PhysicalDevice/Machine/HanQing/DIOS.Dev.Mech.HanQing3D/DIOS.Dev.Mech.HanQing3D.hpp

#pragma once
#include <string>
#include <deque>
#include "DIOS.Dev.IODevice.Detail.hpp"
//#include "DiosDevThread.h"
#include "DiosThread.h"
#include "IODeviceWithSCF.tlh"
#include "IODeviceWithSCF.tli"
#include "DIOS.Dev.MSGMould.hpp"
#include "DIOS.Dev.MECH.Mould.hpp"
//#include "ATLComTime.h"
#include "DeliverModule.h"

#define Dios_V3 0
#if Dios_V3
#include "LogicClient.h"
#endif // Dios_V3

#ifdef DIOSDEVMECHOTCSTITCH_EXPORTS
#define _DIOSDEVMECHOTCSTITCH_API __declspec(dllexport)
#else
#define _DIOSDEVMECHOTCSTITCH_API __declspec(dllimport)
#endif

namespace nsSerialGPM = DIOS::Dev::MODLE::SerialGPM;
enum OTC_MG_REGULATION_LEVEL { //故障等级
	REG_ERRO,
	REG_WARN
};
typedef enum _HAND_SWITCH {
	HAND_OFF,
	HAND_DWON1,
	HAND_DWON2,
	HAND_MAX
}HAND_SWITCH;

struct Axis
{
	enum AxisState {
		AXIS_STOP,
		AXIS_MOVE
	};
	Axis(string name = "", AxisState state = AXIS_STOP) : m_strAxisName(name), m_nAxisState(state){};
	string GetName() { return m_strAxisName; };
	AxisState GetState() { return m_nAxisState; };
	void SetState(AxisState state) { m_nAxisState = state; };
	void SetState(int state) { m_nAxisState = (AxisState)state; };
	int GetPosition() { return m_nPosition; };
	void SetPosition(int pos) { m_nPosition = pos; };
private:
	string m_strAxisName;
	AxisState m_nAxisState{ AXIS_STOP };
	int m_nPosition{ 0 };

};
#define AxisCount 4

namespace DIOS::Dev::Detail::MECH
{
	using cbFun = std::function <void(char*, int)>;
	struct tFrameMapItem
	{
		cbFun m_fFun;                             //处理函数 
		tFrameMapItem();
		tFrameMapItem(cbFun f);
		tFrameMapItem& operator =(const tFrameMapItem& value);
	};
	static const int TIMEOUTVALUE = 100;
	struct tTomoResult
	{
		float nAngle{ 0 };
		float nHeight{ 0 };
		tTomoResult() :nAngle(0), nHeight(0) {}
		tTomoResult(float angle, float height) :nAngle(angle), nHeight(height){}
	};

//-----------------------------------------------------------------------------
//		HanQing3DDevice
//-----------------------------------------------------------------------------

	class _DIOSDEVMECHOTCSTITCH_API HanQing3DDevice : public IODeviceWithSCF <IODeviceDetail>, public MECHMould
	{
		using super = IODeviceWithSCF <IODeviceDetail>;
		using superMech = MECHMould;

	public:
		HanQing3DDevice(std::shared_ptr <IOEventCenter>  center, nsSCF::SCF SCF,string configfile="");
		~HanQing3DDevice();
		//上层继承
		virtual std::string GetGUID() const override;

		RET_STATUS RefreshData();

		//串口处理层
		static nsSerialGPM::CDeliverModule m_tDelivermodule;
		int m_nCMDType_WaitTime{ 0 };
		int m_nCMDType_HB{ 0 };
		int m_nCMDType_WaitACK{ 0 };
		static void __stdcall ProcessClientData(const char* pData, unsigned long DataLength, void* lparam);
		static void __stdcall WriteLog(const char* pData, nsSerialGPM::LOG_V2_LEVEL level);
		RET_STATUS HWSendWaittimeCMD(char* strCommand, int lengh, int headLengh = 3);
		RET_STATUS HWSendHBCMD(char* strCommand, int lengh, int headLengh = 3);
		RET_STATUS HWSendWaitACKCMD(char* strCommand, int lengh, int headLengh = 3);
		//检查信息接口
		virtual RET_STATUS SetStudyInfo(ResDataObject& pParam) override;
		virtual RET_STATUS SetViewInfo(ResDataObject& pParam)override;
		virtual RET_STATUS SetPatientInfo(ResDataObject& pParam) override;
		//系统指令
		virtual RET_STATUS Reset()override; //重置错误
		virtual RET_STATUS SetTechParamsInfo(ResDataObject& pParam) override;
		virtual RET_STATUS SetPositionNumber(int pn) override;
		virtual RET_STATUS SetSID(float value) override;
		virtual RET_STATUS SetSOD(float value) override; 
		virtual RET_STATUS MoveToHome(string& value) override;
		virtual RET_STATUS MoveMech(string& value) override;
		virtual RET_STATUS StopMech(string& value) override;
		virtual RET_STATUS SetGrid(AttrKey::MECH_GRIDSTATE GridState) override;
		virtual RET_STATUS SetAutoTracking(int nAutoTracking) override;
		//3D运动基本接口
		virtual RET_STATUS SetTomoEnable(bool enable) override;
		virtual RET_STATUS SetTomoExpMode(string& value) override;
		virtual RET_STATUS SetTomoTechnical(string& value) override;
		virtual RET_STATUS GetTomoResults(std::string& result) override;
		//拼接相应接口
		virtual RET_STATUS BeginStitching() override;
		virtual RET_STATUS InitStitching() override;
		virtual RET_STATUS EndStitching() override;
		virtual RET_STATUS SetupStitching(string& value) override;
		virtual RET_STATUS AcceptStitchingImage() override;
		virtual RET_STATUS RejectStitchingImage() override;
		virtual RET_STATUS CancelStitching() override;
		virtual RET_STATUS CompleteStitching() override;
		virtual RET_STATUS NewExtraView() override;
		virtual RET_STATUS RepeatStitching() override;
		virtual RET_STATUS SetAutoPosiitonNo(int nPN) override;
		//牛头
		virtual RET_STATUS SetExpEnable(bool nExpEnabled) override;
		virtual RET_STATUS SetWS(int nWS) override;
		virtual RET_STATUS SetKV(int nKV) override;
		virtual RET_STATUS SetMA(float fMA) override;
		virtual RET_STATUS SetMS(float fMS) override;
		virtual RET_STATUS SetMAS(float fMAS) override;
		virtual RET_STATUS SetFO(int nFO) override;
		virtual RET_STATUS SetTechMode(int nET) override;
		virtual RET_STATUS SetAECField(int nAECFieldSel) override;
		virtual RET_STATUS SetDensity(float nAECDensity) override;
		virtual RET_STATUS SetBodySize(string strSize) override;
		//悬吊特有
		RET_STATUS StopAllAxis();
		RET_STATUS MoveToRelativeDistance(int axisNum, int distance);
		RET_STATUS MoveToPositionNumber(int axisNum, int PosNum);
		RET_STATUS GetAllAxisPosition();
		RET_STATUS SetAxisPositionNumber(int axisNum, int xPos, int yPos, int zPos, int rPos);

#if Dios_V3
		//V3新方法
		LogicClient* m_pSynClient;    //订阅SYN调用端
#endif
		bool SetFunToOtherUnit(const char* Signal, int SWstatus);

		static int  m_iLoopTime; //循环间隔时间（毫秒）
		Axis MechStatus[AxisCount]{ {"X"}, {"Y"}, {"Z"}, {"R"} };//4个轴[位置,运动状态]
		HANDLE m_hExitEvent;//退出事件
		HANDLE m_hMoveBeginEvent;//开始移动事件
		
	private:
		//错误上报
		std::unique_ptr<nsDetail::MSGUnit> m_MSGUnit;
		HANDLE m_pHardwareStatusThread; //轮询线程句柄
		bool StartHardwareStatusThread();				//启动轮询线程
		static DWORD HardwareStatusThread(LPVOID pParam); //定时查询状态信息
		RET_STATUS  HWSend(const char* strCommand, int lengh, bool reSend = false, int nTimeOut = TIMEOUTVALUE); //指令发送接口
		void OnCallBack(); //处理指令回调函数
		void Register(); //注册对外提供的属性、方法
		void FireNotify(std::string key, std::string context);	 //向上层上报消息
		void FireNotify(std::string key, const int context);	 //向上层上报消息
		void FireNotify(std::string key, const float context);	 //向上层上报消息
		void FireErrorMessage(const bool Act, const int Code, const char* ResInfo = ""); //上报错误消息
		void FireWarnMessage(const bool Act, const int Code, const char* ResInfo = ""); //上报告警消息

	protected:
		ResDataObject         m_MechConfig;
		map<int, tTomoResult> m_mTomoResult;//TOMO每张图的位置信息
		int                   m_nFPDLengh{ 43 };//探测器长度
		//拼接计划使用
		int                   m_nMinAngle{ -150 };//标装-170~170，球管旋转90度是水平正对立柱
		int                   m_nMaxAngle{ 150 };
		int                   m_nMinHeight{ 22 };//标装20~200，球管中心是最低22，最高198
		int                   m_nMaxHeight{ 198 };
		//发生器参数记录
		int                   m_nWS{ 0 };
		int                   m_nKV{ 0 };
		int                   m_fMA{ 0 };
		int                   m_fMS{ 0 };
		int                   m_fMAS{ 0 };
		int                   m_nFocus{ 0 };
		int                   m_nET{ 0 };
		int                   m_nAECField{ 0 };
		int                   m_nAECFilm{ 0 };
		int                   m_nAECDensity{ 0 };
		int                   m_nBodySize{ 0 };

	};
}

//-----------------------------------------------------------------------------
//		DEMODriver
//-----------------------------------------------------------------------------

namespace DIOS::Dev::Detail::MECH
{
	class _DIOSDEVMECHOTCSTITCH_API HanQing3DDriver : public IODriverWithSCF <DriverMould>
	{
		using super = IODriverWithSCF <DriverMould>;
		ResDataObject m_GenConfig;
	public:
		HanQing3DDriver();
		virtual ~HanQing3DDriver();

		virtual void Prepare() override;
		virtual bool Connect() override;
		virtual void Disconnect() override;
		virtual bool isConnected() const override;

		virtual void Dequeue(const char* Packet, DWORD Length) override;
		virtual void FireNotify(int code, std::string key, std::string content) override;

		virtual auto CreateDevice(int index)->std::unique_ptr <IODevice> override;

		virtual std::string DriverProbe() override;
		virtual std::string GetResource() override;
		virtual std::string DeviceProbe() override;

		virtual bool GetDeviceConfig(std::string& Cfg) override;
		virtual bool SetDeviceConfig(std::string Cfg) override;
		HanQing3DDevice* m_pDriGenDev;// = nullptr;
	private:
		static PACKET_RET callbackPackageProcess(const char* RecData, DWORD nLength, DWORD& PacketLength);
		//for webconfig
		ResDataObject m_DeviceConfigSend;
		ResDataObject m_DeviceConfig;
		string g_strAppPath;
		ResDataObject m_ConfigAll;			//存储当前的配置，用于修改配置时写回文件
		ResDataObject m_Configurations;		//存储当前配置中“CONFIGURATION”节点的内容
		std::unique_ptr <ResDataObject> m_pAttribute;
		std::unique_ptr <ResDataObject>  m_pDescription;
		bool SaveConfigFile(bool bSendNotify);
		bool GetDeviceConfigValue(ResDataObject config, const char* pInnerKey, int nPathID, string& strValue);
		bool SetDeviceConfigValue(ResDataObject& config, const char* pInnerKey, int nPathID, const char* szValue);
	};
}