/// <summary>
/// Check driver id is unique
/// </summary>
public void CheckDriverId()
{
var dict = new Dictionary <string, int>();//Driver Id with Count
foreach (var driver in this.manifest.Drivers)
{
var key = driver.DriverId;
if (!dict.ContainsKey(key))
{
dict[key] = 0;
}
dict[key]++;
}
var duplicates = (from row in dict
where row.Value > 1
select row).ToList();
foreach (var did in duplicates)
{
MvLog.WarnNs(this, "Duplicate driver id: {0}", did.Key);
}
if (duplicates.Count != 0)
{
var did = duplicates.FirstOrDefault().Key;
throw new MacWrongDriverException("Exist non-unique driver id " + did);
}
}
protected virtual void DisposeSelf()
{
if (this.Task != null)
{
this.Task.Dispose();
}
if (this.Task != null)
{
//預期Task是能在迴圈開始時, 自己確認是否終止
//一般會以 disposed 和 IsCancellationRequested 作為持續的判斷
try
{
using (this.Task)
if (!this.Task.Wait(3 * 1000))
{
if (this.Task.Status < TaskStatus.Running)
{
MvLog.WarnNs(this, "MvTask is no start");
}
else if (this.Task.Status == TaskStatus.Running)
{
MvLog.WarnNs(this, "MvTask can not cancel");
}
}
}
catch (OperationCanceledException) { }
this.Task = null;
}
}
public int HalClose()
{
//關閉所有HAL
foreach (var kv in this.HalDevices)
{
try { this.HalClose(kv.Value); }
catch (Exception ex) { MvLog.WarnNs(this, ex); }
}
//釋放資源
foreach (var kv in this.Resources)
{
try
{
if (kv.Value == null)
{
continue;
}
kv.Value.Dispose();
}
catch (Exception ex) { MvLog.WarnNs(this, ex); }
}
return(0);
}
public void SaveStateMachine(string file)
{
try
{
XmlDocument doc = new XmlDocument();
XmlElement xStateMachine = doc.CreateElement("StateMachine");
doc.AppendChild(xStateMachine);
xStateMachine.SetAttribute("Name", this.Name);
xStateMachine.SetAttribute("Class", this.GetType().ToString());
//匯出STATE 狀態
foreach (KeyValuePair <string, State> s in states)
{
s.Value.GetElements(ref doc, ref xStateMachine);
}
//匯出Transition 狀態
//foreach (KeyValuePair<Enum, Transition> t in transitions)
//{
// t.Value.GetElements(ref doc, ref xStateMachine);
//}
foreach (Transition t in transitions)
{
t.GetElements(ref doc, ref xStateMachine);
}
doc.Save(file);
}
catch (Exception ex)
{
MvLog.Write(ex, MvLoggerEnumLevel.Warn);
}
}
public void ResourceDispose()
{
foreach (var rsc in this.Resources)
{
try { rsc.Value.Dispose(); }
catch (Exception ex) { MvLog.WarnNs(this, ex); }
}
}
public void Close()
{
try
{
if (this.TcpClient != null)
{
using (var obj = this.TcpClient) { obj.Disconnect(); }
}
}
catch (Exception ex) { MvLog.WarnNs(this, ex); }
}
public void CleanEvent()
{
try
{
foreach (Delegate d in this.evtDataReceive.GetInvocationList())
{
this.evtDataReceive -= (EventHandler <WacohForceMessageEventArgs>)d;
}
}
catch (Exception ex) { MvLog.Write(ex); }
}
public int Close()
{
// 若 mobjCore 不為空
if (mobjCore != null)
{
// 將 mobjCore 斷開連線
try { mobjCore.Disconnect(); }
catch (Exception ex) { MvLog.WarnNs(this, ex); }
mobjCore = null;
}
return(0);
}
public bool ChangeState(State s)
{
bool trulyChange = false;
if (FlageNormalStatus)
{
if (!s.Equals(CurrentState))
{
trulyChange = true;
MvLog.Info(ID + " change state from {0} to {1}", this.CurrentState.StateName, s.StateName);
CurrentState = s;
}
}
return(trulyChange);
}
/// <summary>
/// transitions runTrigger with step name
/// </summary>
/// <param name="param"></param>
/// <returns>-1 is action can't run</returns>
public EnumStateMachineMsgType SmProcTransition(IStateParam param)
{
try
{
bool executeFlag = false;
Transition runTriggerSingle = null;
//第一步檢查有沒有此TRANSITION
if (transitions.Find(x => x.TransName.Equals(param.TransName)) == null)
{
throw new StateMachineException(ID + " No Find Transition: " + param.TransName);
}
//找出同名Transition
var trans = (from t in transitions
where t.TransName == param.TransName
select t).ToList();
var currTrans = trans.Where(t => t.FromState == this.CurrentState).ToList();//過濾from state
//確認所有Guard是否成立
foreach (var tran in currTrans)
{
if (tran.RunGuard(this))
{
//若確實只找到一個成立, 記錄下來, 超過一個不可執行
if (runTriggerSingle == null)
{
runTriggerSingle = tran;
}
else
{
throw new PluralTriggerSameTimeException(this.GetType().ToString() + " : current is " + this.CurrentState.StateName + " with Transition : " + param.TransName + ", trigger more than one same time");//只能有一個transition成立
}
}
}
if (runTriggerSingle != null)
{
executeFlag = true;
runTriggerSingle.RunTrigger(param, this);
}
else if (currTrans.Count == 0 && trans.Where(t => t is DeferralTransition).Count() == 0)
{
//如果要求的transaction不在current state, 且不具有Deferral Transaction, 就拋出例外
//不應存在無法trigger的transition
throw new NotCurrentStateException(this.GetType().ToString() + " : current is " + this.CurrentState.StateName + " does not have Transition : " + param.TransName);
}
else
{
//否則: 這個State Machine 的 Deferral Transition 具有 param.TranName
//在這裡代表沒有transition被觸發, 因此需要判斷是否要存回Queue裡
//State Machine中, 並沒有定義 Defferal Guard 失敗時的行為, 因此暫以 Normal Transition 的行為作準則
// 不回存(or, 其中一個成立)
// 1. Trigger 成功
// 2. Current State 具同名 Transition (不論 Guard 成功與否)
// 即=>回存(and, 全部成立)
// 1. Trigger失敗
// 2. Curr State 不具同名 Transition
// 3. 其它State具有同名 DeferralTransition
//找出同名且不在Current State裡的Defferal的數量
var countDefferalOfNotInCurr = (from row in trans
where row is DeferralTransition
select row).Count();
if (currTrans.Count == 0 && countDefferalOfNotInCurr > 0)
{
SaveDeferralEvent(param);//TODO: 確認加回最後一個是否合理
}
//Deferral 請先確認是否有在CURRENT STATE有在的話，不管GUARD的狀況與否都不會重新放回JOB LIST
//bool noTransitionInCurrentState = true;
//foreach (Transition t in trans.Where(t => t is DeferralTransition))
//{
// if (((DeferralTransition)t).IsInCurrentState(this))
// {
// noTransitionInCurrentState = false;
// }
//}
//if (noTransitionInCurrentState)
//{
// SaveDeferralEvent(param);
//}
//else
//{
// //執行Defferal transition on not current state (save to event queue)
// foreach (Transition t in trans.Where(t => t is DeferralTransition))
// {
// if (t.RunGuard(this))
// {
// if (runTriggerSingle == null)
// {
// runTriggerSingle = (DeferralTransition)t;
// }
// else
// {
// throw new PluralTriggerSameTimeException(this.GetType().ToString() + " : current is " + this.CurrentState.StateName + " with Transition : " + param.TransName + ", trigger more than one same time");
// }
// }
// }
// runTriggerSingle.RunTrigger(param, this);
//}
}
if (executeFlag)
{
return(EnumStateMachineMsgType.CommandSuccessful);
}
else
{
//run deferral or strange transition
/*foreach(Transition t in (from transObj in transitions where transObj.TransName.Equals(param.TransName.ToString()) && !currentState.transs.Contains(transObj) select transObj))
* {
* t.RunTrigger(param, this);
* }*/
return(EnumStateMachineMsgType.GuardFail);
}
}
catch (PluralTriggerSameTimeException ex)
{
PopupAlarm(this, EnumStateMachineMsgType.PluralTriggerSameTime, "TransitionPluralTrigger");
MvLog.Write(ex, MvLoggerEnumLevel.Warn);
return(EnumStateMachineMsgType.PluralTriggerSameTime);
}
catch (NotCurrentStateException ex)
{
//Transition nocurTrans = GetDynamicExceptionTransition(CurrentState, EnumStateMachineMsgType.NotCurrentStateTransition);
//nocurTrans.RunTrigger(new StateParameter(), this);
MvLog.Write(ex, MvLoggerEnumLevel.Error);
return(EnumStateMachineMsgType.StateMachineException);
}
catch (StateMachineException ex)
{
System.Diagnostics.Debug.WriteLine(this.ID + ":Error");
MvLog.Write(ex, MvLoggerEnumLevel.Error);
throw ex;
}
catch (Exception ex)
{
MvLog.Write(ex, MvLoggerEnumLevel.Error);
throw ex;
}
}