GrpcPrint/PrintS/Controller/Controller.cpp

#include "Controller.h"
#include "../Purifier/XTPurifier.h"
#include "../Purifier/HBD3Purifier.h"
#include "../camera/GalaxyCamera.h"
#include "../camera/OPTCamera.h"
//#include "../Purifier/G4Purifier.h"
#include "../Purifier/M1Purifier.h"
#include "../PLC/SignalService.h"

Controller::Controller()
	: m_Machine(nullptr)
	, m_CoreCommunication(nullptr)
	, m_Axis(nullptr)
	, m_StateCtrlWrapper(nullptr)
    , m_SysParamWrapper(nullptr)
    , m_AxisRecordWrapper(nullptr)
    , m_SignalStateWrapper(nullptr)
	, m_sendTdExitFlag(false)
	, m_reg(nullptr){


}


Controller::~Controller() {
	StopSend();

	m_CoreCommunication->Shutdown();
	DELP(m_CoreCommunication);
	DELP(m_Axis);
	DELP(m_StateCtrlWrapper);
	DELP(m_SysParamWrapper);
	DELP(m_AxisRecordWrapper);
	DELP(m_SignalStateWrapper);

	if (m_ComServer) m_ComServer->Shutdown();
	DELP(m_ComServer);
	DELP(m_RemoteClient);
	DELP(m_MachineCtrl);
	DELP(m_ScannerCtrl);

	DELP(m_Purifier);
	DELP(m_reg);
	
	BaseCtrl::SUninit();
}




void Controller::Init(){
	BaseCtrl::SInit();
	m_jobController.SInit();

	m_CoreCommunication = new CoreCommunication();
	m_CoreCommunication->SetIOCfgWrapper(ConfigManager::GetInstance()->GetIoCfgWrapper());
	m_CoreCommunication->SetSysParamWrapper(m_SysParamWrapper);
	m_CoreCommunication->SetPLCAxis(m_Axis);
	m_CoreCommunication->SetAlarmStateWrapper(m_SignalStateWrapper);
	m_CoreCommunication->SetAxisRecordWrapper(m_AxisRecordWrapper);
	m_CoreCommunication->Init();
	m_CoreCommunication->Startup();

	m_SysParamWrapper = new SysParamWrapper;
	m_SysParamWrapper->Init(m_CoreCommunication);
	m_StateCtrlWrapper = new StateCtrlWrapper;
	m_StateCtrlWrapper->Init(m_CoreCommunication);
	m_AxisRecordWrapper = new AxisRecordWrapper;
	m_AxisRecordWrapper->Init(m_CoreCommunication);

	m_SignalStateWrapper = new SignalStateWrapper();
	m_Machine = ConfigManager::GetInstance()->GetMachine();
	m_Machine->InitSignal(m_SignalStateWrapper, m_CoreCommunication);
	//m_Machine->InitSysParam(m_SysParamWrapper, m_CoreCommunication);
	m_Axis = new PLCAxis(m_SysParamWrapper, m_StateCtrlWrapper);
	m_Machine->SetAxisAndSignal(m_SysParamWrapper, m_AxisRecordWrapper, m_Axis);

	SignalService::GetInstance().SetSignalStateCtrl(m_SignalStateWrapper);

	m_MachineCtrl = new MachineCtrl();
	m_MachineCtrl->Init(m_CoreCommunication, m_SysParamWrapper, m_SignalStateWrapper, m_Axis);
	
	m_Machine->SetMachineCtrl(m_MachineCtrl);
	m_MachineCtrl->MachineStartup();

	m_MachineCfg = ConfigManager::GetInstance()->GetMachineCfg();
	m_ComServer = new ComServer();  //辅机服务
	m_ComServer->Init();

	m_ScannerCtrl = new ScannerCtrl(/*m_ServoManager*/);
	m_ScannerCtrl->SetJobController(&m_jobController);
	m_ScannerCtrl->Init();
	m_ScannerCtrl->SetScannerPowerClient(m_ComServer->m_ScannerPowerClient);

	m_ComServer->m_ScannerPowerClient->Init();
	m_ComServer->Startup();

	m_RemoteClient = new RemoteClient(nullptr, nullptr/*m_ScannerCtrl*/);
	m_RemoteClient->Init();
	//m_RemoteClient->SetCamera( nullptr  /*m_Camera*/);
	if (m_RemoteClient->GetConfig()->m_Enable->GetValue()) {
		m_RemoteClient->StartRemote();
	}
	m_ScannerCtrl->SetRemoteClient(m_RemoteClient);

	m_ScannerCtrl->SetMachineCtrl(m_MachineCtrl);

	switch (m_MachineCfg->m_PulifierType->GetValue())
	{
		//case PurifierTypeCfg::HBD_PURIFIER_1: {
		//	m_Purifier = new HBD1Purifier(m_GTSController->GetDacState(),m_ScannerCtrl);
		//	
		//}break;
	case PurifierTypeCfg::XT: {
		m_Purifier = new XTPurifier(m_ScannerCtrl);
	}break;
	case PurifierTypeCfg::HBD_PURIFIER_3: {
		m_Purifier = new HBD3Purifier(m_ScannerCtrl);
	}break;
	case PurifierTypeCfg::M1: {
		m_Purifier = new M1Purifier(m_ScannerCtrl);
	}break;
		//case PurifierTypeCfg::HBD_PURIFIER_2: {
		//	m_Purifier = new HBD2Purifier(m_GTSController->GetDacState(), m_ScannerCtrl);
		//}break;
	default:
		m_Purifier = new XTPurifier(m_ScannerCtrl);
	}
	m_Purifier->Init();

	m_reg = new Registration();

	m_ExtCfg = ConfigManager::GetInstance()->GetExtCfg();
	if (m_ExtCfg->m_CameraType == ExtCfg::Galaxy) {
		m_Camera = new GalaxyCamera();
	}
	else if (m_ExtCfg->m_CameraType == ExtCfg::OPT) {
		m_Camera = new OPTCamera();
	}
	else {
		m_Camera = new GalaxyCamera();
	}
	if (m_ExtCfg->m_UseCamera) {
		if (m_Camera->Init()) {
			m_Camera->StartUp();
		}
	}

	m_jobController.StartLoadPrepareJob();
} 


void Controller::StartSend() {
	StopSend();


	m_sendTdExitFlag = false;
	m_sendParamThread = std::thread([this] {
		while (!m_sendTdExitFlag) {
			m_ComServer->SendToClients();
			m_Purifier->SendToClients();

			//轴参数
			m_Axis->m_Mold->GetState()->SendToClients(AXISMOLD);
			m_Axis->m_MoldSlave->GetState()->SendToClients(AXISMOLDSLAVE);
			m_Axis->m_Clean->GetState()->SendToClients(AXISCLEAN);
			m_Axis->m_CleanSlave->GetState()->SendToClients(AXISCLEANSLAVE);
			m_Axis->m_Load->GetState()->SendToClients(AXISLOAD);
			m_Axis->m_Arm->GetState()->SendToClients(AXISMARM);
			m_Axis->m_Supply->GetState()->SendToClients(AXISMSUPPLY);
			m_Axis->m_Ele->GetState()->SendToClients(AXISELE);
			m_Axis->m_EleSlave->GetState()->SendToClients(AXISELESLAVE);

			//扫描参数
			static int count = 0;
			++count;
			if (count == 2) {  //发送频率降低
				m_ScannerCtrl->SendToClients();
				m_Camera->SendToClients();
				count = 0;
			}

			this_thread::sleep_for(std::chrono::milliseconds(250));
		}
	});
	

}

void Controller::StopSend() {
	m_sendTdExitFlag = true;
	if (m_sendParamThread.joinable()) m_sendParamThread.join();

}


void Controller::UpdateFile(const string& filePath) {
	m_jobController.LoadJob(filePath);
}