/**
* A szabályozási folyamatért felelős fgv
* */
public override void Run(APresenter _in)
{
run = true;
getInput();
// state[0] - Angle
// state[1] - Position
double[] state = Process.get();
double epsilon = 0.001;
#region Init
oldTime = DateTime.Now.Millisecond;
state = Process.get();
oldError = reference - state[1];
#endregion
// Addig megy a szabályozási folyamat, amíg a referencia érték epsilon sugarú körébe nem kerül a pozíció
while (run && !(state[1] > (reference - epsilon) && state[1] < (reference + epsilon)))
{
state = Process.get();
_in.updateDraw(state);
newTime = DateTime.Now.Millisecond;
double[] u = new double[] { 0.0 };
//PID logika
double error = reference - state[1];
I = I + error;
double D = (error - oldError) / (newTime - oldTime);
u[0] = clap(clap(Kp * error) + clap(Ki * I) + clap(Kd * D));
if( Double.IsNaN(u[0]))
{
u[0] = 0.0;
}
Process.set(u);
_in.updateLog(new string[] { DateTime.Now.ToString("HH:mm:ss.fff"), state[0].ToString("f5"),state[1].ToString("f5"), u[0].ToString("f5") });
oldTime = newTime;
oldError = error;
Thread.Sleep(25);
state = Process.get();
}
double[] stop = new double[] { 0.0 };
Process.set(stop);
}
/**
* Ha kiválasztottuk a megfelelő assembly-ket, akkor a controller user interface-e jelenik meg, és a folyamat megjelenítője
* Az AssemblyPicker osztályból hívódik meg
* */
public void controllerSelected(UserControl _inputUI,APresenter _inputPres)
{
pck.Dispose();
UI = _inputUI;
UI.Location = new System.Drawing.Point(10, 20);
UI.Size = new System.Drawing.Size(440, 376);
UI.TabIndex = 2;
this.groupBox1.Controls.Add(UI);
groupBox1.Text = "Controller";
groupBox2.Hide();
pres = _inputPres;
pres.Location = new System.Drawing.Point(10, 0);
this.splitContainer1.Panel2.Controls.Add(pres);
runnable = true;
}
/**
* A szabályozási folyamatért felelős fgv
* */
public override void Run(APresenter _in)
{
run = true;
getInput();
// state[0] - Angle
// state[1] - Position
double[] state = Process.get();
double epsilon = 0.001;
double[] u = new double[] { 0.0 };
while (run && !(state[1] > (reference - epsilon) && state[1] < (reference + epsilon)))
{
state = Process.get();
_in.updateDraw(state);
// Ha a referenciánál kisebb, akkor jobbra megy, ha nagyobb, akkor (lassabban) balra
if (state[1] <= (reference - epsilon))
{
u[0] = 1.0;
}
if (state[1] > (reference + epsilon))
{
u[0] = -0.3;
}
Process.set(u);
_in.updateLog(new string[] { DateTime.Now.ToString("HH:mm:ss.fff"), state[0].ToString("f5"), state[1].ToString("f5"), u[0].ToString("f5") });
Thread.Sleep(25);
state = Process.get();
}
Process.set(new double[] { 0.0 });
for (int i = 0; i < 5; i++)
{
state = Process.get();
Thread.Sleep(25);
}
}
public abstract void Run(APresenter _in);
/**
* A függvény leellenőrzi az AssemblyPicker felületen beállított assembly-ket, hogy a program számára emészthető formátumúak-e
* Példányosítja a megfelelő objektumokat
* */
public static bool InitSession(Form1 owner)
{
if (owner.pck.button1.Enabled) return true;
Assembly ass;
Type type = null;
StreamReader _textStreamReader = null;
ConstructorInfo con1 = null;
Type AccessionBaseType = null;
Type IProcInterface = null;
#region A folyamat megvalósításának betöltése
try
{
//A Dll fájl betöltése
ass = Assembly.LoadFrom(owner.pck.textBox4.Text);
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is not such a file. The Accession path is probably wrong.";
return false;
}
// Namespace resource megkeresése és betöltése
foreach (var s in ass.GetManifestResourceNames())
{
if(s.Contains("Namespace.txt"))
{
_textStreamReader = new StreamReader(ass.GetManifestResourceStream(s));
}
}
if (_textStreamReader == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is no Namespace.txt resource in the Accession assembly. The namespace suppose to be defined in Namespace.txt Embedded Resource.";
return false;
}
string nameSpace = _textStreamReader.ReadLine();
//A per jel mentén felbontja a stringet, és az utolsó darabot (fájlnév és kiterjesztés) még a pontnál kettévágja, és veszi az elsőt (a fájlnevet kiterjesztés nélkül)
string className = (owner.pck.textBox4.Text.Split(new char[] { '\\' })).Last<string>().Split(new char[] { '.' }).First<string>();
string typeName = nameSpace + "." + className;
try{
//Megfelelő osztály títpusának lekérése
type = ass.GetType(typeName);
if (type == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Accession assembly doesn't contain any class named: " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Accession assembly doesn't contain any class named: " + typeName;
return false;
}
try{
//Az ősosztály típus eltárolása, később a konstruktor paraméter típusának át kell adni
AccessionBaseType = type.BaseType;
if (AccessionBaseType == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The following type doesn't have any basetype: " + typeName;
owner.textBox1.AppendText("It most implement one of the provided abstract basetypes.");
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The following type doesn't have any basetype: " + typeName;
owner.textBox1.AppendText("It most implement one of the provided abstract basetypes.");
return false;
}
try
{
//Megfelelő paraméterezésű konstruktor lekérése
con1 = type.GetConstructor(new Type[0] { });
if (con1 == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have an empty parameterized constructor: " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have an empty parameterized constructor: " + typeName;
return false;
}
try
{
//A Konstruktor meghívása
tempAcc = con1.Invoke(new object[0] { });
if (tempAcc == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Accession)";
return false;
}
}
catch (Exception e)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Logger)";
owner.textBox1.AppendText(e.Message + "\n");
owner.textBox1.AppendText(e.StackTrace + "\n\n");
if (e.InnerException != null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.AppendText("Inner Exception:\n");
owner.textBox1.AppendText(e.InnerException + "\n");
}
return false;
}
#endregion
#region Az IProcess-t biztosító elfedő osztály betöltése
_textStreamReader = null;
type = null;
con1 = null;
try
{
//DLL betöltése
ass = Assembly.LoadFrom(owner.pck.textBox3.Text);
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is not such a file. The Connection path is probably wrong.";
return false;
}
// Namespace resource megkeresése és betöltése
foreach (var s in ass.GetManifestResourceNames())
{
if(s.Contains("Namespace.txt"))
{
_textStreamReader = new StreamReader(ass.GetManifestResourceStream(s));
}
}
if (_textStreamReader == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is no Namespace.txt resource in the Connection assembly. The namespace suppose to be defined in Namespace.txt Embedded Resource.";
return false;
}
nameSpace = _textStreamReader.ReadLine();
//A per jel mentén felbontja a stringet, és az utolsó darabot (fájlnév és kiterjesztés) még a pontnál kettévágja, és veszi az elsőt (a fájlnevet kiterjesztés nélkül)
className = (owner.pck.textBox3.Text.Split(new char[] { '\\' })).Last<string>().Split(new char[] { '.' }).First<string>();
typeName = nameSpace + "." + className;
try{
//Megfelelő osztály títpusának lekérése
type = ass.GetType(typeName);
if (type == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Connection assembly doesn't contain any class named: " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Connection assembly doesn't contain any class named: " + typeName;
return false;
}
try
{
//IProcess interfész eltárolása, később konstruktor paraméternek kell
foreach (var i in type.GetInterfaces())
{
if (i.Name.Contains("IProcess"))
{
IProcInterface = i;
}
}
if (IProcInterface == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Connection assembly doesn't contain any interface named: IProcess";
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Connection assembly doesn't contain any interface named: IProcess";
return false;
}
try
{
// Ősosztály paraméterű konstruktor
con1 = type.GetConstructor(new Type[1] { AccessionBaseType });
if (con1 == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + AccessionBaseType.Name + " : " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + AccessionBaseType.Name + " : " + typeName;
return false;
}
try
{
//A Konstruktor meghívása
tempProc = con1.Invoke(new object[1] { tempAcc });
if (tempProc == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Connection)";
return false;
}
}
catch ( Exception e)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Logger)";
owner.textBox1.AppendText(e.Message + "\n");
owner.textBox1.AppendText(e.StackTrace + "\n\n");
if (e.InnerException != null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.AppendText("Inner Exception:\n");
owner.textBox1.AppendText(e.InnerException + "\n");
}
return false;
}
try
{
// A folyamathoz tartozó presenter eltárolása
pres = tempProc.getPresenter();
if (pres == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The received presenter is null.";
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The received presenter is null.";
return false;
}
#endregion
#region Logger betöltése
// Ha választottunk ki loggert
if (owner.pck.textBox2.Text != "")
{
_textStreamReader = null;
type = null;
con1 = null;
try
{
//DLL betöltése
ass = Assembly.LoadFrom(owner.pck.textBox2.Text);
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is not such a file. The Logger path is probably wrong.";
return false;
}
// Namespace resource megkeresése és betöltése
foreach (var s in ass.GetManifestResourceNames())
{
if (s.Contains("Namespace.txt"))
{
_textStreamReader = new StreamReader(ass.GetManifestResourceStream(s));
}
}
if (_textStreamReader == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is no Namespace.txt resource in the Logger assembly. The namespace suppose to be defined in Namespace.txt Embedded Resource.";
return false;
}
nameSpace = _textStreamReader.ReadLine();
//A per jel mentén felbontja a stringet, és az utolsó darabot (fájlnév és kiterjesztés) még a pontnál kettévágja, és veszi az elsőt (a fájlnevet kiterjesztés nélkül)
className = (owner.pck.textBox2.Text.Split(new char[] { '\\' })).Last<string>().Split(new char[] { '.' }).First<string>();
typeName = nameSpace + "." + className;
try
{
//Megfelelő osztály títpusának lekérése
type = ass.GetType(typeName);
if (type == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Logger assembly doesn't contain any class named: " + typeName;
return false;
}
}
catch (Exception e)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Logger assembly doesn't contain any class named: " + typeName;
return false;
}
try
{
// IProcess és 2 string tömb paraméterű konstruktor
con1 = type.GetConstructor(new Type[3] { IProcInterface, typeof(string[]), typeof(string[]) });
if (con1 == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + IProcInterface.Name + " and two string arrays: " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + IProcInterface.Name + " and two string arrays: " + typeName;
return false;
}
try
{
//A Konstruktor meghívása
tempLogger = con1.Invoke(new object[3] { tempProc, tempProc.getInputLabels(), tempProc.getOutputLabels() });
if (tempLogger == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Logger)";
return false;
}
}
catch (Exception e)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Logger)";
owner.textBox1.AppendText(e.Message + "\n");
owner.textBox1.AppendText(e.StackTrace + "\n\n");
if (e.InnerException != null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.AppendText("Inner Exception:\n");
owner.textBox1.AppendText(e.InnerException + "\n");
}
return false;
}
}
#endregion
#region A szabályozó betöltése
_textStreamReader = null;
type = null;
con1 = null;
try
{
//DLL betöltése
ass = Assembly.LoadFrom(owner.pck.textBox1.Text);
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is not such a file. The Controller path is probably wrong.";
return false;
}
// Namespace resource megkeresése és betöltése
foreach (var s in ass.GetManifestResourceNames())
{
if (s.Contains("Namespace.txt"))
{
_textStreamReader = new StreamReader(ass.GetManifestResourceStream(s));
}
}
if (_textStreamReader == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "There is no Namespace.txt resource in the Controller assembly. The namespace suppose to be defined in Namespace.txt Embedded Resource.";
return false;
}
nameSpace = _textStreamReader.ReadLine();
//A per jel mentén felbontja a stringet, és az utolsó darabot (fájlnév és kiterjesztés) még a pontnál kettévágja, és veszi az elsőt (a fájlnevet kiterjesztés nélkül)
className = (owner.pck.textBox1.Text.Split(new char[] { '\\' })).Last<string>().Split(new char[] { '.' }).First<string>();
typeName = nameSpace + "." + className;
try
{
//Megfelelő osztály títpusának lekérése
type = ass.GetType(typeName);
if (type == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Controller assembly doesn't contain any class named: " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The Controller assembly doesn't contain any class named: " + typeName;
return false;
}
try
{
// Konstruktor meghívása
con1 = type.GetConstructor(new Type[1] { typeof(IProcess) });
if (con1 == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + IProcInterface.Name + " : " + typeName;
return false;
}
}
catch
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "The the following type doesn't have constructor with parameter " + IProcInterface.Name + " : " + typeName;
return false;
}
try
{
// Ha nem választottunk ki Logger-t, akkor közvetlen a process-t hívogatja
if (owner.pck.textBox2.Text == "")
{
controller = con1.Invoke(new object[1] { tempProc }) as AController;
}
else
{
controller = con1.Invoke(new object[1] { tempLogger }) as AController;
}
if (controller == null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Controller)";
return false;
}
}
catch (Exception e)
{
owner.groupBox2.Text = "Error";
owner.textBox1.Text = "Some problem occured during the use of the constructor. (Logger)";
owner.textBox1.AppendText(e.Message + "\n");
owner.textBox1.AppendText(e.StackTrace + "\n\n");
if (e.InnerException != null)
{
owner.groupBox2.Text = "Error";
owner.textBox1.AppendText("Inner Exception:\n");
owner.textBox1.AppendText(e.InnerException + "\n");
}
return false;
}
#endregion
return true;
}
