LGES-OC5-PtoP-Welder/AuroraDevices/AuroraHeightSensor/Keyence/HeightSensorCL3000.cs

using Aurora.Api;
using Aurora.Api.DataType;
using Aurora.Api.Devices;
using Hermes;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Reactive.Linq;
using System.Reactive.Subjects;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Input;
using System.Windows.Interop;
using static AuroraHeightSensor.HeightSensor;

namespace AuroraHeightSensor.Keyence
{
    internal class HeightSensorCL3000 : SocketConn, IHeightSensor
    {
        private const int TIME_OUT = 3000;
        enum eCommand
        {
            R0,             // 모드 변경 : 측정 모드로 이행
            MS,             // 측정값 출력(단일)
            LC,             // 발광 제어 : LED On / Off
            ZS,             // 오토 제로 ON/OFF(단일) : Zero Set
            ER,
            NS,             // 자동 송신 시작
            ND,             // 자동 송신 데이터 수신 (추정)
            NT              // 자동 송신 중지
        }

        enum eAckField
        {
            CMD = 0,
            DATA
        }

        enum eNakField
        {
            ER = 0,
            CMD,
            CODE
        }

        internal enum eErrorCode : int
        {
            None = 0,
            Timeout = 72,           // Timeout Error
            Command = 73,           // Command Error
            UndefinedCommand = 74,           // Undefined Command Error
            Status = 81,           // Status Error
            ParameterNumber = 82,           // Parameter Number Error
            ParameterRange = 83,           // Parameter Range Error
            CommonSpecific = 84,           // Command Specific Error
        }

        private byte[] _ByteReceivePacket;
        private string _ReceiveString;

        private object Lock = new object();
        private Subject<string> _ObservableReceiveString = new Subject<string>();
        public IObservable<string> ObservableReceiveString;
        private const int TimeOut = 3000;
        Logger LOG = new Logger("HeightSensor");

        internal bool _IsCommError = false;
        internal eErrorCode _LastError;
        bool _IsSimul = false;
        public bool IsCommError { get; set; }
        private double _HeightValue; public double HeightValue { get => _HeightValue; set => _HeightValue = value; }

        internal HeightSensorCL3000(string deviceId, bool isSimul = false) : base(deviceId, isSimul)
        {
            //ObservableReceiveString = _ObservableReceiveString.AsObservable();
            _IsSimul = isSimul;
            CloseEvent += new EventHandler<string>(OnForcedCloseEvent);
            ErrorEvent += new EventHandler<Exception>(OnExceptionEvent);
        }

        public bool CheckConnected()
        {
            //return !_IsCommError;
            return !IsCommError;
        }

        //public int Connect(IConnConfig config)
        //{
        //    IsCommError = false;
        //    return Connect(config as SocketConnConfig); // Socket comm
        //}

        public int Activate(IConnConfig config)
        {
            IsCommError = false;
            _IsAutoTransmitOn = false;

            return Connect(config as SocketConnConfig);
        }

        protected override void OnReceive(object arg1, AsyncSocketReceiveEventArgs args)
        {

            if (_IsAutoTransmitOn) {
                //Log.I("OnReceive : " + args.ReceiveData.ToString());
                // Handling Data

                //var parsingData = Parse(eCommand.ND, args.ReceiveData, out double value);
                //var test = BitConverter.ToString(args.ReceiveData).Replace("-", "");
                //var test = Encoding.Default.GetString(args.ReceiveData).Skip(8 + 4).Take(4).ToString();
                if (Parse(eCommand.ND, args.ReceiveData) == E1.OK) {
                    double value = (double)BitConverter.ToInt32(args.ReceiveData.ToArray().Skip(8).Take(6).ToArray(), 0) / 10000;
                    Log.V("Parsed Value : " + value.ToString("F3"));
                    _HeightValue = value;
                    OnMeasured.Execute(value);
                }
            }
        }

        public int Deactivate()
        {
            _IsAutoTransmitOn = false;

            return Close();
        }

        private void SetReceiveString()
        {
            _ReceiveString = ConvertByteToString(_ByteReceivePacket);
            _ByteReceivePacket = null;
            _ObservableReceiveString.OnNext(_ReceiveString);
        }

        //public int Disconnect()
        //{
        //    if ((bool)IsConnected()) {
        //        return Close();
        //    }
        //    _IsCommError = false;
        //    IsCommError = false;
        //    return E1.OK;
        //}


        private void OnForcedCloseEvent(object sender, string e)
        {
            _IsCommError = true;
        }

        private void OnExceptionEvent(object sender, Exception e)
        {
            _IsCommError = true;
        }

        public int ChangeWriteMode()
        {
            string msg = CreatePacket(eCommand.R0);
            if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) == E1.OK) {
                Log.E($"CmdWriteModeChange Error");
                return E2.INTERNAL_ERROR;
            }

            return Parse(eCommand.R0, recieveData);
        }

        public int SetLed(bool isOn)
        {
            string msg = CreatePacket(eCommand.LC, isOn);
            if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) != E1.OK) {
                Log.E($"LedOn Error");
                return E2.INTERNAL_ERROR;
            }

            return Parse(eCommand.LC, recieveData);
        }

        public int Measure(eChannel channel, out double value)
        {
            if (_IsAutoTransmitOn) {
                value = _HeightValue;
                return E1.OK;
            } else {
                value = 0;
                string msg = CreatePacket(channel, eCommand.MS);
                if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) != E1.OK) {
                    return E2.INTERNAL_ERROR;
                }

                return Parse(eCommand.MS, recieveData, out value);
            }
        }

        public int MeasureAll(out List<double > SensorValue)
        {
            SensorValue = null;
            return E1.OK;
        }

        public int SetZero(eChannel channel, bool isSet = true)
        {
            string msg = CreatePacket(channel, eCommand.ZS, isSet);
            if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) == E1.OK) {
                Log.E($"Set Zero Error. Set Value = {isSet}");
                return E2.INTERNAL_ERROR;
            }

            return Parse(eCommand.ZS, recieveData);
        }

        ICommand OnMeasured = null;
        public int StartStopAutoTransmit(bool isOn, ICommand callback, eChannel channel = eChannel.CH0)
        {
            if (isOn) {
                OnMeasured = callback;
                return StartAutoTransmit(channel);
            } else {
                return StopAutoTransmit(channel);
            }
        }

        bool _IsAutoTransmitOn = false;
        public int StartAutoTransmit(eChannel channel)
        {
            var mode = eAutoTrasmitMode.ValueOnly;
            string msg = CreatePacketAutoTransmitStart(channel, eCommand.NS, mode);
            Log.V("Send msg : " + msg);
            if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) != E1.OK) {
                Log.E($"Start Auto Transmit Error. Set Value = {mode.ToString()}");
                return E2.INTERNAL_ERROR;
            }

            var ret = Parse(eCommand.NS, recieveData);
            if (ret == E1.OK) {
                _IsAutoTransmitOn = true;
            } else {
                Log.E("Failed to Start Auto Transmit : " + ret);
            }

            return ret;
        }

        public int StopAutoTransmit(eChannel channel)
        {
            string msg = CreatePacket(eCommand.NT);
            if (SendAndRecieve(msg, out byte[] recieveData, TIME_OUT) != E1.OK) {
                Log.E($"Stop Auto Transmit Error");
                return E2.INTERNAL_ERROR;
            }

            var ret = Parse(eCommand.NT, recieveData);
            if (ret != E1.OK) {
                Log.E("Failed to Stop Auto Transmit : " + ret);
            }
            _IsAutoTransmitOn = false;

            return ret;
        }

        public enum eAutoTrasmitMode
        {
            ValueOnly = 0,
            ValueResult,
            ValueJudge,
            ValueResultJudge,
            CountValue,
            CountValueResult,
            CountValuejudge,
            CountValueResultJudge,
        }

        private string CreatePacketAutoTransmitStart(eChannel channel, eCommand command, eAutoTrasmitMode mode)
            => $"{command},{(int)mode},10000000\r";       //

        private string CreatePacket(eChannel channel, eCommand command, bool isOn)
            => $"{command},{(isOn ? 1 : 0)},{(int)channel + 1}\r";
        private string CreatePacket(eChannel channel, eCommand command)
            => $"{command},0,{(int)channel + 1}\r";
        private string CreatePacket(eCommand command, bool isOn)
            => $"{command},{(isOn ? 1 : 0)}\r";
        private string CreatePacket(eCommand command)
            => $"{command}\r";

        private int Parse(eCommand command, byte[] receiveData)
            => Parse(command, receiveData, out double result);

        private int Parse(eCommand command, byte[] recieveData, out double result)
        {
            result = 0;
            if (recieveData == null) {
                return E2.UNAVAILABLE; ;
            }
            var response = Encoding.Default.GetString(recieveData);
            Log.V("Recv msg : " + response);

            string[] splits = response.Split(',');
            if (splits.Length < 1) {
                return E2.UNAVAILABLE;
            }

            var cmdStr = splits[(int)eAckField.CMD]?.Substring(0, 2);
            if (!Enum.IsDefined(typeof(eCommand), cmdStr)) {
                Log.E($"Response Command Error : {cmdStr}");
                return E2.UNKNOWN;
            }

            if (cmdStr == eCommand.ER.ToString()) {
                if (!int.TryParse(splits[(int)eNakField.CODE], out int errorCode)) {
                    var errorList = Enum.GetValues(typeof(eErrorCode)).Cast<int>();
                    if (errorList.Contains(errorCode)) {
                        Log.E($"Parse Error. Code : {(eErrorCode)errorCode}");
                    }
                    _LastError = (eErrorCode)errorCode;
                }
                return E2.INTERNAL_ERROR;
            }

            if (cmdStr != command.ToString()) {
                if (_IsAutoTransmitOn) {
                    // continue
                } else if (command == eCommand.NS && cmdStr == eCommand.NT.ToString()) {
                    Log.D($"Received {cmdStr} for Command : {cmdStr}");
                    return E1.OK;
                } else if (command == eCommand.NS && cmdStr == eCommand.ND.ToString()) {
                    Log.E($"Send : {command}, Receive : {cmdStr}, But Continue (Data Received)");
                    return E1.OK;
                } else {
                    Log.E($"Wrong response. Send : {command}, Receive : {cmdStr}");
                    return E2.UNAVAILABLE;
                }
            }

            if (command == eCommand.MS) {
                if (!double.TryParse(splits[(int)eAckField.DATA], out result)) {
                    Log.E($"Measure result parsed Error : {splits[(int)eAckField.DATA]}");
                    return E2.UNAVAILABLE;
                }
            } else if (command == eCommand.ND) {
                // TODO: Implement
            }

            _IsCommError = false;

            return E1.OK;
        }

        protected virtual byte[] ConvertStringToByte(string data)
        {
            return Encoding.Default.GetBytes(data);
        }

        protected string ConvertByteToString(byte[] data)
        {
            return Encoding.Default.GetString(data);
        }

        public int StartStopAutoTransmit(bool isOn, ICommand callback)
        {
            return StartStopAutoTransmit(isOn, callback, eChannel.CH0);
        }

        public int SetZeroShift(eChannel channel)
        {
            return E1.OK;
        }

        public int SetZeroShiftReset(eChannel channel)
        {
            return E1.OK;
        }
        public int Reset(eChannel channel)
        {
            return E1.OK;
        }
    }
}