PhysicalDevice/Machine/HanQing/DIOS.Dev.Mech.HanQingNormal/DIOS.Dev.Mech.HanQingNormal.cpp

#include "stdafx.h"
#include <assert.h>
#include <cmath>
#include "Helper.JSON.hpp"
#include "DIOS.Dev.Mech.HanQingNormal.hpp"
#include "PacketAnalizer.h"
#include "Generator.BasicMoulds.hpp"
#define MY_PI 3.14159265358979323846

using namespace DIOS::Dev::Detail::MECH;
namespace nsMech = DIOS::Dev::Detail::MECH;
namespace nsGEN = DIOS::Dev::Detail::Generator;

//关闭无关警告
#pragma warning (disable:4244)  // warning C4244: “初始化”: 从“double”转换到“float”，可能丢失数据
#pragma warning (disable:4305)  // warning C4305: “参数”: 从“double”到“float”截断
#pragma warning (disable:4267)  // warning C4267 : “初始化”: 从“size_t”转换到“int”，可能丢失数据
#pragma warning (disable:4805)  // warning C4805: “!=”: 在操作中将类型“bool”与类型“int”混合不安全


//设置相关常量
#define HanQingNormal_TIMEOUTVALUE  100
#define HanQingNormal_LoopDefHBTime 500
static const int msTimeOut_Lock = 200; //通讯接口锁定时间
#define HanQingNormal_Com_NormalLen 128
//#define HanQingNormal_STX           0x02
#define HanQingNormal_ETX           0x03
//DiosV3消息
#define Dios_V3 1
#define HanQingNormal_GenClientName  "HanQing_Gen"
#define HanQingNormal_ClientTimeOut 5000

Log4CPP::Logger* mLog::gLogger = nullptr;
static bool glo_StitchWarningFlag{ false };

/*
*串口/以太网通信帧格式:
<Command><Data><ETX><Checksum>
解释:
<Command>  = 2 ASCII 命令名称
<Data>  = n ASCII 命令参数
<ETX>  = 1 ASCII 0x03 帧尾
<CSUM> = 校验和

串口通信设置:
. 9600 波特率
. No Parity
. 8 Data Bits
. 1 Stop Bit
. 无握手过程
*/
//生成命令校验和:cmdData 为 <CMD> [<,> <ARG>]...<,> 其长度要多出3个字符用于存放 CSUM、ETX
char ComputeCheckSum(char* cmdData, int& size)
{
	if (size + 2 >= HanQingNormal_Com_NormalLen)
	{
		return 0x00;
	}
	cmdData[size++] = HanQingNormal_ETX;
	int AsciiSum = 0;
	for (int i = 0; i < size; i++) //每字节相加
	{
		AsciiSum += cmdData[i];
	}
	cmdData[size++] = (char)AsciiSum;
	//mLog::Debug("ComputeCheckSum:[0x{$:x}]", AsciiSum);
	return (char)AsciiSum;
}

//指令操作关联结构
nsMech::tFrameMapItem::tFrameMapItem()
{
	m_fFun = NULL;
}
nsMech::tFrameMapItem::tFrameMapItem(cbFun f)
{
	m_fFun = f;
}
nsMech::tFrameMapItem& nsMech::tFrameMapItem::operator =(const tFrameMapItem& value)
{
	m_fFun = value.m_fFun;
	return *this;
}
//响应操作对照表
auto cmdCmpFun = [](const string& a, const string& b) {
	int minLengh = a.length() < b.length() ? a.length() : b.length();
	return a.compare(0, minLengh, b, 0, minLengh) < 0;
};
static std::map <string, tFrameMapItem, decltype(cmdCmpFun)> arFrame(cmdCmpFun);
//查找响应操作对照表执行对应操作

static char CMDData[HanQingNormal_Com_NormalLen] = { 0 };
static bool DecodeFrame(const char* strFrame, int length)
{
	auto found = arFrame.find(strFrame);//此处pr用来在arFrame中找到对于的包头
	if (found == arFrame.end())
	{
		return false;
	}
	string 
	memset(CMDData, 0, HanQingNormal_Com_NormalLen - 1);
	int cmdHead = found->first.length();
	memcpy(CMDData, strFrame + cmdHead, length - cmdHead - 2);
	found->second.m_fFun(CMDData, length - cmdHead);//第二个参数 不重要

	memcpy(CMDData, strFrame, cmdHead);
	arFrame["FFF"].m_fFun(CMDData,3);

	return true;
}
//指令拆分
void StringSpliTokeyValue(string& strdata, const char* delimiter, string& key, string& value)
{
	std::size_t findPos = strdata.find(delimiter);
	if (findPos != string::npos)
	{
		key = strdata.substr(0, findPos);
		value = strdata.substr(findPos + 1, strdata.length() - findPos);
	}
}
void DataSpliToMap(const char* strdata, const char* delimiter, map<string, string>& arry)
{
	string strtemp = strdata;
	string strName = strtemp;
	std::size_t oldPos = 0;
	std::size_t findPos = strtemp.find(delimiter);
	while (findPos != string::npos)
	{
		strName = strtemp.substr(oldPos, findPos - oldPos);
		{
			string key, value;
			StringSpliTokeyValue(strName, ":", key, value);
			arry[key] = value;
		}
		if (findPos != strtemp.length())
		{
			oldPos = findPos + 1;
			findPos = strtemp.find(delimiter, oldPos);
			if (findPos == string::npos)
			{
				strName = strtemp.substr(oldPos, strtemp.length() - oldPos);
				break;
			}
		}
		else
		{
			break;
		}
	}
	strName.erase(strName.length()-2);
	{
		string key, value;
		StringSpliTokeyValue(strName, ":", key, value);
		arry[key] = value;
	}
}

//-----------------------------------------------------------------------------
//		HanQingNormalDevice
//-----------------------------------------------------------------------------
int nsMech::HanQingNormalDevice::m_iLoopTime = HanQingNormal_LoopDefHBTime;

nsMech::HanQingNormalDevice::HanQingNormalDevice(std::shared_ptr <IOEventCenter>  center, nsSCF::SCF SCF, string configfile /*= ""*/):super(center, SCF)
{
	assert(EventCenter);
	string version;
	if (GetVersion(version, hMyModule))
		mLog::Debug("\n===============log begin : version:{$} ===================\n", version.c_str());
	else
		mLog::Debug("\n===============log begin : version:0.0.0.0 ===================\n");
	ResDataObject Conftemp;
	if (!configfile.empty())
	{
		Conftemp.loadFile(configfile.c_str());
		m_MechConfig = Conftemp["CONFIGURATION"];
		TransJsonText(m_MechConfig);
	}

	//Mechanical
	m_MECHUnit.m_MechState.reset(new MechStateMould(AttrKey::MACHINE_STATUS_STANDBY, AttrKey::MACHINE_STATUS_SHUTDOWN, AttrKey::MACHINE_STATUS_SERVICE, 1));
	m_MECHUnit.m_SID.reset(new SIDMould(123.5, 0, 10000, 1));
	m_MECHUnit.m_TubeAngle.reset(new TubeAngleMould(0, -120, 120, 1));
	float minHeight = 64.4, maxHeight = 170.2;//标装37.1~174.7，V2配置46.5~170.2，球管中心是最低64.4，最高210.9
	if (m_MechConfig.GetKeyCount("MechanicalHeight") > 0)
	{
		if (m_MechConfig["MechanicalHeight"].GetKeyCount("min") > 0)
			minHeight = m_MechConfig["MechanicalHeight"]["min"];
		if (m_MechConfig["MechanicalHeight"].GetKeyCount("max") > 0)
			maxHeight = m_MechConfig["MechanicalHeight"]["max"];
		mLog::Debug("config:MechanicalHeight[min:{$},max:{$}]", minHeight, maxHeight);
	}
	m_MECHUnit.m_TubeHeight.reset(new TubeHeightMould(0, minHeight, maxHeight, 1));
	m_MECHUnit.m_FID.reset(new FIDMould(0, minHeight, maxHeight, 1));
	//拼接
	m_MECHUnit.m_StitchingState.reset(new StitchingStateMould(AttrKey::STITCHSTATE_INIT, AttrKey::STITCHSTATE_ERR, AttrKey::STITCHSTATE_MAX, 1));
	m_MECHUnit.m_StitchHeight.reset(new StitchHeightMould(0, minHeight, maxHeight, 1));
	m_MECHUnit.m_StitchLength.reset(new StitchLengthMould(0, 0, 1000, 1));
	m_MECHUnit.m_StitchOverLap.reset(new StitchOverLapMould(0, 0, 1000, 1));
	m_MECHUnit.m_StitchPID.reset(new StitchPIDMould(0, 0, 1000, 1));
	m_MECHUnit.m_StitchDirection.reset(new StitchDirectionMould(AttrKey::STITCHDIR_NULL, AttrKey::STITCHDIR_NULL, AttrKey::STITCHDIR_MAX, 1));
	m_MECHUnit.m_StitchType.reset(new StitchTypeMould(AttrKey::STITCHTYPE_NULL, AttrKey::STITCHTYPE_NULL, AttrKey::STITCHTYPE_MAX, 1));
	m_MECHUnit.m_StitchStepLength.reset(new StitchStepLengthMould(10, 0, 1000, 1));
	m_MECHUnit.m_FPDPosition.reset(new FPDPositionMould(0, 0, 100, 1));
	m_MECHUnit.m_TotalImageCount.reset(new TotalImageCountMould(0, 0, 100, 1));
	m_MECHUnit.m_CurrentImageNumber.reset(new CurrentImageNumberMould(100, -1, 100, 1));
	if (m_MechConfig.GetKeyCount("FPDLengh") > 0)
	{
		m_nFPDLengh = m_MechConfig["FPDLengh"];
		mLog::Debug("config:FPDLengh[{$}]", m_nFPDLengh);
	}
	//上报错误消息
	m_MSGUnit.reset(new nsDetail::MSGUnit(center, MechUnitType));

	//串口数据处理类初始化
	m_tDelivermodule.InitSendModle(this ,&ProcessClientData, WriteLog); 
	m_nCMDType_WaitTime = m_tDelivermodule.SetPriority(false, false, false, true, 100);
	m_nCMDType_WaitACK = m_tDelivermodule.SetPriority(false, false, 3, false, 0, true, 1000);
	mLog::Debug("m_nCMDType_WaitTime[{$}] m_nCMDType_WaitACK[{$}]", m_nCMDType_WaitTime, m_nCMDType_WaitACK);

	//将机架可以对外提供的指令注册集进行补充
	Register();
	//配置响应操作对照表
	OnCallBack();
	//设置初始参数
	RefreshData();

	m_hExitEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
	m_hMoveBeginEvent = CreateEvent(NULL, FALSE, FALSE, NULL);
	//启动硬件状态轮询进程
	StartLoopThread();


}
nsMech::HanQingNormalDevice::~HanQingNormalDevice()
{
	if (m_pGenClient)
	{
		if (!m_pGenClient->IsClosed())
		{
			m_pGenClient->Close();
		}
		delete m_pGenClient;
		m_pGenClient = nullptr;
	}
	ResetEvent(m_hMoveBeginEvent);
	SetEvent(m_hExitEvent);
	Sleep(m_iLoopTime);
	m_tDelivermodule.EixtSendModle();
	mLog::Debug("\n===============log end ===================\n");
}
std::string HanQingNormalDevice::GetGUID() const 
{
	mLog::Debug("\n===============GetGUID : {$} ===================\n", StitchMechUnitType);
	return StitchMechUnitType;
}

RET_STATUS nsMech::HanQingNormalDevice::RefreshData()
{
	GetUnitStatus();
#if Dios_V3
	m_pGenClient = new LogicClient(HanQingNormal_GenClientName, m_strCurTransaction, "NSQ", false);
	if (m_pGenClient->Open("DIOS/DEVICE/Generator", ACTION + NOTIFY_MSG + NOTIFY_UPDATE,"", HanQingNormal_ClientTimeOut))
	{
		mLog::Debug("Dios_V3 Create {$} Client success", HanQingNormal_GenClientName);
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/KV");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/MA");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/MS");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/MAS");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/FOCUS");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/TECHMODE");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/AECDENSITY");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/AECFIELD");
		m_pGenClient->SubScribeTopic("DIOS/DEVICE/Generator/+/+/+/Notify/AECFILM");
	}
	else
	{
		mLog::Debug("Dios_V3 Create {$} Client failed", HanQingNormal_GenClientName);
	}
#endif
	return RET_STATUS::RET_SUCCEED;
}
void nsMech::HanQingNormalDevice::Register()
{
	auto Disp = &Dispatch;

	superMech::RegisterNormalControl(Disp);
	superMech::RegisterStitchingControl(Disp);
	superMech::RegisterExtraScreenControl(Disp);
	superMech::RegisterExamInfo(Disp);

	Disp->Get.Push(m_MSGUnit->GetKey().c_str(), [this](std::string& out) { out = m_MSGUnit->JSGet(); return RET_STATUS::RET_SUCCEED; });
	
	auto fun_SendStitchState = [this](auto in, auto& out)
	{
		FireNotify(AttrKey::STITCHINGSTATE, m_MECHUnit.m_StitchingState->Get());
		return RET_STATUS::RET_SUCCEED;
	};
	Disp->Action.Push("SendStitchState", fun_SendStitchState);
}

void nsMech::HanQingNormalDevice::FireNotify(std::string key, std::string content)
{
	EventCenter->OnNotify(1, key, content);
}
void nsMech::HanQingNormalDevice::FireNotify(std::string key, const int content)
{
	std::string str = std::format("{:d}", content);
	EventCenter->OnNotify(1, key, str);
}
void nsMech::HanQingNormalDevice::FireNotify(std::string key, const float content)
{
	std::string str = std::format("{:f}", content);
	EventCenter->OnNotify(1, key, str);

}

bool nsMech::HanQingNormalDevice::HasErrorMessage()
{
	if (!m_MSGUnit->JSGet().empty())
	{
		return true;
	}
	else if (glo_StitchWarningFlag)
	{
		return true;
	}
	return false;
}

void nsMech::HanQingNormalDevice::FireErrorMessage(const bool Act, const int Code, const char* ResInfo)
{
	string ErrorCode("Mech_ERR_");
	ErrorCode += std::to_string(Code);
	int level = OTC_MG_REGULATION_LEVEL::REG_ERRO;
	if (Act)
	{
		mLog::Error("add {$}:{$}", ErrorCode.c_str(), ResInfo);
		m_MSGUnit->AddErrorMessage(ErrorCode.c_str(), level, ResInfo);
	}
	else
	{
		mLog::Error("del {$}:{$}", ErrorCode.c_str(), ResInfo);
		if (Code == 0)
			m_MSGUnit->DelErrorMessage("0", level, ResInfo);
		else
			m_MSGUnit->DelErrorMessage(ErrorCode.c_str(), level, ResInfo);
	}
}
void nsMech::HanQingNormalDevice::FireWarnMessage(const bool Act, const int Code, const char* ResInfo)
{
	string ErrorCode("Mech_WAR_");
	ErrorCode += std::to_string(Code);
	int level = OTC_MG_REGULATION_LEVEL::REG_WARN;
	if (Act)
	{
		glo_StitchWarningFlag = true;
		mLog::Error("add {$}:{$}", ErrorCode.c_str(), ResInfo);
		m_MSGUnit->AddWarnMessage(ErrorCode.c_str(), level, ResInfo);
	}
	else
	{
		glo_StitchWarningFlag = false;
		mLog::Error("del {$}:{$}", ErrorCode.c_str(), ResInfo);
		m_MSGUnit->DelWarnMessage(ErrorCode.c_str(), level, ResInfo);
	}
}

RET_STATUS nsMech::HanQingNormalDevice::HWSend(const char* strCommand, int lengh, bool reSend, int nTimeOut)
{
	if (!m_SCF)  
		return RET_STATUS::RET_FAILED;

	char strSendCommand[HanQingNormal_Com_NormalLen] = { 0 };
	int copyCode = memcpy_s(strSendCommand, HanQingNormal_Com_NormalLen, strCommand, lengh);
	if (copyCode)
	{
		mLog::Error("copy cmd[{$}][{$}] error[{$}]", strCommand, lengh, copyCode);
		return RET_STATUS::RET_FAILED;
	}
	ComputeCheckSum(strSendCommand, lengh);
	if (strncmp(strSendCommand, "TT?", 3) != 0)
	{
		if (reSend)
		{
			mLog::Debug("==OUT==: [{$}] wait for ACK \n", strSendCommand);
		}
		else
		{
			mLog::Debug("==OUT==: [{$}] \n", strSendCommand);
		}
	}
	int retLength;
	m_SCF.Lock(msTimeOut_Lock)
		.SendPacket(strSendCommand, lengh, nTimeOut, retLength);
	//Sleep(nTimeOut);

	return RET_STATUS::RET_SUCCEED;
}

void HanQingNormalDevice::OnCallBack()
{
	mLog::Debug("Enter OnCallBack");
	auto HWNotProcess = [this](const char* value, int length) -> void
	{
		//mLog::Warn(" This commands didn't need to process!");
		m_tDelivermodule.CheckReceive(value, length);
	};

	auto HW_WS = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				Request.add("P0", 0);
				m_pGenClient->Action(nsGEN::ActionKey::SetValue_WORKSTATION, Request, Response, HanQingNormal_ClientTimeOut);
				mLog::Debug("execute[{$}:{$}] to GEN", nsGEN::ActionKey::SetValue_WORKSTATION, 0);
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_KV = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				if (value[0] == '+')
				{
					m_pGenClient->Action(nsGEN::ActionKey::IncParam_KV, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[IncParam_KV] to GEN");
				}
				else if (value[0] == '-')
				{
					m_pGenClient->Action(nsGEN::ActionKey::DecParam_KV, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[DecParam_KV] to GEN");
				}
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_MA = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				if (value[0] == '+')
				{
					m_pGenClient->Action(nsGEN::ActionKey::IncParam_MA, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[IncParam_MA] to GEN");
				}
				else if (value[0] == '-')
				{
					m_pGenClient->Action(nsGEN::ActionKey::DecParam_MA, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[DecParam_MA] to GEN");
				}
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_MS = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				if (value[0] == '+')
				{
					m_pGenClient->Action(nsGEN::ActionKey::IncParam_MS, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[IncParam_MS] to GEN");
				}
				else if (value[0] == '-')
				{
					m_pGenClient->Action(nsGEN::ActionKey::DecParam_MS, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[DecParam_MS] to GEN");
				}
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_MAS = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				if (value[0] == '+')
				{
					m_pGenClient->Action(nsGEN::ActionKey::IncParam_MAS, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[IncParam_MAS] to GEN");
				}
				else if (value[0] == '-')
				{
					m_pGenClient->Action(nsGEN::ActionKey::DecParam_MAS, Request, Response, HanQingNormal_ClientTimeOut);
					mLog::Debug("execute[DecParam_MAS] to GEN");
				}
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_FO = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				Request.add("P0", value);
				m_pGenClient->Action(nsGEN::ActionKey::SetValue_FOCUS, Request, Response, HanQingNormal_ClientTimeOut);
				mLog::Debug("execute[{$}:{$}] to GEN", nsGEN::ActionKey::SetValue_FOCUS, value);
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_AECField = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				Request.add("P0", value);
				m_pGenClient->Action(nsGEN::ActionKey::SetValue_AECFIELD, Request, Response, HanQingNormal_ClientTimeOut);
				mLog::Debug("execute[{$}:{$}] to GEN", nsGEN::ActionKey::SetValue_AECFIELD, value);
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_AECDensity = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				Request.add("P0", value);
				m_pGenClient->Action(nsGEN::ActionKey::SetValue_AECDENSITY, Request, Response, HanQingNormal_ClientTimeOut);
				mLog::Debug("execute[{$}:{$}] to GEN", nsGEN::ActionKey::SetValue_AECDENSITY, value);
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_Techmode = [this](const char* value, int length) -> void
	{
		if (m_pGenClient != NULL)
		{
			if (!m_pGenClient->IsClosed())
			{
				ResDataObject Request, Response;
				Request.add("P0", value);
				m_pGenClient->Action(nsGEN::ActionKey::SetValue_TECHMODE, Request, Response, HanQingNormal_ClientTimeOut);
				mLog::Debug("execute[{$}:{$}] to GEN", nsGEN::ActionKey::SetValue_TECHMODE, value);
				//switch (atoi(value))
				//{
				//	case 0://MA\MS
				//	{
				//		SetMA(m_fMA);
				//		SetMS(m_fMS);
				//	}break;
				//	case 1://MAS
				//	{
				//		SetMAS(m_fMAS);
				//	}break;
				//	case 2://AEC
				//	{
				//		SetMA(m_fMA);
				//		SetMS(m_fMS);
				//	}break;
				//}
			}
			else
			{
				mLog::Debug("{$} Client is Close", HanQingNormal_GenClientName);
			}
		}
		else
		{
			mLog::Debug("{$} Client is NULL", HanQingNormal_GenClientName);
		}
	};
	auto HW_PatientSize = [this](const char* value, int length) -> void
	{
		string size{"Middle"};
		switch (atoi(value))
		{
			case 1:
			{size = "Small"; }break;
			case 2:
			{size = "Middle"; }break;
			case 3:
			{size = "Large"; }break;
			case 4:
			{size = "Child"; }break;
			default:
				break;
		}
		FireNotify(AttrKey::PATIENTSIZE, size);
	};
	auto HW_Error = [this](const char* value, int length) -> void
	{
		if(length <= 0)
			FireErrorMessage(true,1, value);
		else
			FireErrorMessage(false, 1, value);
	};
	auto HW_Status = [this](const char* value, int length) -> void
	{
		map<string, string> data;
		DataSpliToMap(value,"|", data);
		for (auto item : data)
		{
			if (item.first == "FP")
			{
				int data = atoi(item.second.c_str());
				if (m_MECHUnit.m_StitchingState->Get() == AttrKey::STITCHSTATE_REACH_INIT)
				{
					//给印度发货的机架不带红外定位，DellWork的带
					//if (data == 0)
					//{
					//	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_START))
					//		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_START);
					//	m_MECHUnit.m_strInfo = "Stitch Start";
					//	mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
					//	FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
					//}
					//else
					//{
					//	FireErrorMessage(true,3,"The movement of the mechanical system was interrupted, Please EXIT the current stitching and RE-START the stitching exam");
					//}
				}
				//else
				//{
				//	mLog::Error("stitching:not in [Stitch Standby]");
				//}
			}
			else if (item.first == "FH")//球管的高度值
			{
				float data = atof(item.second.c_str()) / 10.0f;
				if (m_MECHUnit.m_TubeHeight->Update(data))
				{
					mLog::Debug("update TubeHeight[{$}]", data);
					FireNotify(AttrKey::TUBEHEIGHT, data);
				}
			}
			else if (item.first == "FG")//球管的角度
			{
				float data = atof(item.second.c_str());
				if (m_MECHUnit.m_TubeAngle->Update(data))
				{
					mLog::Debug("update TubeAngle[{$}]", data);
					FireNotify(AttrKey::TUBEANGLE, data);
				}
			}
			else if (item.first == "FX")//X轴的距离（SID的值）
			{
				float data = atof(item.second.c_str())/10.0f;
				if (m_MECHUnit.m_SID->Update(data))
				{
					mLog::Debug("update SID[{$}]", data);
					FireNotify(AttrKey::SID, data);
				}
			}
			else if (item.first == "FU")//胸片架Bucky的高度值
			{
				float data = atof(item.second.c_str()) / 10.0f;
				if (m_MECHUnit.m_FID->Update(data))
				{
					mLog::Debug("update FID[{$}]", data);
					FireNotify(AttrKey::FID, data);
					if (m_MECHUnit.m_CurrentImageNumber->Get() == 0)
					{
						mLog::Debug("Stitching Check: TubeHeight[current:{$},min:{$},max:{$}]",
									data, m_MECHUnit.m_StitchHeight->GetLimitMin(), m_MECHUnit.m_StitchHeight->GetLimitMax());
						if (m_MECHUnit.m_StitchDirection->Get() == AttrKey::STITCHDIR_TopToBottom)
						{
							if (m_MECHUnit.m_StitchLength->Get() > (data - m_MECHUnit.m_StitchHeight->GetLimitMin()))
							{
								mLog::Debug("StitchLength[{$}] > CurrentHeight[{$}]-MinHeight[{$}]",
											m_MECHUnit.m_StitchLength->Get(), data, m_MECHUnit.m_StitchHeight->GetLimitMin());
								FireWarnMessage(true, 4, "too low.raise the machine height");
							}
							else if (HasErrorMessage())
							{
								FireWarnMessage(false, 0, "clear all Mech error");
							}
						}
						else if (m_MECHUnit.m_StitchDirection->Get() == AttrKey::STITCHDIR_BottomToTop)
						{
							if (m_MECHUnit.m_StitchLength->Get() > (m_MECHUnit.m_StitchHeight->GetLimitMax() - data))
							{
								mLog::Debug("StitchLength[{$}] > MaxHeight[{$}]-CurrentHeight[{$}]",
											m_MECHUnit.m_StitchLength->Get(), m_MECHUnit.m_StitchHeight->GetLimitMax(), data);
								FireWarnMessage(true, 5, "too high,reduce the machine height");
							}
							else if (HasErrorMessage())
							{
								FireWarnMessage(false, 0, "clear all Mech error");
							}
						}
					}
				}
			}
			else if (item.first == "FV")//Y轴的距离
			{
				float data = atof(item.second.c_str()) / 10.0f;
				//wxx
			}
		}
	};
	auto HW_SM = [this](const char* value, int length) -> void
	{
		int status = m_MECHUnit.m_StitchingState->Get();
		if (status >= AttrKey::STITCHSTATE_INIT && status < AttrKey::STITCHSTATE_END)
		{
			int data = atoi(value);
			int status = -1;
			switch (data)
			{
				case 1: //启动运动
				{
					status = AttrKey::STITCHSTATE_MOVING;
					m_MECHUnit.m_strInfo = "Stitch Moving";
				}break;
				case 2: //停止完成
				{
					if (m_MECHUnit.m_CurrentImageNumber->Get() == 0)
					{
						if (!m_bIsBeginFlag)//用于拼接计划
						{
							if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_STANDBY))
								FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_STANDBY);
							m_MECHUnit.m_strInfo = "Stitch Standby";
							mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
							FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
						}
						else
						{
							switch (m_MECHUnit.m_StitchType->Get())
							{
								case AttrKey::STITCHTYPE_AutomaticTranslation:
								case AttrKey::STITCHTYPE_ManualTranslation:
								{}break;
								case AttrKey::STITCHTYPE_AutomaticAngle:
								case AttrKey::STITCHTYPE_ManualAngle:
								{
									if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_READY))
									{
										FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_READY);
									}
									mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
									FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
								}break;
							}
						}
						status = AttrKey::STITCHSTATE_REACH_INIT;
						m_MECHUnit.m_strInfo = "Stitch Reach to the initial position";
					}
					else
					{
						status = AttrKey::STITCHSTATE_REACH_NEXT;
						m_MECHUnit.m_strInfo = "Stitch Reach to the next position";
					}
				}break;
				case 3: //退出拼接模式
				{
					status = AttrKey::STITCHSTATE_CANCEL;
					m_MECHUnit.m_strInfo = "Stitch quit";
				}break;
				case 4: //运动超限停止
				{
					status = AttrKey::STITCHSTATE_ERR;
					m_MECHUnit.m_strInfo = "get error";
					FireErrorMessage(true, 2, "get Mech error");
				}break;
				default:
					break;
			}
			if(m_MECHUnit.m_StitchingState->Update(status))
				FireNotify(AttrKey::STITCHINGSTATE, status);
			mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
			FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
			if (data == 2)
			{
				if (m_MECHUnit.m_CurrentImageNumber->Get() != 0)
				{
					m_MECHUnit.m_strInfo = "Stitch Ready";
					if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_READY))
					{
						Sleep(2000);
						FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_READY);
					}
					mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
					FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
				}
			}
		}
	};
	
	// 有部分前缀是包含关系, 长的包含短的, 因此长的在前面, 短的在后面
	// Device 是个短寿命对象, 而 arFrame 是静态变量 !!!
	// 因此, 在添加到 arFrame 之前, 务必先清零 !!!
	arFrame.clear();
	arFrame["OR"] = tFrameMapItem(HW_WS);
	arFrame["KV"] = tFrameMapItem(HW_KV);
	arFrame["MA"] = tFrameMapItem(HW_MA);
	arFrame["MS"] = tFrameMapItem(HW_MS);
	arFrame["MX"] = tFrameMapItem(HW_MAS);
	arFrame["FO"] = tFrameMapItem(HW_FO);
	arFrame["FI"] = tFrameMapItem(HW_AECField);
	arFrame["FD"] = tFrameMapItem(HW_AECDensity);
	arFrame["ET"] = tFrameMapItem(HW_Techmode);
	arFrame["PS"] = tFrameMapItem(HW_PatientSize);
	arFrame["ER"] = tFrameMapItem(HW_Error);
	arFrame[">TT|"] = tFrameMapItem(HW_Status);
	arFrame["SM"] = tFrameMapItem(HW_SM);
	arFrame["FFF"] = tFrameMapItem(HWNotProcess);//命令格式:校验和错误

}

//串口数据处理类对外接口
void __stdcall nsMech::HanQingNormalDevice::ProcessClientData(const char* pData, unsigned long nDataLength, void* lparam)
{
	HanQingNormalDevice* pCurMech = (HanQingNormalDevice*)lparam;
	pCurMech->HWSend(pData, nDataLength);
}
void __stdcall nsMech::HanQingNormalDevice::WriteLog(const char* pData, nsSerialGPM::LOG_V2_LEVEL level)
{
	switch (level)
	{
		case nsSerialGPM::LOG_V2_FATAL:
		case nsSerialGPM::LOG_V2_ERROR:
			mLog::Error(pData);
			break;
		case nsSerialGPM::LOG_V2_WARNING:
			mLog::Warn(pData);
			break;
		case nsSerialGPM::LOG_V2_DEBUG:
			mLog::Debug(pData);
			break;
		case nsSerialGPM::LOG_V2_INFO:
			mLog::Debug(pData);
			break;
		default:
			break;
	}
}
RET_STATUS nsMech::HanQingNormalDevice::HWSendWaittimeCMD(char* strCommand, int lengh, int headLengh)
{
	return m_tDelivermodule.ProcessCommand(strCommand, lengh, m_nCMDType_WaitTime, headLengh);
}
RET_STATUS nsMech::HanQingNormalDevice::HWSendWaitACKCMD(char* strCommand, int lengh, int headLengh)
{
	return m_tDelivermodule.ProcessCommand(strCommand, lengh, m_nCMDType_WaitACK, headLengh);
}

bool nsMech::HanQingNormalDevice::StartLoopThread()
{
	mLog::Debug("Enter Start HardwareStatus Thread ");
	if (m_pHardwareStatusThread == NULL)
	{
		DWORD m_HardwareStatusID;
		m_pHardwareStatusThread = CreateThread(0, 0, HardwareStatusThread, this, 0, &m_HardwareStatusID);
		if (m_pHardwareStatusThread == NULL)
		{
			mLog::Error("Start HardwareStatus Thread Failed");
			return false;
		}
	}
	mLog::Debug("Enter Start GenStatus Thread ");
	if (m_pGenStatusThread == NULL)
	{
		DWORD m_GenStatusID;
		m_pGenStatusThread = CreateThread(0, 0, GenStatusThread, this, 0, &m_GenStatusID);
		if (m_pGenStatusThread == NULL)
		{
			mLog::Error("Start GenStatus Thread Failed");
			return false;
		}
	}
	return true;
}
DWORD nsMech::HanQingNormalDevice::HardwareStatusThread(LPVOID pParam)
{
	HanQingNormalDevice* pCurMech = (HanQingNormalDevice*)pParam;
	if (pCurMech == NULL)
	{
		return false;
	}
	mLog::Debug("HardwareStatusThread start");
	if ((int)pCurMech->m_MechConfig["loopTime"] >= 0)
	{
		pCurMech->m_iLoopTime = (int)pCurMech->m_MechConfig["loopTime"];
	}
	mLog::Debug("loopTime = {$}", pCurMech->m_iLoopTime);
	while (pCurMech->m_iLoopTime)
	{
		DWORD dwResult = WaitForSingleObject(pCurMech->m_hExitEvent, pCurMech->m_iLoopTime);
		switch (dwResult)
		{
			case WAIT_OBJECT_0:
			{
				mLog::Debug("get exit event, HardwareStatusThread stop");
				return true;
			}break;
			case WAIT_TIMEOUT:
			{
				if (pCurMech->m_bLoopFlag.load())
				{
					pCurMech->GetUnitStatus();
				}
			}break;
		}
	}
	mLog::Debug("HardwareStatusThread stop");
	return true;
}
DWORD nsMech::HanQingNormalDevice::GenStatusThread(LPVOID pParam)
{
	HanQingNormalDevice* pCurMech = (HanQingNormalDevice*)pParam;
	if (pCurMech == NULL)
	{
		return false;
	}
	mLog::Debug("GenStatusThread start");
	try {
		if (!pCurMech->m_pGenClient)
		{
			mLog::Error("Cannot find Notify Clinet[{$}]", HanQingNormal_GenClientName);
			return true;
		}
		vector<HANDLE> waitList; //事件等待列表
		waitList.push_back(pCurMech->m_hExitEvent);
		waitList.push_back(pCurMech->m_pGenClient->GetNotifyHandle());

		while (WaitForSingleObject(pCurMech->m_hExitEvent, 50) != WAIT_OBJECT_0)
		{
			DWORD wait_ret = WaitForMultipleObjects((DWORD)waitList.size(), waitList.data(), FALSE, INFINITE);
			switch (wait_ret)
			{
				case WAIT_TIMEOUT:
				{
				}break;
				case WAIT_OBJECT_0://exit thread
				{
					mLog::Debug("get exit event, GenStatusThread stop");
					return true;
				}break;
				case WAIT_OBJECT_0 + 1://pCurMech->m_pGenClient
				{
					while (pCurMech->m_pGenClient->IsDataArrived())
					{
						ResDataObject NotifyData;
						PACKET_CMD notifycmd = pCurMech->m_pGenClient->ReadNotify(NotifyData);
						switch (notifycmd)
						{
							case PACKET_CMD_OPEN:
							{}break;
							case PACKET_CMD_CLOSE:
							{}break;
							case PACKET_CMD_GET:
							{}break;
							case PACKET_CMD_UPDATE://属性更新
							{
								ResDataObject resDevicePath;
								pCurMech->m_pGenClient->GetFilePath(resDevicePath);
								string strPath = (string)resDevicePath;
								string strKey = PacketAnalizer::GetPacketKey(&NotifyData);
								string strValue = (string)NotifyData["CONTEXT"];
								string strTopic = (string)NotifyData["TOPIC"];
								if (strTopic.find("demo") == string::npos)
								{
									mLog::Debug("get Notify[{$}:{$}] from [{$}]", strKey.c_str(), strValue.c_str(), strPath.c_str());
									pCurMech->GenNotify(strKey, strValue);
								}
							}break;
							case PACKET_CMD_ADD://设备上报错误
							{}break;
							case PACKET_CMD_DEL://设备消除错误
							{}break;
							case PACKET_CMD_EXE:
							{}break;
							case PACKET_CMD_DATA:
							{}break;
							case PACKET_CMD_MSG:
							{}break;
							case PACKET_CMD_ONLINE:
							{}break;
							case PACKET_CMD_PART_UPDATE:
							{}break;
							default:
								break;
						}
					}
				}break;
				default:
					break;
			}
		}
	}
	catch (...)
	{
		mLog::FERROR("ReadForDeviceEvents has crash");
	}
	mLog::Debug("GenStatusThread stop");
	return true;
}

//检查信息接口
RET_STATUS nsMech::HanQingNormalDevice::SetStudyInfo(ResDataObject& pParam)
{
	auto& P0 = pParam[0];
	SetPatientInfo(P0);
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetViewInfo(ResDataObject& pParam)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetPatientInfo(ResDataObject& pParam)
{
	ECOM_PATIENT Info;
	Info.strPatientName = (string)pParam["PatientName"];
	Info.strSex = (string)pParam["Sex"];
	Info.strAge = (string)pParam["Age"];
	Info.strPatientID = (string)pParam["PatientID"];
	Info.strPatientSize = (string)pParam["PatientSize"];
	Info.strStudyDescription = (string)pParam["StudyDescription"];
	Info.strAccessionNumber = (string)pParam["AccessionNumber"];
	mLog::Debug("Enter SetPatientInfo:[Name:{$}],[Sex:{$}],[Age:{$}],[ID:{$}],[Size:{$}],[Description:{$}],[AccessionNumber:{$}]", 
				Info.strPatientName.c_str(), Info.strSex.c_str(), Info.strAge.c_str(), Info.strPatientID.c_str(), Info.strPatientSize.c_str(), 
				Info.strStudyDescription.c_str(), Info.strAccessionNumber.c_str());
	char temp[50] = { 0 };
	//PatientName
	sprintf_s(temp, "PNM%-20s", Info.strPatientName.c_str());
	HWSendWaittimeCMD(temp, strlen(temp));
	//Sex
	sprintf_s(temp, "GEM%c", Info.strSex.at(0));
	HWSendWaittimeCMD(temp, strlen(temp));
	//Age
	int nAge = atoi(Info.strAge.c_str());
	sprintf_s(temp, "AGE%03dY", nAge);
	HWSendWaittimeCMD(temp, strlen(temp));
	//PatientID
	sprintf_s(temp, "PID%-20s", Info.strPatientID.c_str());
	HWSendWaittimeCMD(temp, strlen(temp));
	//PatientSizeint 
	int nPS = 2;
	if (Info.strPatientSize == "Small")
	{
		nPS = 1;
	}
	else if (Info.strPatientSize == "Middle")
	{
		nPS = 2;
	}
	else if (Info.strPatientSize == "Large")
	{
		nPS = 3;
	}
	else if (Info.strPatientSize == "Child")
	{
		nPS = 4;
	}
	sprintf_s(temp, "PS%1d", nPS);
	HWSendWaittimeCMD(temp, strlen(temp));
	//StudyDescription
	sprintf_s(temp, "DES%-20s", Info.strStudyDescription.c_str());
	HWSendWaittimeCMD(temp, strlen(temp));
	//AccessionNumber
	sprintf_s(temp, "ACC%-20s", Info.strAccessionNumber.c_str());
	HWSendWaittimeCMD(temp, strlen(temp));

	return RET_STATUS::RET_SUCCEED;
}

//机架通用接口
RET_STATUS nsMech::HanQingNormalDevice::Reset()
{
	mLog::Debug("Enter Reset");
	FireErrorMessage(false, 0, "clear all Mech error");
	mLog::Debug("End Reset");
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetTechParamsInfo(ResDataObject& pParam)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetPositionNumber(int pn)
{
	mLog::Debug("Enter SetPositionNumber:[{$}]", pn);
	char temp[50] = { 0 };
	sprintf_s(temp, "PN%03d", pn);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetSID(float value)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetSOD(float value)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::MoveMech(string& value)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::StopMech(string& value)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetGrid(AttrKey::MECH_GRIDSTATE GridState)
{
	return RET_STATUS::RET_SUCCEED;
}

//遮光器
RET_STATUS nsMech::HanQingNormalDevice::SetCollimator(ECOM_COLLIMATOR_INFO& curCollimator)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetFilter(int nFilter)
{
	return RET_STATUS::RET_SUCCEED;
}

//拼接相应接口
RET_STATUS nsMech::HanQingNormalDevice::BeginStitching()
{
	if (m_MECHUnit.m_MechState->Update(AttrKey::MACHINE_STATUS_STITCH))
		FireNotify(AttrKey::MACHSTATE, m_MECHUnit.m_MechState->Get());
	mLog::Debug("Enter BeginStitching");
	char temp[50] = { 0 };
	m_bIsBeginFlag = true;
	switch (m_MECHUnit.m_StitchType->Get())
	{
		case AttrKey::STITCHTYPE_AutomaticTranslation:
		case AttrKey::STITCHTYPE_ManualTranslation:
		{
			sprintf_s(temp, "CM8");
			HWSendWaittimeCMD(temp, strlen(temp));
			if (m_MECHUnit.m_StitchingState->Get() == AttrKey::STITCHSTATE_REACH_INIT)
			{
				m_MECHUnit.m_strInfo = "Stitch Ready";
				if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_READY))
				{
					FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_READY);
				}
				mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
				FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
			}
			else
			{
				mLog::Error("stitching:[{$}]not in [Stitch Init]", m_MECHUnit.m_StitchingState->Get());
			}
		}break;
		case AttrKey::STITCHTYPE_AutomaticAngle:
		case AttrKey::STITCHTYPE_ManualAngle:
		{
			sprintf_s(temp, "CM7");
			HWSendWaittimeCMD(temp, strlen(temp));
			{
				if (m_MECHUnit.m_TotalImageCount->Get() <= 2)
				{
					sprintf_s(temp, "DT1");
				}
				else
				{
					sprintf_s(temp, "DT2");
				}
				HWSendWaittimeCMD(temp, strlen(temp));

				sprintf_s(temp, "MD%04d", (int)m_MECHUnit.m_StitchStepLength->Get() * 10);
				HWSendWaittimeCMD(temp, strlen(temp));
			}
		}break;
		default:
			return RET_STATUS::RET_FAILED;
	}
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::EndStitching()
{
	if (m_MECHUnit.m_MechState->Update(AttrKey::MACHINE_STATUS_STANDBY))
		FireNotify(AttrKey::MACHSTATE, m_MECHUnit.m_MechState->Get());
	mLog::Debug("Enter EndStitching");
	char temp[50] = { 0 };
	sprintf_s(temp, "CM0");
	HWSendWaittimeCMD(temp, strlen(temp));
	//轮询标志
	m_bLoopFlag = false;
	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_END))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_END);
		m_MECHUnit.m_strInfo = "Stitch Finish";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetupStitching(string& value)
{
	char temp[50] = { 0 };
	ResDataObject json, P0;
	m_bIsBeginFlag = false;

	json.decode(value.c_str());
	if (json.GetKeyCount("P0") > 0)
	{
		P0 = json[0];
	}
	else
		P0 = json;
	int nInitHeight = atoi(((string)P0[AttrKey::STITCHHEIGHT]).c_str());
	int nTargetLength = atoi(((string)P0[AttrKey::STITCHLENGTH]).c_str());
	int nOverlap = atoi(((string)P0[AttrKey::STITCHOVERLAP]).c_str());
	int nSID = atoi(((string)P0[AttrKey::STITCHSID]).c_str());
	int nTID = atoi(((string)P0[AttrKey::STITCHTID]).c_str());
	int nPID = atoi(((string)P0[AttrKey::STITCHPID]).c_str());
	int nDirection = atoi(((string)P0[AttrKey::STITCHDIRECTION]).c_str());
	int nStitchType = atoi(((string)P0[AttrKey::STITCHTYPE]).c_str());
	mLog::Debug("Enter SetupStitching:[InitHeight:{$},TotalLength:{$},Overlap:{$},SID:{$},TID:{$},PID:{$},Direction:{$},StitchType:{$}]",
				nInitHeight, nTargetLength, nOverlap, nSID, nTID, nPID, nDirection, nStitchType);

	m_MECHUnit.m_StitchHeight->Update(nInitHeight); 
	m_MECHUnit.m_StitchOverLap->Update(nOverlap);
	m_MECHUnit.m_StitchDirection->Update(nDirection);
	m_MECHUnit.m_StitchType->Update(nStitchType);
	if (m_MECHUnit.m_CurrentImageNumber->Update(0))
		FireNotify(AttrKey::CURRENTIMAGENUMBER, 0);
	switch (m_MECHUnit.m_StitchType->Get())
	{
		case AttrKey::STITCHTYPE_AutomaticTranslation:
		case AttrKey::STITCHTYPE_ManualTranslation:
		{
			//总长度校验
			int maxLength = m_MECHUnit.m_TubeHeight->GetLimitMax() - m_MECHUnit.m_TubeHeight->GetLimitMin();
			if (nTargetLength > (maxLength-5))
			{
				mLog::Warn("StitchingLengh[{$}] too big [height min:{$},height max:{$}],need change to[{$}]",
						   nTargetLength, m_MECHUnit.m_TubeHeight->GetLimitMax(),m_MECHUnit.m_TubeHeight->GetLimitMin(), maxLength - 5);
				nTargetLength = maxLength - 5;
			}
			//总张数计算
			int totalImage = std::ceil((float)(nTargetLength - nOverlap) / (float)(m_nFPDLengh - nOverlap));
			m_MECHUnit.m_TotalImageCount->Update(totalImage);
			FireNotify(AttrKey::TOTALIMAGECOUNT, totalImage);
			//计算步长
			float tempStepLength = (float)nTargetLength / (float)totalImage;
			if (m_MECHUnit.m_StitchStepLength->Update(tempStepLength))
				FireNotify(AttrKey::STITCHSTEPLENGTH, tempStepLength);
			mLog::Debug("compute TransStitching [total ImageCount:{$},StepLength:{$}]",
						totalImage, tempStepLength);
			//更新总长
			m_MECHUnit.m_StitchLength->Update(nTargetLength);
		}break;
		case AttrKey::STITCHTYPE_AutomaticAngle:
		case AttrKey::STITCHTYPE_ManualAngle:
		{
			//手动查询SID
			GetUnitStatus(true);
			//总长度校验
			int maxLength = m_MECHUnit.m_TubeHeight->GetLimitMax() - m_MECHUnit.m_TubeHeight->GetLimitMin();
			float minStitchLenth = m_nFPDLengh * 2 - nOverlap;
			float maxStitchLenth = m_nFPDLengh * 3 - nOverlap * 2;
			if (maxStitchLenth > (maxLength - 5))
			{
				mLog::Warn("StitchingLengh[{$}] too big [height min:{$},height max:{$}],need change to[{$}]",
						   maxStitchLenth, m_MECHUnit.m_TubeHeight->GetLimitMax(), m_MECHUnit.m_TubeHeight->GetLimitMin(), maxLength - 5);
				minStitchLenth = (maxLength - 5) - (maxStitchLenth - minStitchLenth);
				maxStitchLenth = maxLength - 5;
			}
			//2、3张时角度范围
			float minStitchAngle = 2 * atan((float)minStitchLenth /2.0f / m_MECHUnit.m_SID->Get()) * 180.0f / MY_PI;
			float maxStitchAngle = 2 * atan((float)maxStitchLenth /2.0f / m_MECHUnit.m_SID->Get()) * 180.0f / MY_PI;
			mLog::Debug("compute AngleStitching limit[FPDLengh:{$},OverLap:{$}, SID:{$},minLengh:{$}, maxLengh:{$}]->angle[min:{$},max:{$}]",
						m_nFPDLengh, nOverlap, m_MECHUnit.m_SID->Get(), minStitchLenth, maxStitchLenth, minStitchAngle, maxStitchAngle);
			if (maxStitchAngle > 25)
			{
				float tempMinAngle = minStitchAngle - (maxStitchAngle - 25);
				float tempMaxAngle = 25;
				mLog::Warn("Stitching Angle too big, need change angle[min:{$},max:{$}]",tempMinAngle, tempMaxAngle);
				minStitchAngle = tempMinAngle;
				maxStitchAngle = tempMaxAngle;
			}
			//设置参数的总角度
			if (nTargetLength <= minStitchAngle)
			{
				m_MECHUnit.m_StitchLength->Update(minStitchAngle);
				float tempStepLength = (float)minStitchAngle / 2;
				if (m_MECHUnit.m_StitchStepLength->Update(tempStepLength))
					FireNotify(AttrKey::STITCHSTEPLENGTH, tempStepLength);
				m_MECHUnit.m_TotalImageCount->Update(2);
				FireNotify(AttrKey::TOTALIMAGECOUNT, 2);
				mLog::Debug("compute AngleStitching [total ImageCount:{$},StepLength:{$}]",
							2, tempStepLength);
			}
			else
			{
				m_MECHUnit.m_StitchLength->Update(maxStitchAngle);
				//计算步长
				float tempStepLength = (float)maxStitchAngle / 3;
				if (m_MECHUnit.m_StitchStepLength->Update(tempStepLength))
					FireNotify(AttrKey::STITCHSTEPLENGTH, tempStepLength);
				m_MECHUnit.m_TotalImageCount->Update(3);
				FireNotify(AttrKey::TOTALIMAGECOUNT, 3);
				mLog::Debug("compute AngleStitching [total ImageCount:{$},StepLength:{$}]",
							3, tempStepLength);
			}

		}break;
		default:
			return RET_STATUS::RET_FAILED;
	}
	//先退出
	{
		sprintf_s(temp, "CM0");
		HWSendWaittimeCMD(temp, strlen(temp)); 
	}
	//设置对齐位
	if (nSID <= 150 && (nStitchType == AttrKey::STITCHTYPE_AutomaticTranslation || nStitchType == AttrKey::STITCHTYPE_ManualTranslation))
	{
		sprintf_s(temp, "CM1");
		HWSendWaittimeCMD(temp, strlen(temp));
	}
	else
	{
		sprintf_s(temp, "CM2");
		HWSendWaittimeCMD(temp, strlen(temp));
	}
	//轮询标志
	m_bLoopFlag = true;
	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_INIT))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_INIT);
		m_MECHUnit.m_strInfo = "Stitch Init";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}

	return RET_STATUS::RET_SUCCEED;
}
//notice the URS that the last acquired image is accepted by host. Move to the next stitching target position.
RET_STATUS nsMech::HanQingNormalDevice::AcceptStitchingImage()
{
	mLog::Debug("Enter AcceptStitchingImage");
	m_bIsBeginFlag = false;
	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_Accept_Image))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_Accept_Image);
		m_MECHUnit.m_strInfo = "Stitch Accept Current image";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}
	int Currentnum = m_MECHUnit.m_CurrentImageNumber->Get() + 1;
	if (m_MECHUnit.m_CurrentImageNumber->Update(Currentnum))
	{
		mLog::Debug("stitching current image[{$}:{$}]", m_MECHUnit.m_CurrentImageNumber->Get(), m_MECHUnit.m_TotalImageCount->Get());
		FireNotify(AttrKey::CURRENTIMAGENUMBER, Currentnum);
	}
	if (m_MECHUnit.m_CurrentImageNumber->Get() >= m_MECHUnit.m_TotalImageCount->Get())
	{
		EndStitching();
	}
	else
	{
		char temp[50] = { 0 };
		switch (m_MECHUnit.m_StitchType->Get())
		{
			case AttrKey::STITCHTYPE_AutomaticTranslation:
			case AttrKey::STITCHTYPE_ManualTranslation:
			{
				//运动的步距aaaa mm
				sprintf_s(temp, "MD%04d", (int)m_MECHUnit.m_StitchStepLength->Get() * 10);
				HWSendWaittimeCMD(temp, strlen(temp));
				//移动方向
				switch (m_MECHUnit.m_StitchDirection->Get())
				{
					case AttrKey::STITCHDIR_TopToBottom:
					case AttrKey::STITCHDIR_leftToRight:
					{
						sprintf_s(temp, "DT1");
						HWSendWaittimeCMD(temp, strlen(temp));
					}break;
					case AttrKey::STITCHDIR_BottomToTop:
					case AttrKey::STITCHDIR_RightToLeft:
					{
						sprintf_s(temp, "DT2");
						HWSendWaittimeCMD(temp, strlen(temp));
					}break;
				}
				//启动运动
				sprintf_s(temp, "SM1");
				HWSendWaittimeCMD(temp, strlen(temp));
			}break;
			case AttrKey::STITCHTYPE_AutomaticAngle:
			case AttrKey::STITCHTYPE_ManualAngle:
			{
				sprintf_s(temp, "SM1");
				HWSendWaittimeCMD(temp, strlen(temp));
			}break;
			default:
				return RET_STATUS::RET_FAILED;
		}
		
	}
	return RET_STATUS::RET_SUCCEED;
}
//notice the URS that the last acquired image is rejected by host. Keep current position.
RET_STATUS nsMech::HanQingNormalDevice::RejectStitchingImage()
{
	mLog::Debug("Enter RejectStitchingImage");

	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_Reject_Image))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_Reject_Image);
		m_MECHUnit.m_strInfo = "Stitch Reject Current Image";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}
	return RET_STATUS::RET_SUCCEED;
}
//Cancel stitching procedure.
RET_STATUS nsMech::HanQingNormalDevice::CancelStitching()
{
	if (m_MECHUnit.m_MechState->Update(AttrKey::MACHINE_STATUS_STANDBY))
		FireNotify(AttrKey::MACHSTATE, m_MECHUnit.m_MechState->Get());
	mLog::Debug("Enter CancelStitching");
	char temp[50] = { 0 };
	sprintf_s(temp, "CM0");
	HWSendWaittimeCMD(temp, strlen(temp));
	//轮询标志
	m_bLoopFlag = false;
	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_CANCEL))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_CANCEL);
		m_MECHUnit.m_strInfo = "Stitch Cancel";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}
	return RET_STATUS::RET_SUCCEED;
}
//Note the URS that stitching is finished.
RET_STATUS nsMech::HanQingNormalDevice::CompleteStitching()
{
	if (m_MECHUnit.m_MechState->Update(AttrKey::MACHINE_STATUS_STANDBY))
		FireNotify(AttrKey::MACHSTATE, m_MECHUnit.m_MechState->Get());
	mLog::Debug("Enter CompleteStitching");
	char temp[50] = { 0 };
	sprintf_s(temp, "CM0");
	HWSendWaittimeCMD(temp, strlen(temp));
	//轮询标志
	m_bLoopFlag = false;
	if (m_MECHUnit.m_StitchingState->Update(AttrKey::STITCHSTATE_END))
	{
		FireNotify(AttrKey::STITCHINGSTATE, AttrKey::STITCHSTATE_END);
		m_MECHUnit.m_strInfo = "Stitch Finish";
		mLog::Debug("stitching:[{$}]", m_MECHUnit.m_strInfo.c_str());
		FireNotify(AttrKey::UNITINFO, m_MECHUnit.m_strInfo);
	}
	return RET_STATUS::RET_SUCCEED;
}
//New extra view, request the positioner to move to a position to take an extra image.
RET_STATUS nsMech::HanQingNormalDevice::NewExtraView()
{
	mLog::Debug("Enter NewExtraView");
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::RepeatStitching()
{
	mLog::Debug("Enter RepeatStitching");
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetAutoPosiitonNo(int nPN)
{
	mLog::Debug("Enter SetAutoPosiitonNo:[{$}]", nPN);
	return RET_STATUS::RET_SUCCEED;
}

//牛头
RET_STATUS nsMech::HanQingNormalDevice::SetExpEnable(bool nExpEnabled)
{
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetWS(int nWS)
{
	mLog::Debug("Enter SetWS:[{$}]", nWS);
	if (m_nWS == nWS)return RET_STATUS::RET_SUCCEED;
	m_nWS = nWS;
	char temp[50] = { 0 };
	sprintf_s(temp, "OR%1d", nWS);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetKV(int nKV)
{
	mLog::Debug("Enter SetKV:[{$}]", nKV);
	if(m_nKV == nKV)return RET_STATUS::RET_SUCCEED;
	m_nKV = nKV;
	char temp[50] = { 0 };
	sprintf_s(temp, "KV%03d", nKV);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetMA(float fMA)
{
	mLog::Debug("Enter SetMA:[{$}]", fMA);
	if (m_fMA == fMA)return RET_STATUS::RET_SUCCEED;
	m_fMA = fMA;
	char temp[50] = { 0 };
	sprintf_s(temp, "MA%05d", (int)(fMA * 10));
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetMS(float fMS)
{
	mLog::Debug("Enter SetMS:[{$}]", fMS);
	if (m_fMS == fMS)return RET_STATUS::RET_SUCCEED;
	m_fMS = fMS;
	char temp[50] = { 0 };
	sprintf_s(temp, "MS%05d", (int)(fMS * 10));
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetMAS(float fMAS)
{
	mLog::Debug("Enter SetMAS:[{$}]", fMAS);
	if (m_fMAS == fMAS)return RET_STATUS::RET_SUCCEED;
	m_fMAS = fMAS;
	char temp[50] = { 0 };
	sprintf_s(temp, "MX%05d", (int)(fMAS * 10));
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetFO(int nFO)
{
	mLog::Debug("Enter SetFO:[{$}]", nFO);
	if (m_nFocus == nFO)return RET_STATUS::RET_SUCCEED;
	m_nFocus = nFO;
	char temp[50] = { 0 };
	sprintf_s(temp, "FO%1d", nFO);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetTechMode(int nET)
{
	mLog::Debug("Enter SetTechMode:[{$}]", nET);
	if (m_nET == nET)return RET_STATUS::RET_SUCCEED;
	m_nET = nET;
	char temp[50] = { 0 };
	sprintf_s(temp, "ET%1d", nET);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetAECField(int nAECFieldSel)
{
	mLog::Debug("Enter SetAECField:[{$}]", nAECFieldSel);
	if (m_nAECField == nAECFieldSel)return RET_STATUS::RET_SUCCEED;
	m_nAECField = nAECFieldSel;
	char temp[50] = { 0 };
	sprintf_s(temp, "FI%03d", nAECFieldSel);
	return HWSendWaittimeCMD(temp, strlen(temp));
	return RET_STATUS::RET_SUCCEED;
}
RET_STATUS nsMech::HanQingNormalDevice::SetDensity(float nAECDensity)
{
	mLog::Debug("Enter SetDensity:[{$}]", nAECDensity);
	if (m_nAECDensity == nAECDensity)return RET_STATUS::RET_SUCCEED;
	m_nAECDensity = nAECDensity;
	char temp[50] = { 0 };
	sprintf_s(temp, "FD%+04d", (int)nAECDensity);
	return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::SetBodySize(string strSize)
{
	mLog::Debug("Enter SetBodySize:[{$}]", strSize.c_str());
	char temp[50] = { 0 };
	int nPS = 2;
	if (strSize == "Small")
	{
		nPS = 1;
	}
	else if (strSize == "Middle")
	{
		nPS = 2;
	}
	else if (strSize == "Large")
	{
		nPS = 3;
	}
	else if (strSize == "Child")
	{
		nPS = 4;
	}
	if (m_nBodySize == nPS)return RET_STATUS::RET_SUCCEED;
	m_nBodySize = nPS;
	sprintf_s(temp, "PS%1d", m_nBodySize);
	HWSendWaittimeCMD(temp, strlen(temp));
}

//HanQingNormal特有
RET_STATUS nsMech::HanQingNormalDevice::GetUnitStatus(bool sync)
{
	//mLog::Debug("Enter GetUnitStatus");
	char temp[50] = { 0 };
	sprintf_s(temp, "TT?");
	if(sync)
		return HWSendWaitACKCMD(temp, strlen(temp));
	else
		return HWSendWaittimeCMD(temp, strlen(temp));
}
RET_STATUS nsMech::HanQingNormalDevice::GenNotify(string& key, string& value)
{
	if (key == nsGEN::AttrKey::WORKSTATION)
	{
		SetWS(atoi(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::KV)
	{
		SetKV(atoi(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::MA)
	{
		SetMA(atof(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::MS)
	{
		SetMS(atof(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::MAS)
	{
		SetMAS(atof(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::FOCUS)
	{
		SetFO(atoi(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::TECHMODE)
	{
		SetTechMode(atoi(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::AECDENSITY)
	{
		SetDensity(atof(value.c_str()));
	}
	else if (key == nsGEN::AttrKey::AECFIELD)
	{
		SetAECField(atoi(value.c_str()));
	}
	return RET_STATUS::RET_SUCCEED;
}


//-----------------------------------------------------------------------------
//		HanQingNormalDriver
//-----------------------------------------------------------------------------
nsMech::HanQingNormalDriver::HanQingNormalDriver()
{
	m_pAttribute.reset(new ResDataObject());
	m_pDescription.reset(new ResDataObject());
}
nsMech::HanQingNormalDriver::~HanQingNormalDriver()
{
	
}

void nsMech::HanQingNormalDriver::FireNotify(int code, std::string key, std::string content)
{
	mLog::Debug("Enter FireNotify");
	EventCenter->OnNotify(code, key, content);
}
void nsMech::HanQingNormalDriver::Dequeue(const char* Packet, DWORD Length)
{
	DecodeFrame(Packet, Length);
}
static char strRcvTemp[HanQingNormal_Com_NormalLen] = { 0 };
PACKET_RET nsMech::HanQingNormalDriver::callbackPackageProcess(const char* RecData, DWORD nLength, DWORD& PacketLength)
{
#if 0
	if (nLength > 1)
	{
		mLog::Error("receive data_len[{$}]", nLength);
		for (int i = 0; i < nLength; i++)
		{
			if (i != nLength - 1)
			{
				mLog::Error("receive data[{$}][{$}]", i, RecData[i]);
			}
			else
			{
				mLog::Error("receive data[{$}][{$}]", i, RecData[i]);
			}
		}
	}
#endif
	if (nLength < 1)
	{
		PacketLength = 0;
		mLog::Error("nLength too small, nLength=={$}", nLength);
		return PACKET_USELESS;
	}
	else if (nLength > HanQingNormal_Com_NormalLen - 1)
	{
		PacketLength = nLength;
		mLog::Error("nLength too big, nLength=={$}", nLength);
		return PACKET_USELESS;
	}

	memset(strRcvTemp, 0, HanQingNormal_Com_NormalLen);
	for (DWORD i = 0; i < nLength; i++)
	{
		//寻找包尾
		if (RecData[i] == HanQingNormal_ETX)
		{
			PacketLength = i + 2; //because ETX+Checksum
			if (i >= 3) //正常指令:CMDid(2BYTE) + DATA(1BYTE) + ETX(1BYTE) + Checksum(1BYTE)
			{
				memcpy_s(strRcvTemp, HanQingNormal_Com_NormalLen - 1, RecData, i);	//长度:-1 排除ETX+Checksum
				if (strncmp(strRcvTemp, ">TT", 3) != 0)
					mLog::Info("==IN==:[{$}]", strRcvTemp);
				return PACKET_ISPACKET;
			}
			else //空指令
			{
				memcpy_s(strRcvTemp, HanQingNormal_Com_NormalLen - 1, RecData, PacketLength);	//空数据，格式正确但无有效命令
				mLog::Error("==IN  uselss data==:[{$}]", strRcvTemp);
				return PACKET_USELESS;
			}
		}
	}
	return PACKET_NOPACKET;
}

void nsMech::HanQingNormalDriver::Prepare()
{
	string strLogPath = GetProcessDirectory() + R"(\OEMDrivers\Mechanical\Conf\Log4CPP.Config.MECH.xml)";
	//Log4CPP::ThreadContext::Map::Set("LogFileName", "Mech.HanQingNormal");
	Log4CPP::GlobalContext::Map::Set(ECOM::Utility::Hash("LogFileName"), "Mech.HanQingNormal");
	auto rc = Log4CPP::LogManager::LoadConfigFile(strLogPath.c_str());
	mLog::gLogger = Log4CPP::LogManager::GetLogger("Mech.HanQingNormal");

	m_SCFDllName = GetConnectDLL(m_ConfigFileName);

	super::Prepare();
}
bool nsMech::HanQingNormalDriver::Connect()
{
	mLog::Debug("Enter Connect");
	ResDataObject Connection = GetConnectParam(m_ConfigFileName);
	mLog::Info("connections:{$} \n", Connection.encode());

	auto erCode = m_SCF.Connect(Connection.encode(), &nsMech::HanQingNormalDriver::callbackPackageProcess, SCF_PACKET_TRANSFER, 3000);
	if (erCode != SCF_ERR::SCF_SUCCEED)
		return false; //return erCode;

	auto rc = super::Connect();
	if (!rc)
		return false; //return 0;

	return true; //return SCF_ERR::SCF_SUCCEED;
}
void nsMech::HanQingNormalDriver::Disconnect()
{
	mLog::Debug("Enter Disconnect");
	super::Disconnect();
	m_SCF.Disconnect();
}
bool nsMech::HanQingNormalDriver::isConnected() const
{
	return super::isConnected();
}
auto nsMech::HanQingNormalDriver::CreateDevice(int index) -> std::unique_ptr <IODevice>
{
	mLog::Debug("Enter CreateDevice[{$}]", index);
	//mLog::Info("Enter CreateDevice, index={$}", index);
	if (index == 0)
	{
		auto dev = std::unique_ptr<IODevice>(new IODevice(new HanQingNormalDevice(EventCenter, m_SCF, m_ConfigFileName)));
		return dev;
	}
	//mLog::Error("unknown index");
	unique_ptr <IODevice> dev;
	return dev;
}

std::string nsMech::HanQingNormalDriver::DriverProbe()
{
	printf("line= %d,%s %s\n", __LINE__, __FUNCTION__, m_ConfigFileName.c_str());
	ResDataObject r_config, HardwareInfo;
	if (r_config.loadFile(m_ConfigFileName.c_str()))
	{
		HardwareInfo.add("MajorID", r_config["CONFIGURATION"]["MajorID"]);
		HardwareInfo.add("MinorID", r_config["CONFIGURATION"]["MinorID"]);
		HardwareInfo.add("VendorID", r_config["CONFIGURATION"]["VendorID"]);
		HardwareInfo.add("ProductID", r_config["CONFIGURATION"]["ProductID"]);
		HardwareInfo.add("SerialID", r_config["CONFIGURATION"]["SerialID"]);
	}
	else
	{
		HardwareInfo.add("MajorID", "Machine");
		HardwareInfo.add("MinorID", "Dr");
		HardwareInfo.add("VendorID", "ECOM");
		HardwareInfo.add("ProductID", "HF");
		HardwareInfo.add("SerialID", "1234");
	}
	string ret = HardwareInfo.encode();
	printf("line= %d,%s %s\n", __LINE__, __FUNCTION__, m_ConfigFileName.c_str());

	return ret;
}
std::string nsMech::HanQingNormalDriver::GetResource()
{
	ResDataObject r_config, temp;
	if (!temp.loadFile(m_ConfigFileName.c_str()))
	{
		return "";
	}

	m_ConfigAll = temp;

	r_config = temp["CONFIGURATION"];
	m_Configurations = r_config;

	ResDataObject DescriptionTemp;
	ResDataObject DescriptionSend;
	ResDataObject m_DescriptionSend;
	ResDataObject ListTemp;
	string strTemp = "";			//用于读取字符串配置信息
	string strIndex = "";			//用于读取配置信息中的List项
	int nTemp = -1;					//用于读取整型配置信息
	char sstream[10] = { 0 };		//用于转换值
	string strValue = "";			//用于存储配置的值
	string strType = "";			//用于存储配置的类型 int/float/string...

	try
	{
		//便利ConfigToolInfo 中 所有的AttributeInfo 属性段
		int nConfigInfoCount = (int)m_Configurations["ConfigToolInfo"].GetKeyCount("AttributeInfo");
		m_pAttribute->clear();
		m_pDescription->clear();
		for (int nInfoIndex = 0; nInfoIndex < nConfigInfoCount; nInfoIndex++)
		{
			DescriptionTemp.clear();
			DescriptionSend.clear();
			ListTemp.clear();

			//AttributeType
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["Type"];
			DescriptionTemp.add(ConfKey::DiosType, strTemp.c_str());//DiosGeneratorAttribute
			DescriptionSend.add(ConfKey::DiosType, strTemp.c_str());//DiosGeneratorAttribute

			strType = strTemp; //记录配置项的类型

			//AttributeKey
			//1. 根据AttributeType，内部key和配置路径，拿到当前的真实值
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["InnerKey"];
			nTemp = (int)m_Configurations["ConfigToolInfo"][nInfoIndex]["PathID"];
			GetDeviceConfigValue(r_config, strTemp.c_str(), nTemp, strValue);	//得到strValue的值


			//2. 赋值
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeKey"];


			if ("int" == strType)
			{
				(*m_pAttribute).add(strTemp.c_str(), atoi(strValue.c_str()));
			}
			else if ("float" == strType)
			{
				(*m_pAttribute).add(strTemp.c_str(), atoi(strValue.c_str()));
			}
			else //其它先按string类型处理
			{
				(*m_pAttribute).add(strTemp.c_str(), strValue.c_str());
			}


			//AttributeAccess
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["Access"];
			DescriptionTemp.add(ConfKey::DiosAccess, strTemp.c_str());
			DescriptionSend.add(ConfKey::DiosAccess, strTemp.c_str());


			//AttributeRangeMin
			//strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["RangeMin"];
			//if (strTemp != "") //不需要的配置项为空
			//{
			//	DescriptionTemp.add(ConfKey::DiosRangeMin, strTemp.c_str());
			//}

			////AttributeRangeMax
			//strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["RangeMax"];
			//if (strTemp != "") //不需要的配置项为空
			//{
			//	DescriptionTemp.add(ConfKey::DiosRangeMax, strTemp.c_str());
			//}


			//AttributeList
			nTemp = m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["ListNum"];
			if (nTemp > 0) //ListNum不大于0时说明不需要list配置
			{
				for (int nListIndex = 0; nListIndex < nTemp; nListIndex++)
				{
					strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["ListInfo"][nListIndex];
					auto temKey = std::to_string(nListIndex);
					ListTemp.add(temKey.c_str(), strTemp.c_str());
				}
				DescriptionTemp.add(ConfKey::DiosList, ListTemp);
				DescriptionSend.add(ConfKey::DiosList, ListTemp.encode());
			}
			//AttributeRequired
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["Required"];
			DescriptionTemp.add(ConfKey::DiosRequired, strTemp.c_str());
			DescriptionSend.add(ConfKey::DiosRequired, strTemp.c_str());

			//AttributeDefaultValue
			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeDescripition"]["DefaultValue"];
			if (strTemp != "") //不需要的配置项为空
			{
				DescriptionTemp.add(ConfKey::DiosDefaultValue, strTemp.c_str());
				DescriptionSend.add(ConfKey::DiosDefaultValue, strTemp.c_str());
			}

			strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeKey"];
			(*m_pDescription).add(strTemp.c_str(), DescriptionTemp);
			m_DescriptionSend.add(strTemp.c_str(), DescriptionSend.encode());
		}
	}
	catch (ResDataObjectExption& e)
	{
		//mLog::Error("Get config error: {$}", e.what());
		return "";
	}
	ResDataObject resDeviceResource;
	resDeviceResource.add(ConfKey::DiosAttribute, (*m_pAttribute));
	resDeviceResource.add(ConfKey::DiosDescription, (*m_pDescription));

	ResDataObject DescriptionTempEx;
	DescriptionTempEx.add(ConfKey::DiosConfig, resDeviceResource);
	m_DeviceConfig.clear();
	m_DeviceConfig = DescriptionTempEx;

	//mLog::Debug("local ************* get resource over {$}", DescriptionTempEx.encode());
	printf("local ************* get resource over %s \n", DescriptionTempEx.encode());

	resDeviceResource.clear();

	resDeviceResource.add(ConfKey::DiosAttribute, (*m_pAttribute));
	resDeviceResource.add(ConfKey::DiosDescription, m_DescriptionSend);
	DescriptionTempEx.clear();
	DescriptionTempEx.add(ConfKey::DiosConfig, resDeviceResource);

	m_DeviceConfigSend.clear();

	m_DeviceConfigSend = DescriptionTempEx;

	string res = m_DeviceConfigSend.encode();

	//mLog::Debug("get resource over {$}", DescriptionTempEx.encode());
	printf("************* get resource over %s \n", DescriptionTempEx.encode());
	return res;
}
std::string nsMech::HanQingNormalDriver::DeviceProbe()
{
	ResDataObject r_config, HardwareInfo;
	if (r_config.loadFile(m_ConfigFileName.c_str()))
	{
		HardwareInfo.add("MajorID", r_config["CONFIGURATION"]["MajorID"]);
		HardwareInfo.add("MinorID", r_config["CONFIGURATION"]["MinorID"]);
		HardwareInfo.add("VendorID", r_config["CONFIGURATION"]["VendorID"]);
		HardwareInfo.add("ProductID", r_config["CONFIGURATION"]["ProductID"]);
		HardwareInfo.add("SerialID", r_config["CONFIGURATION"]["SerialID"]);
	}
	else
	{
		HardwareInfo.add("MajorID", "Machine");
		HardwareInfo.add("MinorID", "Dr");
		HardwareInfo.add("VendorID", "ECOM");
		HardwareInfo.add("ProductID", "HF");
		HardwareInfo.add("SerialID", "1234");
	}
	string ret = HardwareInfo.encode();
	return ret;
}

bool nsMech::HanQingNormalDriver::GetDeviceConfig(std::string& Cfg)
{
	Cfg = m_DeviceConfigSend.encode();

	printf("GetDeviceConfig over , %s", Cfg.c_str());

	return true;

}
bool nsMech::HanQingNormalDriver::SetDeviceConfig(std::string Cfg)
{
	printf("\n--Func-- SetDeviceConfig %s\n", Cfg.c_str());

	ResDataObject DeviceConfig;
	DeviceConfig.decode(Cfg.c_str());

	ResDataObject DescriptionTempEx;
	DescriptionTempEx = DeviceConfig["DeviceConfig"]["Attribute"];
	//mLog::Debug("Attribute:{$}", DescriptionTempEx.encode());

	bool bSaveFile = false; //true:重新保存配置文件
	string strAccess = "";
	for (int i = 0; i < DescriptionTempEx.size(); i++)
	{
		string strKey = DescriptionTempEx.GetKey(i);
		////mLog::Info("{$}", strKey.c_str());
		printf("%s\n", strKey.c_str());
		try
		{
			if (m_pAttribute->GetFirstOf(strKey.c_str()) >= 0)
			{
				strAccess = (string)(*m_pDescription)[strKey.c_str()]["Access"];
				if ("RW" == strAccess)
				{
					//修改对应配置，在其他单元的配置项要同时调用其修改函数修改真实值
					//1. 修改内存中的值，用于给上层发消息
					(*m_pAttribute)[strKey.c_str()] = DescriptionTempEx[i];
					//2. 拿到Innerkey
					int nConfigInfoCount = (int)m_Configurations["ConfigToolInfo"].GetKeyCount("AttributeInfo");
					////mLog::Info("nConfigInfoCount {$}", nConfigInfoCount);
					string strTemp = ""; //存储AttributeKey
					for (int nInfoIndex = 0; nInfoIndex < nConfigInfoCount; nInfoIndex++)
					{
						strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["AttributeKey"];
						if (strTemp == strKey)
						{
							strTemp = (string)m_Configurations["ConfigToolInfo"][nInfoIndex]["InnerKey"];
							break;
						}
					}
					//3. 修改配置文件中的值
					if (SetDeviceConfigValue(m_Configurations, strTemp.c_str(), 1, DescriptionTempEx[i]))
					{
						//mLog::Debug("SetDeviceConfigValue over");
						bSaveFile = true;
					}
				}
				else
				{
					////mLog::Info("{$} is not a RW configuration item", strKey.c_str());
				}
			}
			else
			{
				////mLog::Info("without this attribute {$}", strKey.c_str());
			}
		}
		catch (ResDataObjectExption& e)
		{
			printf("\nSetDriverConfig crashed: %s\n", e.what());
			//mLog::Error("SetDriverConfig crashed: {$}", e.what());
			return false;
		}
	}

	if (bSaveFile)
	{
		//3. 重新保存配置文件
		SaveConfigFile(true);
	}
	return true;
}
bool nsMech::HanQingNormalDriver::SaveConfigFile(bool bSendNotify)
{
	m_ConfigAll["CONFIGURATION"] = m_Configurations;

	bool bRt = m_ConfigAll.SaveFile(m_ConfigFileName.c_str());
	////mLog::Info("SaveConfigFile over {$}", bRt);
	return true;
}
bool nsMech::HanQingNormalDriver::GetDeviceConfigValue(ResDataObject config, const char* pInnerKey, int nPathID, string& strValue)
{
	printf("line= %d,%s,pInnerKey=%s,nPathID=%d\n", __LINE__, __FUNCTION__, pInnerKey, nPathID);
	strValue = "";
	string strTemp = pInnerKey;
	if (1 == nPathID) //从DriverConfig路径下每个DPC自己的配置文件读取
	{
		int pos = 0;
		ResDataObject resTemp = config;
		while ((pos = strTemp.find_first_of(',')) != string::npos)
		{
			string Key = strTemp.substr(0, pos);
			string TempValue = resTemp[Key.c_str()].encode();

			//printf("-TempValue=== %s\n", TempValue.c_str());

			resTemp.clear();
			resTemp.decode(TempValue.c_str());
			strTemp = strTemp.substr(pos + 1, strTemp.length() - pos - 1);

			//printf("-************--%s\n", strTemp.c_str());

		}
		if (strTemp != "")
		{
			strValue = (string)resTemp[strTemp.c_str()];
		}
		else
		{
			strValue = (string)resTemp;
		}
	}

	//printf("------------%s\n", strValue.c_str());

	return true;
}
bool nsMech::HanQingNormalDriver::SetDeviceConfigValue(ResDataObject& config, const char* pInnerKey, int nPathID, const char* szValue)
{
	string strTemp = pInnerKey;
	//mLog::Debug("Begin to change {$} item value to {$}", pInnerKey, szValue);
	printf("\n Begin to change {%s} item value to {%s}\n", pInnerKey, szValue);
	if (1 == nPathID) //从DriverConfig路径下每个DPC自己的配置文件读取
	{
		try {
			int pos = 0;
			ResDataObject* resTemp = &config;
			while ((pos = strTemp.find_first_of(',')) != string::npos)
			{
				string Key = strTemp.substr(0, pos);
				resTemp = &(*resTemp)[Key.c_str()];
				strTemp = strTemp.substr(pos + 1, strTemp.length() - pos - 1);
			}
			if (strTemp != "")
			{
				(*resTemp)[strTemp.c_str()] = szValue;
			}
			else
			{
				*resTemp = szValue;
			}
		}
		catch (ResDataObjectExption& e)
		{
			//mLog::Error("SetDriverConfigvalue crashed: {$}", e.what());
			return false;
		}
	}
	return true;
}

//模块对外接口
static nsMech::HanQingNormalDriver  gIODriver;
extern "C"  DIOS::Dev::IODriver * __cdecl GetIODriver()		// 返回静态对象的引用, 调用者不能删除 !
{
	return &gIODriver;
}
extern "C"  DIOS::Dev::IODriver * __cdecl CreateIODriver()  // 返回新对象, 调用者必须自行删除此对象 !
{
	return new nsMech::HanQingNormalDriver();
}