if (t != null)
{
CManager.FillContentFromDefLine(t, s, type);
}
}
int slaveIndex = 0;
int axisIndex = 0;
for (int i = 0; i < topolist.Count; i++)
{
CompInfoTemp c = topolist[i];
CManager.FillSlaveAndACSAxis(ref slaveIndex, ref axisIndex, defaultDict[c.gname], ref c);
}
for (int i = 0; i < topolist.Count; i++)
{
CompInfoTemp c = topolist[i];
CManager.FillAllAxisAndContent(ref axisIndex, defaultDict[c.gname], ref c);
}
}
protected virtual int GetAxisNo(CompInfoTemp c)
{
return(c.axisStart);
}
