78 lines
2.7 KiB
C#
78 lines
2.7 KiB
C#
using RobotNet.VDA5050.Type;
|
|
using RobotNet10.RobotApp.Devices;
|
|
using RobotNet10.RobotApp.Services.Exceptions;
|
|
using RobotNet10.RobotApp.Interfaces;
|
|
|
|
namespace RobotNet10.RobotApp.Services.Robot.Actions;
|
|
|
|
/// <summary>
|
|
/// Bật đèn camera (M918 - coil 2966).
|
|
/// action tương tự các action PLC toggle khác: ghi ON, rồi chờ PLC phản hồi đã ON.
|
|
/// </summary>
|
|
[RobotAction(ActionType.CONTROL_LIGHT,
|
|
[ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
|
|
[BlockingType.NONE, BlockingType.SOFT, BlockingType.HARD],
|
|
"Bật đèn camera (M918 Light on).",
|
|
"Đèn camera đã bật (M918 Light on).")]
|
|
public class ControlLightAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
|
|
{
|
|
private IPlcController? PlcController;
|
|
|
|
private const int MAX_TIMEOUT = 4000;
|
|
private int CountTimeout = 0;
|
|
private bool IsLightOn = false;
|
|
|
|
|
|
protected override void Initialize()
|
|
{
|
|
base.Initialize();
|
|
|
|
var controlTypeParam = Action?.ActionParameters?.FirstOrDefault(p =>
|
|
string.Equals(p.Key, "CONTROL_TYPE", StringComparison.OrdinalIgnoreCase));
|
|
if (controlTypeParam is null || string.IsNullOrWhiteSpace(controlTypeParam.Value))
|
|
{
|
|
throw new ActionException("ControlLight requires actionParameter CONTROL_TYPE (CONTROL_ON/CONTROL_OFF).");
|
|
}
|
|
|
|
var controlType = controlTypeParam.Value.Trim();
|
|
if (string.Equals(controlType, "CONTROL_ON", StringComparison.OrdinalIgnoreCase))
|
|
{
|
|
IsLightOn = true;
|
|
}
|
|
else if (string.Equals(controlType, "CONTROL_OFF", StringComparison.OrdinalIgnoreCase))
|
|
{
|
|
IsLightOn = false;
|
|
}
|
|
else
|
|
{
|
|
throw new ActionException($"CONTROL_TYPE value '{controlType}' is invalid. Expected CONTROL_ON or CONTROL_OFF.");
|
|
}
|
|
|
|
CountTimeout = 0;
|
|
}
|
|
|
|
protected override Task StartAction()
|
|
{
|
|
PlcController = ServiceProvider.GetRequiredService<IPlcController>();
|
|
PlcController.SetLightOn(IsLightOn); // M918 Light on
|
|
return base.StartAction();
|
|
}
|
|
|
|
protected override Task ExecuteAction()
|
|
{
|
|
if (PlcController is not null && PlcController.SetLightOnValue == IsLightOn)
|
|
{
|
|
SetStatus(ActionEvent.FINISHED);
|
|
ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
|
|
}
|
|
else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
|
|
{
|
|
SetStatus(ActionEvent.FAILED);
|
|
ResultDescription = "Timeout action";
|
|
}
|
|
|
|
return base.ExecuteAction();
|
|
}
|
|
}
|
|
|