Measure/Modules/ClampSafety/plc/snap7_communication_base.cpp

//
// Created by huli on 2020/9/25.
//

#include "snap7_communication_base.h"

Snap7_communication_base::Snap7_communication_base() {
    m_communication_status = SNAP7_COMMUNICATION_UNKNOWN;
    m_communication_delay_time_ms = SNAP7_COMMUNICATION_DELAY_TIME_MS;
    mp_communication_thread = NULL;
}

Snap7_communication_base::~Snap7_communication_base() {
    communication_uninit();
}

//初始化 通信 模块。如下三选一
Error_manager Snap7_communication_base::communication_init() {
    plcJsonConfig config(ETC_PATH"/etc/plc.json");
    return communication_init(config.ip());
}

Error_manager Snap7_communication_base::communication_init(std::string ip) {
    m_ip_string = ip;
    Error_manager t_error = communication_connect(m_ip_string);
    if (t_error != Error_code::SUCCESS) {
        //连接失败, 不要直接返回, 而是改为断连, 后面继续启动线程, (线程内部有重连功能)
        printf("---Debug %s %d : CONNECT ERROR !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n", __func__, __LINE__);
        m_communication_status = SNAP7_COMMUNICATION_DISCONNECT;
    } else {

        printf("---Debug %s %d : CONNECT SUCCESS !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n", __func__, __LINE__);
        m_communication_status = SNAP7_COMMUNICATION_READY;
    }
    return communication_run();
}

//反初始化 通信 模块。
Error_manager Snap7_communication_base::communication_uninit() {
    //关闭线程并回收资源
    if (mp_communication_thread) {
        m_communication_condition.kill_all();
    }
    if (mp_communication_thread) {
        mp_communication_thread->join();
        delete mp_communication_thread;
        mp_communication_thread = NULL;
    }

    //清空map
    {
        std::unique_lock<std::mutex> t_lock(m_receive_buf_lock);
        m_receive_buf_map.clear();
    }
    {
        std::unique_lock<std::mutex> t_lock(m_send_buf_lock);
        m_send_buf_map.clear();
    }

    communication_disconnect();
    m_communication_status = SNAP7_COMMUNICATION_UNKNOWN;

    return Error_code::SUCCESS;
}


//唤醒s7通信线程
Error_manager Snap7_communication_base::communication_start() {
    m_communication_condition.notify_all(true);
    return Error_code::SUCCESS;
}

//停止s7通信线程
Error_manager Snap7_communication_base::communication_stop() {
    m_communication_condition.notify_all(false);
    return Error_code::SUCCESS;
}


Snap7_communication_base::Snap7_communication_statu Snap7_communication_base::get_status() {
    return m_communication_status;
}

//通信连接
Error_manager Snap7_communication_base::communication_connect(std::string ip_string) {
    std::unique_lock<std::mutex> t_lock(m_communication_lock);
    int result = m_snap7_client.ConnectTo(ip_string.c_str(), 0, 1);
    std::this_thread::sleep_for(std::chrono::milliseconds(m_communication_delay_time_ms));
    printf("---Debug %s %d : connect %s result is %d \n", __func__, __LINE__, ip_string.c_str(), result);
    if (result == 0) {
        return Error_code::SUCCESS;
    } else {
        return Error_manager(Error_code::SNAP7_CONNECT_ERROR, Error_level::MINOR_ERROR,
                             " Snap7_communication_base::communication_connect error ");
    }
}

//启动通信, run thread
Error_manager Snap7_communication_base::communication_run() {
    //启动4个线程。
    //接受线程默认循环, 内部的nn_recv进行等待, 超时1ms
    m_communication_condition.reset(false, false, false);
    mp_communication_thread = new std::thread(&Snap7_communication_base::communication_thread, this);

    return Error_code::SUCCESS;
}

//通信断连
Error_manager Snap7_communication_base::communication_disconnect() {
    std::unique_lock<std::mutex> t_lock(m_communication_lock);
    int result = m_snap7_client.Disconnect();
    std::this_thread::sleep_for(std::chrono::milliseconds(m_communication_delay_time_ms));
    if (result == 0) {
        return Error_code::SUCCESS;
    } else {
        return Error_manager(Error_code::SNAP7_DISCONNECT_ERROR, Error_level::MINOR_ERROR,
                             " Snap7_communication_base::communication_disconnect error ");
    }
    return Error_code::SUCCESS;
}

//mp_communication_thread线程的执行函数, 负责进行s7的通信
void Snap7_communication_base::communication_thread() {
    //LOG(INFO) << " ---Snap7_communication_base::communication_thread()--- "<< this;
    Error_manager t_error;
    while (m_communication_condition.is_alive()) {
        m_communication_condition.wait_for_millisecond(1);

        //s7的通信时间较长, 所以将发送和接受分开
        //发送多个时, 必须加锁后一起发送, 不允许分段写入, 防止数据错误
        if (m_communication_condition.is_alive()) {
            std::this_thread::sleep_for(std::chrono::milliseconds(m_communication_delay_time_ms));
            std::this_thread::yield();
            switch (m_communication_status) {
                case SNAP7_COMMUNICATION_READY:
                case SNAP7_COMMUNICATION_RECEIVE: {
                    {
                        std::unique_lock<std::mutex> t_lock(m_receive_buf_lock);
                        auto iter = m_receive_buf_map.begin();
                        for (; iter != m_receive_buf_map.end(); ++iter) {
                            //接受数据, 读取DB块,
                            t_error = read_data_buf(iter->second);
                            if (t_error == Error_code::SNAP7_READ_ERROR) {
                                m_communication_status = SNAP7_COMMUNICATION_DISCONNECT;
                                printf("---Debug %s %d : t_error = %s \n", __func__, __LINE__, t_error.to_string().c_str());
                                break;
                            }
                        }
                        if (iter != m_receive_buf_map.end()) {
                            break;
                        }
                    }
                    //注:数据更新放在锁的外面, 防止重复加锁....
                    if(updata_receive_buf() != Error_code::SUCCESS) {
                        m_communication_status = SNAP7_COMMUNICATION_DISCONNECT;
                    }
                    else {
                        m_communication_status = SNAP7_COMMUNICATION_SEND;
                    }
                    break;
                }
                case SNAP7_COMMUNICATION_SEND: {
                    //注:数据更新放在锁的外面, 防止重复加锁....
                    updata_send_buf();
                    {
                        std::unique_lock<std::mutex> t_lock(m_send_buf_lock);
                        auto iter = m_send_buf_map.begin();
                        for (; iter != m_send_buf_map.end(); ++iter) {
                            //发送数据, 写入DB块,
                            t_error = write_data_buf(iter->second);
                            if (t_error == Error_code::SNAP7_WRITE_ERROR) {
                                m_communication_status = SNAP7_COMMUNICATION_DISCONNECT;
                                printf("---Debug %s %d : t_error = %s \n", __func__, __LINE__, t_error.to_string().c_str());
                                break;
                            }
                        }
                        if (iter != m_send_buf_map.end()) {
                            break;
                        }
                    }
                    m_communication_status = SNAP7_COMMUNICATION_RECEIVE;
                    break;
                }
                case SNAP7_COMMUNICATION_DISCONNECT: {
                    //重连
                    printf("---Debug %s %d : find plc connection error, trying to reconnect.\n", __func__, __LINE__);
                    communication_disconnect();
                    std::this_thread::sleep_for(std::chrono::milliseconds(m_communication_delay_time_ms));
                    t_error = communication_connect(m_ip_string);
                    if (t_error != Error_code::SUCCESS) {
                        //连接失败, 不要直接返回, 而是改为断连, 后面继续启动线程, (线程内部有重连功能)
                        m_communication_status = SNAP7_COMMUNICATION_DISCONNECT;
                    } else {
                        m_communication_status = SNAP7_COMMUNICATION_READY;
                    }
                    std::this_thread::sleep_for(std::chrono::milliseconds(m_communication_delay_time_ms));

                    break;
                }
                default: {

                    break;
                }
            }
        }
    }

    //LOG(INFO) << " Communication_socket_base::send_data_thread end "<< this;
    return;
}

//接受数据, 读取DB块,
Error_manager Snap7_communication_base::read_data_buf(Snap7_buf &snap7_buf) {
    Error_manager t_error;
    if (snap7_buf.m_communication_mode != Snap7_buf::NO_COMMUNICATION) {
        if (snap7_buf.m_communication_mode == Snap7_buf::ONCE_COMMUNICATION) {
            snap7_buf.m_communication_mode = Snap7_buf::NO_COMMUNICATION;
        }

        std::unique_lock<std::mutex> lck(m_communication_lock);
//        printf("---Debug %s %d : snap7_buf,m_id %d \n", __func__, __LINE__, snap7_buf.m_id);
//        printf("---Debug %s %d : snap7_buf,m_start_index %d\n", __func__, __LINE__, snap7_buf.m_start_index);
//        printf("---Debug %s %d : snap7_buf,m_size %d\n", __func__, __LINE__, snap7_buf.m_size);
        int result = m_snap7_client.AsDBRead(snap7_buf.m_id, snap7_buf.m_start_index, snap7_buf.m_size,
                                             snap7_buf.mp_buf_reverse);

//		std::this_thread::sleep_for(std::chrono::milliseconds(10));
        if (result == 0) {
            m_snap7_client.WaitAsCompletion(100);
            //倒序数据 转为 正序数据
            snap7_buf.reverse_to_obverse();
        } else {
            std::cout << " huli test :::: " << " result = " << result << std::endl;
            return Error_manager(Error_code::SNAP7_READ_ERROR, Error_level::MINOR_ERROR,
                                 " Snap7_communication_base::read_data_buf error ");
        }
    }

    return Error_code::SUCCESS;
}

//发送数据, 写入DB块,
Error_manager Snap7_communication_base::write_data_buf(Snap7_buf &snap7_buf) {
    Error_manager t_error;
    if (snap7_buf.m_communication_mode != Snap7_buf::NO_COMMUNICATION) {
        if (snap7_buf.m_communication_mode == Snap7_buf::ONCE_COMMUNICATION) {
            snap7_buf.m_communication_mode = Snap7_buf::NO_COMMUNICATION;
        }

        //正序数据 转为 倒序数据
        snap7_buf.obverse_to_reverse();
        std::unique_lock<std::mutex> lck(m_communication_lock);
        unsigned short a = 0;
        memcpy(&a, snap7_buf.mp_buf_reverse, 2);
        //printf("id %d  start %d  size :%d   value :%d\n",snap7_buf.m_id, snap7_buf.m_start_index, snap7_buf.m_size,a);
        int result = m_snap7_client.AsDBWrite(snap7_buf.m_id, snap7_buf.m_start_index, snap7_buf.m_size,
                                              snap7_buf.mp_buf_reverse);

//		std::this_thread::sleep_for(std::chrono::milliseconds(10));
        if (result == 0) {
            if (0 != m_snap7_client.WaitAsCompletion(1000)) {
//                printf("---Debug %s %d : snap7_buf,m_id %d \n", __func__, __LINE__, snap7_buf.m_id);
//                printf("---Debug %s %d : snap7_buf,m_start_index %d\n", __func__, __LINE__, snap7_buf.m_start_index);
//                printf("---Debug %s %d : snap7_buf,m_size %d\n", __func__, __LINE__, snap7_buf.m_size);
//                return Error_manager(Error_code::SNAP7_WRITE_ERROR, Error_level::MINOR_ERROR,
//                                     " Snap7_communication_base::write_data_buf error ");
            }
        } else {
            printf("---Debug %s %d : snap7_buf,m_id %d \n", __func__, __LINE__, snap7_buf.m_id);
            printf("---Debug %s %d : snap7_buf,m_start_index %d\n", __func__, __LINE__, snap7_buf.m_start_index);
            printf("---Debug %s %d : snap7_buf,m_size %d\n", __func__, __LINE__, snap7_buf.m_size);
            return Error_manager(Error_code::SNAP7_WRITE_ERROR, Error_level::MINOR_ERROR,
                                 " Snap7_communication_base::write_data_buf error ");
        }
    }
    return Error_code::SUCCESS;
}

//数据颠倒
Error_manager Snap7_communication_base::reverse_byte(void *p_buf_in, void *p_buf_out, int size) {
    if (p_buf_in == NULL || p_buf_out == NULL) {
        return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
                             "  POINTER IS NULL ");
    }
    char *tp_in = (char *) p_buf_in;
    char *tp_out = (char *) p_buf_out;
//	for(int i=0;i<size;++i)
//	{
//		tp_out[i]=tp_in[size-i-1];
//	}
    for (int i = 0; i < size; ++i) {
        tp_out[i] = tp_in[i];
    }
    return Error_code::SUCCESS;
}

//更新数据
Error_manager Snap7_communication_base::updata_receive_buf() {
    return Error_code::SUCCESS;
}

Error_manager Snap7_communication_base::updata_send_buf() {

    return Error_code::SUCCESS;
}