using Aurora;
using Aurora.Api;
using Aurora.Api.Manager;
using Aurora.View;
using AuroraCellTracker;
using AuroraIO;
using AuroraLaser;
using AuroraLaserScanner;
using AuroraLBAD;
using AuroraLBAD.Service;
using AuroraOCT;
using AuroraPLC;
using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using DB;
using DB.Recipe;
using Hermes;
using ILSOS_KS.Models;
using ILSOS_KS.RMS;
using ILSOS_KS.Views.Dialog;
using Matrox.MatroxImagingLibrary;
using MilUI;
using OpenCvSharp;
using OpenCvSharp.Dnn;
using OpenCvSharp.WpfExtensions;
using System;
using System.CodeDom.Compiler;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Configuration;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Linq.Expressions;
using System.Runtime.InteropServices.ComTypes;
using System.Runtime.Remoting.Contexts;
using System.Runtime.Remoting.Metadata.W3cXsd2001;
using System.Security.Cryptography;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Forms;
using System.Windows.Forms.VisualStyles;
using System.Windows.Media.Imaging;
using VisionCommon;
using WeldingCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Data;
using WeldingCommon.Devices;
using WeldingCommon.Recipes;
using WeldingCommon.Sequences;
using WeldingCommon.Settings;
using WeldingCommon.Utils;
using WeldingCommon.Views;
using WeldingCommon.Vision.WeldingObjectGenerator;
//using System.Windows.Shapes;
using WeldingCommon.Vision.WeldingObjectGenerator.GeometryLibrary;
using WeldingCommon.Vision.WeldingObjectGenerator.PathEditorLibrary;
using static Aurora.Api.SequenceBuilder;
using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
using static AuroraLBAD.Service.StreamLightLBAD;
using static AuroraLBAD.Services.StreamLBADClient;
using static ILSOS_KS.Device.IOController_KS;
using static ILSOS_KS.Device.PLCControllerKS;
using Application = System.Windows.Application;
using Path = System.IO.Path;
using Point = OpenCvSharp.Point;
using SystemParameter = WeldingCommon.Settings.SystemParameter;

namespace ILSOS_KS.Sequences
{
    public class SeqRCCTeachingRun
    {
        static readonly Logger Log = new Logger("SeqRCCTeachingRun");

        const string SEQ_ENTER = "[SeqRCCTeachingRun] SEQ_ENTER";   // inputParam 으로 받자.
        const string SEQ_CHECK_INIT_CONDITION = "[SeqRCCTeachingRun] Check Init Condition";  // Check Init Condition

        // ADD jmj -> 메인페이지 레시피 넘버 확인하여 PLC에 전송후 메칭 확인
        // Page 번호 가져오기.
        const string SEQ_CHECK_PAGENO = "[SeqRCCTeachingRun] CHECK PageNo";

        const string SEQ_CHECK_LOAD_COMPLETE = "[SeqRCCTeachingRun] Check Load Complete";

        //const string SEQ_MEASURE_CELL_POSITION = "[SeqRCCTeachingRun] Measure CellPosition";

        const string SEQ_SET_SCOUT_FLYING_VISION_SEQ = "[SeqRCCTeachingRun] Set Sequence Param (ScoutFlyingVision Seq)";
        const string SEQ_DO_ID_SCOUT_FLYING_VISION_SEQ = "[SeqRCCTeachingRun] Process (ScoutFlyingVision Seq)";
        const string SEQ_GET_SCOUT_FLYING_VISION_SEQ = "[SeqRCCTeachingRun] Get Sequence Result (ScoutFlyingVision Seq)";

        //const string SEQ_SET_SCOUT_NORMAL_VISION_SEQ = "[SeqRCCTeachingRun] Set Sequence Param (ScoutNormalVision Seq)";
        //const string SEQ_DO_ID_SCOUT_NORMAL_VISION_SEQ = "[SeqRCCTeachingRun] Process (ScoutNormalVision Seq)";
        //const string SEQ_GET_SCOUT_NORMAL_VISION_SEQ = "[SeqRCCTeachingRun] Get Sequence Result (ScoutNormalVision Seq)";

        const string SEQ_SEND_EVENT_SENDER = "[SeqRCCTeachingRun] Event Sender";
        const string SEQ_EVENT_Q_SAVE_FILE = "[SeqRCCTeachingRun] EventQ Save File";
        const string SEQ_SAVE_SCOUT_IMAGE = "[SeqRCCTeachingRun] Save ScoutImage";

        const string SEQ_FIND_EDGE = "[SeqRCCTeachingRun] Find Edge";
        const string SEQ_DECISION_RCC_ALGORITHM_TYPE = "[SeqRCCTeachingRun] Decision RCC Algorithm Type";
        const string SEQ_APPLY_OFFSET_OBJECT = "[SeqRCCTeachingRun] Apply Offset Object";
        const string SEQ_GENERATE_WELDING_OBJECT = "[SeqRCCTeachingRun] Generate WeldingObject";

        const string SEQ_READY_SCANNER_LIST = "[SeqRCCTeachingRun] Ready ScannerList";
        const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqRCCTeachingRun] Set Sequence Param (UploadWeldingList Seq)";
        const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqRCCTeachingRun] Process (UploadWeldingList Seq)";
        const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqRCCTeachingRun] Get Sequence Result (UploadWeldingList Seq)";

        const string SEQ_WAIT_WELDING_START = "[SeqRCCTeachingRun] Wait Welding Start";

        const string SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqRCCTeachingRun] Set Sequence Param (ReceiveCellInfo Seq)";
        const string SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ = "[SeqRCCTeachingRun] Process (ReceiveCellInfo Seq)";
        const string SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqRCCTeachingRun] Get Sequence Result (ReceiveCellInfo Seq)";

        const string SEQ_EXECUTE_WELDING = "[SeqRCCTeachingRun] Execute Welding";
        const string SEQ_REQUEST_UNLOAD_CELL = "[SeqRCCTeachingRun] Request Unload Cell";
        const string SEQ_WAIT_LBAD_JUDGE = "[SeqRCCTeachingRun] Wait LBAD Judge";

        //const string SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ = "[SeqRCCTeachingRun] Set Sequence Param (ReportCellResult Seq)";
        //const string SEQ_DO_ID_REPORT_CELL_RESULT_SEQ = "[SeqRCCTeachingRun] Process (ReportCellResult Seq)";
        //const string SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ = "[SeqRCCTeachingRun] Get Sequence Result (ReportCellResult Seq)";

        const string SEQ_REPORT_CELLINFO_TO_PLC = "[SeqRCCTeachingRun] ReportCellInfoToPLC";
        const string SEQ_CHECK_CYCLE_STOP = "[SeqRCCTeachingRun] Check Cycle Stop";

        const string SEQ_SAVE_RESULT_DATA = "[SeqRCCTeachingRun] Save Result Data";

        const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqRCCTeachingRun] Write Completion PLC Bit";
        const string SEQ_COMPLETE = "[SeqRCCTeachingRun] SEQ_COMPLETE";         // 완료

        const string SEQ_BEFORE_WELD_MOVE_OBJECT = "[SeqRCCTeachingRun] Before Weld Move Object";
        const string SEQ_AFTER_WELD_CHECK_BEAD = "[SeqRCCTeachingRun] After Weld Check Bead";
        const string SEQ_CHECK_RCC_MODE = "[SeqRCCTeachingRun] Check RCC Mode";
        const string SEQ_CHECK_BEFORE_OR_AFTER = "[SeqRCCTeachingRun] Check before or after";
        static class ContextKey
        {
            public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqRCCTeachingRun";
            public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqRCCTeachingRun";
        }

        const int PLC_TIMEOUT = 60;        // sec, Timeout은 시퀀스 정지가 아니라 타임아웃 시간마다 로그만 남기도록 한다

        private SeqRCCTeachingRun_InitParam _InitParam;

        private Scanner _Scanner;
        private LaserDevice _Laser;
        //private OCT _OCT;
        private PLCController _PLC;
        private IODevice _IO;
        private LBAD _LBAD;
        //private StreamLightLBAD _StreamLightLBAD;
        private SystemParameter _SystemParameter;
        private IRecipeManager _RecipeManager;
        private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언

        private FovRecipe _FovRecipe;
        private CameraAgentBase _CameraAgent;
        private ICameraDisplay _CameraDisplay;
        private CamConfig _CamConfig;

        private eListNo _WeldingScannerListNo;
        private List<IDrawObject> _SelectedDrawObjectList;

        private MIL_ID _GrabImage = MIL.M_NULL;
        private ObjectGenerator _ObjGenerator;
        private Mat _ConvMatImage;
        private Mat _ConvMatImage_after;

        private uint _TodayProduct;
        private uint _TotalProduct;
        private uint _OCT_QA_ERROR_COUNT;

        private DateTime _AutoRunStartTime;
        private DateTime _WeldingStartTime;
        private TimeSpan _WeldingSpanTime;
        private DateTime _WeldEndTime;
        private TimeSpan _InterfaceSpanTime;
        private DateTime _InterfaceStartTime;

        private string _LotId = "N/A";
        private string _CellId = "N/A";

        private bool _IncludeListStartEnd = false;      // ==> local

        private int _SeqRunCount;

        // For RCC
        private List<IDrawObject> _GeneratedDrawObjects;
        private List<IDrawObject> _RecipeDrawObjects;     // ==> local

        private Stopwatch _StopwatchGenObj;

        private int _Radius_Pixel;
        // End For RCC

        private int _ModelNo;

        private int _PageNo = 0;
        private string _BcrID;

        private bool _IsRealTimeScout;
        private double _CellMeasureCenterOffsetX;
        private double _CellMeasureCenterOffsetY;

        public string EVENT_TRIGGER_SAVE_FILE = "EventTriggerSaveFile";
        private UnitPoint _DetectedContourCenter;
        private Point[][] _MaxContour;
        private List<TPoint> _Polygon;
        private List<PathItem> _Paths;
        private List<Arc> _SelectedArcs;
        private bool pre_welding = true;
        private List<double> bead_result_info; //상위보고를 위한 비드 사이즈 저장 리스트 (OK:0, NG:1)

        // 경신 검수용 LBAD 검사 결과 OK,NG 반전 ..
        bool isOn = false;

        eScoutType _ScoutType;

        public SeqRCCTeachingRun()
        {
            var systemParameterks = Application.Current.AuroraEnv().SettingEntry[CommonSettingIds.SystemParameter] as SystemParameter;
            _ScoutType = systemParameterks.ScoutType;

        }

        internal SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(50000, true);
            ////var sb = new SequenceBuilder(1000, false);        // With log

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기

            sb.AddAction(SEQ_CHECK_PAGENO, CheckPageNo);

            sb.AddDecision(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);



            // RCC FlyingVision
            sb.AddAction(SEQ_SET_SCOUT_FLYING_VISION_SEQ, SetScoutFlyingVision_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_SCOUT_FLYING_VISION_SEQ, SequenceManager.GetSeqBuilder_SeqScoutFlyingVision());
            sb.AddAction(SEQ_GET_SCOUT_FLYING_VISION_SEQ, GetScoutFlyingVision_SeqResult);
            //sb.AddDecision(SEQ_GET_SCOUT_FLYING_VISION_SEQ, GetScoutFlyingVision_SeqResult);




            sb.AddEventSender(SEQ_SEND_EVENT_SENDER, SendEvent);
            sb.AddEventQ(SEQ_EVENT_Q_SAVE_FILE, 2);
            sb.AddAction(SEQ_SAVE_SCOUT_IMAGE, SaveScoutImageEvent);

            sb.AddAction(SEQ_FIND_EDGE, FindEdge);
            sb.AddDecision(SEQ_DECISION_RCC_ALGORITHM_TYPE, DecisionRCCAlgorithmType);
            sb.AddAction(SEQ_APPLY_OFFSET_OBJECT, ApplyOffsetObejct);
            sb.AddAction(SEQ_GENERATE_WELDING_OBJECT, GenerateWeldingObject);

            //Image Processing
            sb.AddAction(SEQ_BEFORE_WELD_MOVE_OBJECT, BeforeWeldMoveObject);
            sb.AddAction(SEQ_AFTER_WELD_CHECK_BEAD, AfterWeldCheckBead);
            sb.AddDecision(SEQ_CHECK_RCC_MODE, CheckRCCMode);
            sb.AddDecision(SEQ_CHECK_BEFORE_OR_AFTER, CheckBeforeOrAfter);

            // ALL (Normal & RCC & CellCenterOffset)
            sb.AddAction(SEQ_READY_SCANNER_LIST, ReadyScannerList);
            sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList());
            sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);

            sb.AddAction(SEQ_WAIT_WELDING_START, WaitWeldingStart);

            sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo());
            sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult);

            sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);
            sb.AddAction(SEQ_REQUEST_UNLOAD_CELL, RequestUnloadCell);
            sb.AddAction(SEQ_WAIT_LBAD_JUDGE, WaitLBADJudge);

            sb.AddAction(SEQ_REPORT_CELLINFO_TO_PLC, ReportCellInfoToPLC);

            sb.AddDecision(SEQ_CHECK_CYCLE_STOP, CheckCycleStop);

            sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData);      // 해당 공정의 정보를 기록 함.
            sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit);      // 정상적으로 종료 되면, complete bit write
            sb.AddAction(SEQ_COMPLETE, Complete);


            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
                    > sb[SEQ_CHECK_PAGENO]
                    > sb[SEQ_CHECK_LOAD_COMPLETE] > sb[SEQ_READY_SCANNER_LIST]
                    > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
                    > sb[SEQ_WAIT_WELDING_START]
                    > sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ]
                    > sb[SEQ_EXECUTE_WELDING]
                    > sb[SEQ_CHECK_RCC_MODE]
                    > sb[SEQ_REQUEST_UNLOAD_CELL] > sb[SEQ_WAIT_LBAD_JUDGE]
                    // 상위 보고 추가 해야된다.
                    //> sb[SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ] > sb[SEQ_DO_ID_REPORT_CELL_RESULT_SEQ] > sb[SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ]

                    > sb[SEQ_REPORT_CELLINFO_TO_PLC] > sb[SEQ_CHECK_CYCLE_STOP]
                    > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);

            // CellCenterOffset
            //sb.Flows(sb[SEQ_CHECK_LOAD_COMPLETE] > sb[SEQ_MEASURE_CELL_POSITION] > sb[SEQ_READY_SCANNER_LIST]);


                // RCC
                sb.Flows(sb[SEQ_CHECK_LOAD_COMPLETE]
                // RCC FlyingVision
                > sb[SEQ_SET_SCOUT_FLYING_VISION_SEQ] > sb[SEQ_DO_ID_SCOUT_FLYING_VISION_SEQ] > sb[SEQ_GET_SCOUT_FLYING_VISION_SEQ]
                > sb[SEQ_SEND_EVENT_SENDER].Send(EVENT_TRIGGER_SAVE_FILE) > sb[SEQ_CHECK_BEFORE_OR_AFTER] 
                > sb[SEQ_BEFORE_WELD_MOVE_OBJECT] > sb[SEQ_READY_SCANNER_LIST]);

                sb.Flows(sb[SEQ_CHECK_RCC_MODE]
                // RCC FlyingVision
                > sb[SEQ_SET_SCOUT_FLYING_VISION_SEQ] > sb[SEQ_DO_ID_SCOUT_FLYING_VISION_SEQ] > sb[SEQ_GET_SCOUT_FLYING_VISION_SEQ]
                > sb[SEQ_SEND_EVENT_SENDER].Send(EVENT_TRIGGER_SAVE_FILE) > sb[SEQ_CHECK_BEFORE_OR_AFTER]
                > sb[SEQ_AFTER_WELD_CHECK_BEAD]  > sb[SEQ_REQUEST_UNLOAD_CELL]);


        


            // Scout Image Save Event Seq
            sb.Flows(sb[SEQ_EVENT_Q_SAVE_FILE].On(EVENT_TRIGGER_SAVE_FILE) > sb[SEQ_SAVE_SCOUT_IMAGE] > sb.FlowFinal);

            //sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_LOAD_COMPLETE]);
            sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_PAGENO]);

            sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);


            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);


            sb.Draw("SeqDryRun.pdf");

            return sb;
        }

        #region 경신 용접 RCC 추가
        private string CheckRCCMode(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
            if (_SystemParameter.SequenceType == eSequenceType.Normal)
            {
                return SEQ_REQUEST_UNLOAD_CELL;
            }
            else
            {

                return SEQ_SET_SCOUT_FLYING_VISION_SEQ;

            }
        }

        private string CheckBeforeOrAfter(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);

            var resultOutParam = param.Param as SeqScoutFlyingVision_OutParam;
            //return SequenceAction.Ok();

            if (pre_welding)
            {
                pre_welding = !pre_welding;
                return SEQ_BEFORE_WELD_MOVE_OBJECT;

            }
            else
            {
                pre_welding = !pre_welding;
                return SEQ_AFTER_WELD_CHECK_BEAD;
            }

        }

        

        private SequenceActionResult BeforeWeldMoveObject(SequenceContext context, string id, SequenceActionResult param)
        {

            MIL_ID ScannerFieldImage = Status.GetProcessingWeldingData().ScannerFiledImage;

            //RCC Error로 인해 시퀀스를 종료하고 있는데, NG배출해야 될지 확인 필요
            _StopwatchGenObj = Stopwatch.StartNew();
            double dPixelResolution = ((_SystemParameter.CameraPixelSize) / _SystemParameter.LensMagnification) / 1000.0;

            _ObjGenerator = new ObjectGenerator(dPixelResolution);
            int arc_cnt = 6 * _PageNo;

            _ObjGenerator.ConvertMILToMat(ScannerFieldImage, out _ConvMatImage);
            //_ConvMatImage = Cv2.ImRead("D:\\RCC\\6_KS\\2025_7_3\\before1.PNG");
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
            var mainPage = WeldingRecipeManager.GetWeldingPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
            UnitPoint offset = new UnitPoint(0,0);
            for (int i = 0; i < _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects.Count; i += 2)
            {
                int[] threshold_array = new int[] { _SystemParameter.CVThresholdCircle1, _SystemParameter.CVThresholdCircle2, _SystemParameter.CVThresholdCircle3, _SystemParameter.CVThresholdCircle4, _SystemParameter.CVThresholdCircle5, _SystemParameter.CVThresholdCircle6 };
                //if (_ScannerCanvasUserCtrl.Model.Layers[0].Objects.Count < 13) return;
                //if (!(_ScannerCanvasUserCtrl.Model.Layers[0].Objects[12] is Spline)) return;
                //if (((Spline)_ScannerCanvasUserCtrl.Model.Layers[0].Objects[12]).Center.Y < 0)
                //    threshold_array = new int[] { _SystemParameter.CVThresholdCircle2_1, _SystemParameter.CVThresholdCircle2_2, _SystemParameter.CVThresholdCircle2_3, _SystemParameter.CVThresholdCircle2_4, _SystemParameter.CVThresholdCircle2_5, _SystemParameter.CVThresholdCircle2_6 };
                FovInfo _FovInfo = VisionRecipeManager.GetFovInfos().FirstOrDefault();
                PatternAgentBase _PatternAgent = PatternAgentManager.GetAgent(_FovInfo);
                var item = _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects[i];
                _ObjGenerator = new ObjectGenerator(dPixelResolution);

                if (item is Arc)
                {
                    arc_cnt += 1;
                    var procPatternInfo = VisionRecipeManager.GetProcPatternInfo(_FovInfo, $"Arc{_PageNo + 1}_{arc_cnt - 6 * _PageNo}", (eProcPatternId)arc_cnt - 1);
                    var patternInfo = _PatternAgent.GetPatternInfo(_FovInfo, procPatternInfo.PatternId);
                    UnitPoint center = ((Arc)item).Center;
                    double my_radius = ((Arc)item).Radius;
                    int roi_height = _PatternAgent.GetFindROI(patternInfo).Height;
                    int roi_width = _PatternAgent.GetFindROI(patternInfo).Width;
                    OpenCvSharp.Rect my_ROI = new OpenCvSharp.Rect((int)(center.X / dPixelResolution + _ConvMatImage.Width / 2 - roi_width / 2), (int)(_ConvMatImage.Height / 2 - center.Y / dPixelResolution - roi_height / 2), roi_width, roi_height);
                    Mat roi_img = new Mat(_ConvMatImage, my_ROI);
                    Cv2.CvtColor(roi_img, roi_img, ColorConversionCodes.GRAY2BGR);
                    Cv2.CvtColor(roi_img, roi_img, ColorConversionCodes.BGR2GRAY);
                    //MIL.MbufAllocColor(MilEnvironment.Instance.GetSystem(_cameraAgent._CamConfig.CamConnConfig.BoardSlotPos), 3, loadImg.Width, loadImg.Height, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_DISP + MIL.M_PROC, ref mil_roi_img);
                    MIL_ID mil_roi_img = _ObjGenerator.ConvertMatToMilID(roi_img);

                    //MIL.MbufLoad($"D:/test_{arc_cnt}.png", mil_roi_img);
                    //Mat roi_img_img;
                    //_ObjGenerator.ConvertMILToMat(mil_roi_img, out roi_img_img);
                    //Cv2.ImWrite($"D:/test_convert_{arc_cnt}.png", roi_img_img);
                    Point2d found_center_pixel, found_center_pixel_mm;
                    var cameraDisplay = CameraDisplayManager.GetDisplay(_FovInfo, eDisplayType.Pattern) as CameraDisplay;

                    PatternResult _PatternResult = _PatternAgent.Find(patternInfo, mil_roi_img, _CameraDisplay);
                    MIL.MbufFree(mil_roi_img);
                    if (_PatternResult.Status == eFoundStatus.FoundOK)
                    {
                        Log.W("Pattern is found.");
                        var resultsList = _PatternResult.Results.ToList();
                        found_center_pixel = new Point2d(resultsList[0].ImagePosition.X + my_ROI.X, resultsList[0].ImagePosition.Y + my_ROI.Y);
                        found_center_pixel_mm = new Point2d((found_center_pixel.X - _ConvMatImage.Width / 2) * dPixelResolution, (_ConvMatImage.Height / 2 - found_center_pixel.Y) * dPixelResolution);
                        offset = new UnitPoint(found_center_pixel_mm.X - center.X, found_center_pixel_mm.Y - center.Y);
                    }
                    else
                    {
                        Log.W("Pattern is not found.");
                    }


                    //var ROI_X = (center.X - my_radius * 2) / dPixelResolution + _ConvMatImage.Width / 2;
                    //var ROI_Y = -(center.Y + my_radius * 2) / dPixelResolution + _ConvMatImage.Height / 2;
                    //var ROI_size = my_radius * 4 / dPixelResolution;
                    //Point2f circle = _ObjGenerator.find_circle_center(_ConvMatImage, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, (int)ROI_size, (int)ROI_size), threshold_array[circle_cnt], _SystemParameter.CVRadiusMargin, my_radius / dPixelResolution);
                    //circle_cnt += 1;
                    //circle = new Point2f((float)(circle.X + ROI_X), (float)(circle.Y + ROI_Y));
                    ////Point2f circle = _ObjectGenerator.find_circle_center(_DetectImageMat, new OpenCvSharp.Rect(3325, 4250, 500, 500), threshold, my_radius, my_radius / dPixelResolution);
                    ////Cv2.Circle(_DetectImageMat, new Point(circle.X, circle.Y), (int)(my_radius / dPixelResolution), Scalar.Red, 8);
                    //circle = new Point2f((float)((circle.X - _ConvMatImage.Width / 2) * dPixelResolution), (float)((-circle.Y + _ConvMatImage.Height / 2) * dPixelResolution));
                    
                    Log.I($"Offset : {offset.X},{offset.Y}");
                    IDrawObject objclone = item.Clone();
                    objclone.Move(offset);
                    _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects[i] = objclone;
                    IDrawObject objclone_line = _ScannerCanvasUserCtrl.Model.Layers[0].Objects[i + 1].Clone();
                    objclone_line.Move(offset);///
					_ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects[i + 1] = objclone_line;
                }
                else if (item is Line)
                {
                    //var line_length = Math.Abs(((Line)item).PF1.Y - ((Line)item).PF2.Y);
                    //if (line_length < 2) continue;
                    //int ROI_size = (int)(line_length * 1.5 / dPixelResolution);
                    //int ROI_X = (int)(((Line)item).PF1.X / dPixelResolution + _ConvMatImage.Width / 2) - ROI_size / 2;
                    //int ROI_Y = (int)(-Math.Max(((Line)item).PF1.Y, ((Line)item).PF2.Y) / dPixelResolution + _ConvMatImage.Height / 2) - ROI_size / 4;
                    //RotatedRect r = _ObjGenerator.find_line_center(_ConvMatImage, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, (int)ROI_size, (int)ROI_size),
                    //    _SystemParameter.CVThresholdLine1, _SystemParameter.CVThresholdLine2);
                    //Point[] intVertices = new Point[4];
                    //for (int j = 0; j < 4; j++)
                    //{
                    //    intVertices[j] = new Point(r.Points()[j].X + ROI_X, r.Points()[j].Y + ROI_Y);
                    //}
                    //UnitPoint LineCenter = new UnitPoint((r.Center.X + ROI_X - _ConvMatImage.Width / 2) * dPixelResolution, (-r.Center.Y - ROI_Y + _ConvMatImage.Height / 2) * dPixelResolution);

                    //UnitPoint offset = new UnitPoint(LineCenter.X - (((Line)item).PF1.X + ((Line)item).PF2.X) / 2, LineCenter.Y - (((Line)item).PF1.Y + ((Line)item).PF2.Y) / 2);
                    //IDrawObject objclone = item.Clone();
                    //float angle = Math.Min(r.Angle, 90 - r.Angle);
                    //objclone.Rotate(angle, LineCenter);
                    //objclone.Move(offset);
                    //_ScannerCanvasUserCtrl.Model.Layers[0].Objects[i] = objclone;
                }
            }

            return SequenceAction.Ok();
        }
        private SequenceActionResult AfterWeldCheckBead(SequenceContext context, string id, SequenceActionResult param)
        {

            //if (_SystemParameter.SequenceType == eSequenceType.Normal) return SequenceAction.Ok();
            MIL_ID ScannerFieldImage = Status.GetProcessingWeldingData().ScannerFiledImage;
            //RCC Error로 인해 시퀀스를 종료하고 있는데, NG배출해야 될지 확인 필요
            if (_ConvMatImage.Type() == MatType.CV_8UC1)
                Cv2.CvtColor(_ConvMatImage, _ConvMatImage, ColorConversionCodes.GRAY2BGR);

            _StopwatchGenObj = Stopwatch.StartNew();
            _ObjGenerator.ConvertMILToMat(ScannerFieldImage, out _ConvMatImage_after);
            if (_ConvMatImage_after.Type() == MatType.CV_8UC1)
                Cv2.CvtColor(_ConvMatImage_after, _ConvMatImage_after, ColorConversionCodes.GRAY2BGR);
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
            double dPixelResolution = ((_SystemParameter.CameraPixelSize) / _SystemParameter.LensMagnification) / 1000.0;
            _ObjGenerator = new ObjectGenerator(dPixelResolution);
            var mainPage = WeldingRecipeManager.GetWeldingPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
            bead_result_info = new List<double>();
            for (int i = 0; i < _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects.Count; i++)
            {
                var item = _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects[i];
                double my_radius = 0;
                int ROI_X = 0;
                int ROI_Y = 0;
                int ROI_W = 0;
                int ROI_H = 0;
                double bead_size1 = 0;
                double bead_size2 = 0;
                int search_size = 0;
                UnitPoint center = new UnitPoint(0, 0);
                OpenCvSharp.Point p1 = new OpenCvSharp.Point();
                OpenCvSharp.Point p2 = new OpenCvSharp.Point();
                Point[][] contour;
                int type = -1;
                if (item is Arc)
                {
                    bead_result_info.Add(_SystemParameter.ArcBeadSizeMin);
                    bead_result_info.Add(_SystemParameter.ArcBeadSizeMax);
                    center = ((Arc)item).Center;
                    my_radius = ((Arc)item).Radius;
                    type = 0;
                    ROI_W = 200;
                    ROI_H = (int)(my_radius * 0.5 / dPixelResolution);
                    ROI_X = (int)(center.X / dPixelResolution) + _ConvMatImage.Width / 2 - ROI_W;
                    ROI_Y = -(int)(center.Y / dPixelResolution) + _ConvMatImage.Height / 2 - ROI_H / 2;
                    search_size = (int)(ROI_W / 10);
                    //double size_margin = 10000;
                    //(bead_size1, bead_size2, p1, p2, contour) = _ObjGenerator.check_bead_size(_ConvMatImage, _ConvMatImage_after, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, ROI_W, ROI_H), type, _SystemParameter.CVSearchSize);
                    int[] bead_size_info = new int[3];
                    Point[] start_bead_point_info = new Point[3];
                    Point[] end_bead_point_info = new Point[3];
                    (bead_size_info, start_bead_point_info, end_bead_point_info, contour) = _ObjGenerator.check_bead_size(_ConvMatImage, _ConvMatImage, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, ROI_W, ROI_H), type, search_size);

                    //Cv2.Line(_ConvMatImage_after, p1, p2, Scalar.LimeGreen, 10);
                    //Cv2.Line(_ConvMatImage_after, new Point(p1.X, p1.Y + 10), new Point(p1.X, p1.Y - 10), Scalar.LimeGreen, 10);
                    //Cv2.Line(_ConvMatImage_after, new Point(p2.X, p2.Y + 10), new Point(p2.X, p2.Y - 10), Scalar.LimeGreen, 10);
                    //Cv2.PutText(_ConvMatImage_after, $"{Math.Round(bead_size1 * dPixelResolution, 3)} mm", new Point(p1.X + 10, p1.Y + 220), HersheyFonts.HersheyComplexSmall, 10, Scalar.LimeGreen, 25);
                    int min_bead_size = int.MaxValue;
                    int average_bead_size = 0;
                    for (int li = 0; li < bead_size_info.Length; li++)
                    {
                        p1 = start_bead_point_info[li];
                        p2 = end_bead_point_info[li];
                        Cv2.Line(_ConvMatImage_after, p1, p2, Scalar.LimeGreen, 10);
                        if (Math.Abs(p1.X - p2.X) > Math.Abs(p1.Y - p2.Y))
                        {
                            Cv2.Line(_ConvMatImage_after, new Point(p1.X, p1.Y + 10), new Point(p1.X, p1.Y - 10), Scalar.LimeGreen, 10);
                            Cv2.Line(_ConvMatImage_after, new Point(p2.X, p2.Y + 10), new Point(p2.X, p2.Y - 10), Scalar.LimeGreen, 10);
                        }
                        else
                        {
                            Cv2.Line(_ConvMatImage_after, new Point(p1.X + 10, p1.Y), new Point(p1.X - 10, p1.Y), Scalar.LimeGreen, 10);
                            Cv2.Line(_ConvMatImage_after, new Point(p2.X + 10, p2.Y), new Point(p2.X - 10, p2.Y), Scalar.LimeGreen, 10);
                        }
                        //    Cv2.PutText(_DetectImageMat, $"{Math.Round(bead_size_info[li] * dPixelResolution, 3)} mm", new Point(p1.X + 10, p1.Y + 220), HersheyFonts.HersheyComplexSmall, 10, Scalar.LimeGreen, 25);
                        average_bead_size += bead_size_info[li];
                        if (min_bead_size > bead_size_info[li]) min_bead_size = bead_size_info[li];
                    }
                    Cv2.PutText(_ConvMatImage_after, $"MIN : {Math.Round(min_bead_size * dPixelResolution, 3)} mm", new Point(ROI_X + 100, ROI_Y + 400), HersheyFonts.HersheyComplexSmall, 9, Scalar.LimeGreen, 25);
                    Cv2.PutText(_ConvMatImage_after, $"AVG : {Math.Round(average_bead_size * dPixelResolution / bead_size_info.Length, 3)} mm", new Point(ROI_X + 100, ROI_Y + 600), HersheyFonts.HersheyComplexSmall, 9, Scalar.LimeGreen, 25);

                    bead_size1 = min_bead_size * dPixelResolution;
                    Log.I($"arc length : {bead_size1}");
                    bead_result_info.Add(bead_size1);

                    if (bead_size1 <= _SystemParameter.ArcBeadSizeMax && bead_size1 >= _SystemParameter.ArcBeadSizeMin) 
                        bead_result_info.Add(0);
                    else 
                        bead_result_info.Add(bead_size1);


                }
                else if (item is Spline)
                {
                    bead_result_info.Add(_SystemParameter.SpiralBeadMin);
                    bead_result_info.Add(_SystemParameter.SpiralBeadMax);
                    bead_result_info.Add(_SystemParameter.SpiralBeadMin);
                    bead_result_info.Add(_SystemParameter.SpiralBeadMax);
                    center = ((Spline)item).Center;
                    my_radius = ((Spline)item).Radius;
                    type = 1;
                    ROI_W = (int)(my_radius * 3 / dPixelResolution);
                    ROI_X = (int)(center.X / dPixelResolution) + _ConvMatImage.Width / 2 - ROI_W / 2;
                    ROI_Y = -(int)(center.Y / dPixelResolution) + _ConvMatImage.Height / 2 - ROI_W / 2;
                    double[] spline_y = new double[3];

                    //spline_y[0] = ((Spline)_ScannerCanvasUserCtrl.Model.Layers[0].Objects[0]).Center.Y;
                    spline_y[0] = ((Spline)_SelectedDrawObjectList[0]).Center.Y;
                    //spline_y[1] = ((Spline)_ScannerCanvasUserCtrl.Model.Layers[0].Objects[1]).Center.Y;
                    spline_y[1] = ((Spline)_SelectedDrawObjectList[1]).Center.Y;
                    //spline_y[2] = ((Spline)_ScannerCanvasUserCtrl.Model.Layers[0].Objects[2]).Center.Y;
                    spline_y[2] = ((Spline)_SelectedDrawObjectList[2]).Center.Y;
                    Array.Sort(spline_y);
                    //int spline_empty_spot_y = (int)(_ConvMatImage.Height / 2 - (spline_y[0] - ((Spline)_ScannerCanvasUserCtrl.Model.Layers[0].Objects[0]).Radius * 1.5) / dPixelResolution);
                    int spline_empty_spot_y = (int)(_ConvMatImage.Height / 2 - (spline_y[0] - ((Spline)_SelectedDrawObjectList[0]).Radius * 1.5) / dPixelResolution);
                    //(bead_size1, bead_size2, p1, p2, contour) = _ObjGenerator.check_bead_size(_ConvMatImage, _ConvMatImage, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, ROI_W, ROI_W), type, spline_empty_spot_y);
                    //(bead_size1, bead_size2, p1, p2, contour) = _ObjGenerator.check_bead_size(_ConvMatImage, _ConvMatImage_after, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, ROI_W, ROI_W), type, 0);
                    int[] bead_size_info = new int[3];
                    Point[] start_bead_point_info = new Point[3];
                    Point[] end_bead_point_info = new Point[3];
                    (bead_size_info, start_bead_point_info, end_bead_point_info, contour) = _ObjGenerator.check_bead_size(_ConvMatImage, _ConvMatImage, new OpenCvSharp.Rect((int)ROI_X, (int)ROI_Y, ROI_W, ROI_W), type, spline_empty_spot_y);
                    bead_size1 = bead_size_info[0];
                    bead_size2 = bead_size_info[1];
                    p1 = start_bead_point_info[0];
                    Cv2.Line(_ConvMatImage_after, new Point(p1.X - bead_size1 / 2, p1.Y), new Point(p1.X + bead_size1 / 2, p1.Y), Scalar.LimeGreen, 10);
                    Cv2.Line(_ConvMatImage_after, new Point(p1.X, p1.Y + bead_size2 / 2), new Point(p1.X, p1.Y - bead_size2 / 2), Scalar.LimeGreen, 10);
                    Cv2.Line(_ConvMatImage_after, new Point(p1.X - bead_size1 / 2, p1.Y + 10), new Point(p1.X - bead_size1 / 2, p1.Y - 10), Scalar.LimeGreen, 10);
                    Cv2.Line(_ConvMatImage_after, new Point(p1.X + bead_size1 / 2, p1.Y + 10), new Point(p1.X + bead_size1 / 2, p1.Y - 10), Scalar.LimeGreen, 10);

                    Cv2.Line(_ConvMatImage_after, new Point(p1.X - 10, p1.Y - bead_size2 / 2), new Point(p1.X + 10 / 2, p1.Y - bead_size2 / 2), Scalar.LimeGreen, 10);
                    Cv2.Line(_ConvMatImage_after, new Point(p1.X - 10, p1.Y + bead_size2 / 2), new Point(p1.X + 10 / 2, p1.Y + bead_size2 / 2), Scalar.LimeGreen, 10);

                    Cv2.PutText(_ConvMatImage_after, $"W : {Math.Round(bead_size1 * dPixelResolution, 3)} mm", new Point(p1.X + bead_size1 / 2, p1.Y), HersheyFonts.HersheyComplexSmall, 10, Scalar.LimeGreen, 25);
                    Cv2.PutText(_ConvMatImage_after, $"H : {Math.Round(bead_size2 * dPixelResolution, 3)} mm", new Point(p1.X + bead_size1 / 2, p1.Y + bead_size2 / 2 + 50), HersheyFonts.HersheyComplexSmall, 10, Scalar.LimeGreen, 25);
                    bead_size1 = bead_size1 * dPixelResolution;
                    bead_size2 = bead_size2 * dPixelResolution;
                    Log.I($"spiral length : {bead_size1}, {bead_size2}");

                    ScannerParam _SplineParam = ScannerCanvasUserCtrl.ScannerParams[((Spline)item).ScannerParamNo];
                    Log.I($"ScannerParam ->{_SplineParam.LaserPower1}, {_SplineParam.LaserPower2}");
                    bead_result_info.Add(bead_size1);
                    bead_result_info.Add(bead_size2);

                    if (bead_size1 <= _SystemParameter.SpiralBeadMax && bead_size1 >= _SystemParameter.SpiralBeadMin
                        && bead_size2 <= _SystemParameter.SpiralBeadMax && bead_size2 >= _SystemParameter.SpiralBeadMin) bead_result_info.Add(0);
                    else bead_result_info.Add(1);


                }
            }
            return SequenceAction.Ok();
        }
        #endregion

        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqDryRun Start");
            Status.SetWorkingPosition(eWorkingPosition.CHECKING_CONDITION);

            _InitParam = param.Param as SeqRCCTeachingRun_InitParam;
            _RecipeManager = Application.Current.AuroraEnv().RecipeManager;
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);



            InitDev(context);

            
            InitDev(context);
            if (!CheckDeviceReady(context)) { //Check Device
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
                Log.E("The devices are not active.");
                return null;
            }
            

            
            if (InitSequenceVariable(context) == false) {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
                return null;
            }
            

            return SequenceAction.Ok();
        }

        private bool InitSequenceVariable(SequenceContext context)
        {
            _AutoRunStartTime = DateTime.Now;
            _SeqRunCount = 0;
            _TodayProduct = _SystemParameter.TodayProductCount;
            _TotalProduct = _SystemParameter.TotalProductCount;


            if (_SystemParameter.SequenceType == eSequenceType.Normal)
            {
                _IsRealTimeScout = false;
            }
            else if (_SystemParameter.SequenceType == eSequenceType.RCC)
            {
                double dPixelResolution = ((_SystemParameter.CameraPixelSize) / _SystemParameter.LensMagnification) / 1000.0;
                //ConvEdgeObjectViewModel에서도 생성되지만.. Seq에서 재생성하고 쓰고 버리자
                _ObjGenerator = new ObjectGenerator(dPixelResolution);

                if (_SystemParameter.OffsetType == eOffsetType.manual)
                    _ObjGenerator.SetOffsetType("Manual");
                else
                {
                    _ObjGenerator.SetOffsetType("CSV");
                    _ObjGenerator.SetOffsetTable(_SystemParameter.OffsetCSVFile, _SystemParameter.LensMagnification, _SystemParameter.CameraPixelSize);
                }
                _ObjGenerator.SetInterlockProperties(_SystemParameter.DrawObjectDistanceRange, _SystemParameter.DrawObjectArcLengthMax, _SystemParameter.DrawObjectLengthSumDiffRange, _SystemParameter.DrawObjectCenterXYDiffRange, _SystemParameter.MaxMinDiffHigh, _SystemParameter.MaxMinDiffLow, _SystemParameter.CheckCenterDiff, _SystemParameter.DistortionCenterDiff, _SystemParameter.AutoMissAlignHigh, _SystemParameter.AutoMissAlignLow);

                _IsRealTimeScout = true;

            }
            else if (_SystemParameter.SequenceType == eSequenceType.CellCenterOffset)
            {
                // VisionDevice 추가
                // InitializeCameraDevice
                _FovRecipe = VisionRecipeManager.GetFovRecipe(_InitParam.ScoutSeqParams.FovInfo);
                _CameraAgent = CameraAgentManager.GetCameraAgent(_InitParam.ScoutSeqParams.FovInfo);
                _CameraDisplay = CameraDisplayManager.GetDisplay(_InitParam.ScoutSeqParams.FovInfo, _InitParam.ScoutSeqParams.DisplayType);

                // InitGrabImageBuffer 함수
                try
                {
                    IpAdapter.Instance.IpEnvironment.FreeImage(_GrabImage);
                    _GrabImage = (MIL_ID)_CameraAgent.CloneImageBuffer();
                }
                catch (Exception e)
                {
                    Log.E(e.Message);
                }

                _IsRealTimeScout = false;

            }
            else
            {
                Log.E("Invalid SequenceType.");
                return false;
            }

            var mainPage = WeldingRecipeManager.GetWeldingPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
            _RecipeDrawObjects = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
            _WeldingScannerListNo = eListNo.LIST1;

            _CellMeasureCenterOffsetX = 0.0;
            _CellMeasureCenterOffsetY = 0.0;

            var currentModelName = context.Recipes.ActivatedModelName();
            var modelItem = context.GetModel<EquipmentSpecificModel_KS>(currentModelName, CommonModelIds.EquipmentSpecificModel);
            _ModelNo = modelItem.Model_No;

            return true;
        }
        private void InitDev(SequenceContext context)
        {
            //Device Init
            _Scanner = context.GetLaserScanner();
            _Laser = context.GetLaser();

            _PLC = context.GetPLC();
            _IO = context.GetIOUnit();

            _LBAD = context.GetLBAD();
        }

        private bool CheckDeviceReady(SequenceContext context)
        {
            List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.Laser,
                                                                CommonDeviceIds.PLCDevice, CommonDeviceIds.IODevice, CommonDeviceIds.LBAD };
            bool isAllDeviceActivated = true;
            foreach (string item in deviceListToCheck)
            {
                if (!context.Devices[item].IsActivated)
                {
                    isAllDeviceActivated = isAllDeviceActivated && false;
                }
            }

            return isAllDeviceActivated;
        }

        private bool CheckCondition(SequenceContext context)
        {
            if (CheckCondition_Interlock())
            {
                if (InitializeDeviceStatus(context))
                {
                    return true;
                }
            }
            return false;
        }

        private bool CheckCondition_Interlock()
        {
            // PLC, Data, IO 등 Interlock checking
            return true;
        }

        private bool InitializeDeviceStatus(SequenceContext context)
        {
            // PLC Interface AutoStatus Start
            InitAutoRunBit();

            // Laser Initialize
            _Laser.PilotLaserOff();
            _Laser.LaserOn();
            Thread.Sleep(100);
            if (!_Laser.GetLaserReady())
            {
                Log.E("ERROR Initialize Laser");
                return false;
            }

            // Scanner Initialize
            // Scanner 없음.

            // OCT Initialize
            // TODO: EnterSequenceModeOCT 와 함께 Initialize 하는 것을 재구현 필요함. 초반에 한번만 check 하고 돌아 갈수 있도록

            // PLC Initialize
            //if (_PLC.ReadBit((int)eBitInput.PLC_AUTO_STATUS).data == false)
            //{
            //    Log.E(string.Format("ERROR Initialize PLC, Bit Off PLC_AUTO_STATUS"));
            //    return false;
            //}

            // LBAD Initialize
            // LBAD 는 server 이기 때문에, 만약 끊어졌으면 다시 접속이 필요함
            if (!_LBAD.GetConnected())
            {
                _LBAD.DisConnect();
                Thread.Sleep(500);
                int ret = _LBAD.Open(_LBAD.Config);
                if (ret == -1)
                {
                    Log.E($"LBAD Open Error : {ret}");
                    return false;
                }
            }

            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADReadyStatus), true);
            Log.I(string.Format($"[IOInterface]SET PCLBADReadyStatus true"));

            if (_SystemParameter.SequenceType == eSequenceType.Normal)
            {
                _Scanner.SelectCorrectionTable(2);
                Log.I(string.Format("Normal, Select Laser Correction File"));
            }
            else if (_SystemParameter.SequenceType == eSequenceType.RCC)
            {
                _Scanner.SelectCorrectionTable(1);
                Log.I(string.Format("RCC, Select Vision Correction File"));
            }
            else if (_SystemParameter.SequenceType == eSequenceType.CellCenterOffset)
            {
                _Scanner.SelectCorrectionTable(1);
                Log.I(string.Format("CellCenterOffset, Select Vision Correction File"));
            }
            else
            {
                Log.I(string.Format("Invalid SequenceType."));
            }

            return true;
        }

        private void InitAutoRunBit()
        {
            //Log.I(string.Format($"[PLCInterface] Start AutoRun PLC Bit Initialize"));
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_REQEUST_ACK, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_WELD_REQEUST_ACK False"));
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_WELD_COMPLETE False"));
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_READY, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_WELD_READY False"));
            //_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, true);
            //Log.I(string.Format($"[PLCInterface]SET PC_AUTO_STATUS True"));

            //_PLC.WriteBit((int)eBitOutput.PC_LBAD_RESULT_NG, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_LBAD_RESULT_NG False"));

            //_PLC.WriteBit((int)eBitOutput.PC_LBAD_RESULT_OK, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_LBAD_RESULT_OK False"));


            //_PLC.WriteBit((int)eBitOutput.PC_RECIPE_PARAM_UPLOAD_COMPLETE, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_RECIPE_PARAM_UPLOAD_COMPLETE false"));

            Log.I(string.Format($"[IOInterface] Start AutoRun IO Bit Initialize"));
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADReadyStatus), false);
            Log.I(string.Format($"[IOInterface]SET PCLBADReadyStatus False"));
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingTrigger), false);
            Log.I(string.Format($"[IOInterface]SET PCLBADWeldingTrigger False"));
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), false);
            Log.I(string.Format($"[IOInterface]SET PCLBADWeldingStop False"));
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADJudgementCompleteAck), false);
            Log.I(string.Format($"[IOInterface]SET PCLBADJudgementCompleteAck False"));
            Log.I(string.Format($"[IOInterface] Complete AutoRun IO Bit Initialize"));
        }

        private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (!CheckCondition(context))
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition);
                Log.E("Condition is not in state to start sequence.");
                context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
                return SEQ_COMPLETE;
            }

            var startTime = DateTime.Now;
            context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);

            Log.D("ReceiveCellInfo Sequence CheckInitCondition");
            //return SEQ_CHECK_LOAD_COMPLETE;

            return SEQ_CHECK_PAGENO;
        }

        private string GetPLC_WordDataToString(short[] rawData)
        {
            byte[] bytes = new byte[rawData.Length * 2];
            for (int i = 0; i < rawData.Length; i++)
            {
                bytes[i * 2] = (byte)(rawData[i] & 0xFF);         // 하위 바이트
                bytes[i * 2 + 1] = (byte)((rawData[i] >> 8) & 0xFF); // 상위 바이트
            }

            string result = Encoding.ASCII.GetString(bytes);

            return result;
        }

        private short[] SetPLC_StringDataToWord(string dataString)
        {
            List<short> shorts = new List<short>();

            for (int i = 0; i < dataString.Length; i += 2)
            {
                byte first = (byte)dataString[i];
                byte second = (i + 1 < dataString.Length) ? (byte)dataString[i + 1] : (byte)0;

                // 반전하여 저장: second first
                short combined = (short)((second << 8) | first);
                shorts.Add(combined);
            }


            return shorts.ToArray();
        }

        public void GETDATA_TEST()
        {
            var mainPage = WeldingRecipeManager.GetWeldingPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
            _RecipeDrawObjects = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;

            var activatedRecipeId = Application.Current.AuroraEnv().RecipeManager.ActivatedRecipe().Id;

            Arc _Arc = null;
            Dot _Dot = null;
            Line _Line = null;
            Spline _Spline = null;

            foreach (var item in _ScannerCanvasUserCtrl.Model.Layers[0].Objects)
            {
                if (item is Arc)
                {
                    _Arc = (Arc)item;
                }
                else if (item is Dot)
                {
                    _Dot = (Dot)item;
                }
                else if (item is Line)
                {
                    _Line = (Line)item;
                }
                else if (item is Spline)
                {
                    _Spline = (Spline)item;
                }
            }

            if (_Arc != null)
            {
                ScannerParam _ArcParam = ScannerCanvasUserCtrl.ScannerParams[_Arc.ScannerParamNo];
                uint Apower1 = _ArcParam.LaserPower1;
                Thread.Sleep(1000);
                Thread.Sleep(1000);
            }

            if (_Dot != null)
            {
                ScannerParam _DotParam = ScannerCanvasUserCtrl.ScannerParams[_Dot.ScannerParamNo];
                uint Dpower1 = _DotParam.LaserPower1;
                Thread.Sleep(1000);
                Thread.Sleep(1000);
            }

            if (_Line != null)
            {
                ScannerParam _LineParam = ScannerCanvasUserCtrl.ScannerParams[_Line.ScannerParamNo];
                uint Lpower1 = _LineParam.LaserPower1;
                Thread.Sleep(1000);
                Thread.Sleep(1000);
            }

            if (_Spline != null)
            {
                ScannerParam _SplineParam = ScannerCanvasUserCtrl.ScannerParams[_Spline.ScannerParamNo];
                uint spower1 = _SplineParam.LaserPower1;
                Thread.Sleep(1000);
                Thread.Sleep(1000);
            }
        }

        public List<double> Init_info()
        {
            List<double> info = new List<double>();
            //Ring #1 _ bead 폭 하한
            info.Add(1.234);
            //Ring #1 _ bead 폭 상한
            info.Add(1.234);
            //Ring #1 _ bead 폭 OK/NG  0 OK  1 Ng
            info.Add(1);

            //Ring #2 _ bead 폭 하한
            info.Add(2.234);
            //Ring #2 _ bead 폭 상한
            info.Add(2.234);
            //Ring #2 _ bead 폭 OK/N
            info.Add(1);

            //Ring #3 _ bead 폭 하한
            info.Add(3.234);
            //Ring #3 _ bead 폭 상한
            info.Add(3.234);
            //Ring #3 _ bead 폭 OK/NG
            info.Add(1);

            //Ring #4 _ bead 폭 하한
            info.Add(4.234);
            //Ring #4 _ bead 폭 상한
            info.Add(4.234);
            //Ring #4 _ bead 폭 OK/NG
            info.Add(1);

            //Ring #5 _ bead 폭 하한
            info.Add(5.234);
            //Ring #5 _ bead 폭 상한
            info.Add(5.234);
            //Ring #5 _ bead 폭 OK/NG
            info.Add(1);

            //Ring #6 _ bead 폭 하한
            info.Add(6.234);
            //Ring #6 _ bead 폭 상한
            info.Add(6.234);
            //Ring #6 _ bead 폭 OK/NG
            info.Add(1);

            //Spiral #1 _ 가로 하한
            info.Add(10.234);
            //Spiral #1 _ 가로 상한
            info.Add(10.234);
            //Spiral #1 _ 세로 하한
            info.Add(10.234);
            //Spiral #1 _ 세로 상한
            info.Add(10.234);
            //Spiral #1 _ bead 폭 OK/NG
            info.Add(1);

            //Spiral #2 _ 가로 하한
            info.Add(20.234);
            //Spiral #2 _ 가로 상한
            info.Add(20.234);
            //Spiral #2 _ 세로 하한
            info.Add(20.234);
            //Spiral #2 _ 세로 상한
            info.Add(20.234);
            //Spiral #2 _ bead 폭 OK/NG
            info.Add(1);

            //Spiral #3 _ 가로 하한
            info.Add(30.234);
            //Spiral #3 _ 가로 상한
            info.Add(30.234);
            //Spiral #3 _ 세로 하한
            info.Add(30.234);
            //Spiral #3 _ 세로 상한
            info.Add(30.234);
            //Spiral #3 _ bead 폭 OK/NG
            info.Add(1);


            return info;
        }

        public static int ToIntThousand(double value)
        {
            decimal decValue = (decimal)value;
            return (int)Math.Round(decValue * 100m, MidpointRounding.AwayFromZero);
        }
        public static short[] IntArrayToShortArray(int[] intArray)
        {
            // short 범위 -> -32768 ~ 32767
            short[] shortArray = new short[intArray.Length * 2];
            for (int i = 0; i < intArray.Length; i++)
            {
                shortArray[i * 2] = (short)((intArray[i] >> 16) & 0xFFFF); // 상위 16비트
                shortArray[i * 2 + 1] = (short)(intArray[i] & 0xFFFF);         // 하위 16비트
            }
            return shortArray;
        }

        private void UpdatePLCMemoryArea(int startAddress, List<double> result_info)
        {
            Log.I($"[PLCInterface]Start Plc Write ...... Map {startAddress}");

            List<int> resultList = new List<int>();

            foreach (double info in result_info)
            {
                resultList.Add(ToIntThousand(info));
            }

            short[] resultShort = IntArrayToShortArray(resultList.ToArray());
            Log.I($"[PLCInterface]SET resultShort: " + string.Join(", ", resultShort));

            int start = 0;

            for (int i = 0; i < resultShort.Length / 2; i++)
            {
                // 2개씩 잘라서 PLC에 쓰기
                short[] block = new short[2] { resultShort[i * 2], resultShort[i * 2 + 1] };

                start = startAddress + i * 2;
                // 시작 주소를 2씩 증가시키면서 호출
                _PLC.WriteWordBlock(start, 2, block);

                Log.I($"[PLCInterface]SET {start} -> {block[0]}");
                Log.I($"[PLCInterface]SET {start + 1} -> {block[1]}");

                Thread.Sleep(5);
            }

            Log.I($"[PLCInterface]End Plc Write ...... Map {start + 2}");
        }

        // Add jmj ->
        private SequenceActionResult CheckPageNo(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqDryRun CheckPageNo");

            // RCC 들어가기전에 1로 바꿔있어야된다...
            _Scanner.SelectCorrectionTable(1);

            var mainPage = WeldingRecipeManager.GetWeldingPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;

            string str = InputService.Instance.RequestUserInput("출력 페이지를 입력하세요", "Page Number");
            bool success = int.TryParse(str, out int number);
            if (success)
            {
                _PageNo = number-1;

                Log.I(string.Format($"[PLCInterface]GET PLC_SET_WELD_PAGE {0}", _PageNo));
                int count = _ScannerCanvasUserCtrl.Model.Layers.Length;

                if (_PageNo < count)
                {
                    _RecipeDrawObjects = _ScannerCanvasUserCtrl.Model.Layers[_PageNo].Objects;
                    _WeldingScannerListNo = eListNo.LIST1;
                }else
                {


                    return null;
                }
            }
            else
            {
                List<double> initinfo = Init_info();

                //UpdatePLCMemoryArea((int)eWordOutput.PC_WeldingInspection1, initinfo);
                //UpdatePLCMemoryArea((int)eWordOutput.PC_WeldingInspection2, initinfo);

                Thread.Sleep(1000);

                return null;
            }

            return SequenceAction.Ok();
        }

        // 지그 상태 확인
        private string CheckLoadComplete(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            Log.I("SeqDryRun CheckLoadComplete");

            Status.SetWorkingPosition(eWorkingPosition.LOADING_CELL);

            TimeSpan spanTime;
            DateTime startTime = DateTime.Now;

            if (_SystemParameter.SequenceType == eSequenceType.Normal)
            {
                // CorrectionTable ==> 2
                return SEQ_READY_SCANNER_LIST;
            }
            else
            {
                _CamConfig = Application.Current.AuroraEnv().DeviceManager.GetDeviceConfig(eCamId.CAM1.ToString()) as CamConfig;
                // RCC, CellCenterOffset
                // RCC의 경우 LoadCompleteCheck 전 Scout 첫번째 위치로 스캐너 이동 해놓는게 시간을 벌듯..
                // CellCenterOffset은 중심위치에서 그랩하니깐 해당 기능 필요없을 것이라 우선 여기서 if문 처리하자
                // 즉 정리하면, RCC 만 이동하고, CellCenterOffset은 이동 하지 않음.
                if (_SystemParameter.SequenceType == eSequenceType.RCC)
                {
                    int scoutNo = 0;
                    if (_CamConfig.ChildImage.ChildBufRowCols[scoutNo].Enabled)
                    {
                        double XPos = _CamConfig.ChildImage.ChildBufRowCols[scoutNo].MotorPos.X + _CamConfig.ChildImage.ChildBufRowCols[scoutNo].MotorPosOffset.X;   //카메라 위치에 대한 보정값 입력
                        double YPos = _CamConfig.ChildImage.ChildBufRowCols[scoutNo].MotorPos.Y + _CamConfig.ChildImage.ChildBufRowCols[scoutNo].MotorPosOffset.Y;   //카메라 위치에 대한 보정값 입력
                        Log.I(string.Format($"Move No.{scoutNo + 1} Field Scan Pos(X,Y:{XPos},{YPos})"));

                        //1.스캐너 필드 위치 이동(Jump)
                        _Scanner.JumpAbs(XPos, YPos, eFunctionType.COMMAND);
                    }
                    //return SEQ_SET_SCOUT_VISION_SEQ;
                    return SEQ_SET_SCOUT_FLYING_VISION_SEQ;
                }
                // 경신 프로젝트 예외 -> CheckPageNo 에서 PLC_JIG_LOAD_COMPLETE 채크하여 로직변경
                return SEQ_READY_SCANNER_LIST;
            }

        }

        private SequenceActionResult SetReceiveCellInfo_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam()
            {
            };

            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetReceiveCellInfo_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            var resultOutParam = param.Param as SeqReceiveCellInfo_OutParam;
            if (resultOutParam.Success == false)
            {
                return null;
            }

            return SequenceAction.Ok();
        }

        public MIL_ID DoGrab()
        {
            var image = (object)_GrabImage;
            _CameraAgent.GrabSync(_CameraDisplay, ref image);
            _GrabImage = (MIL_ID)image;

            return _GrabImage;
        }

        // RCC FlyingVision
        #region RCC FlyingVision
        private SequenceActionResult SetScoutFlyingVision_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I($"AutoRun Seq Run Count : {_SeqRunCount}");
            var scoutSeqParams = new ScoutSeqParams(VisionRecipeManager.GetFovInfos()[0], eDisplayType.Machine_B);

            SeqScoutFlyingVision_InitParam seqParams = new SeqScoutFlyingVision_InitParam()
            {
                IsRealTimeScout = _IsRealTimeScout,
                ScoutSeqParams = scoutSeqParams,
                SequenceAutoRunCount = _SeqRunCount,
                WeldingScannerListNo = eListNo.LIST2,
            };

            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetScoutFlyingVision_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {

            var resultOutParam = param.Param as SeqScoutFlyingVision_OutParam;
            return SequenceAction.Ok();

            //if (pre_welding)
            //{
            //    pre_welding = !pre_welding;
            //    return SEQ_BEFORE_WELD_MOVE_OBJECT;

            //}
            //else
            //{
            //    pre_welding = !pre_welding;
            //    return SEQ_AFTER_WELD_CHECK_BEAD;
            //}

            if (resultOutParam.Success == false)
            {
                return null;
            }
        }
        #endregion

        // RCC Normal Vision
        #region RCC Normal Vision
        private SequenceActionResult SetScoutNORMALVision_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I($"DryRun Seq Run Count : {_SeqRunCount}");
            var scoutSeqParams = new ScoutSeqParams(VisionRecipeManager.GetFovInfos()[0], eDisplayType.Machine_B);

            SeqScoutFlyingVision_InitParam seqParams = new SeqScoutFlyingVision_InitParam()
            {
                IsRealTimeScout = _IsRealTimeScout,
                ScoutSeqParams = scoutSeqParams,
                SequenceAutoRunCount = _SeqRunCount,
                WeldingScannerListNo = eListNo.LIST2,
            };

            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetScoutNORMALVision_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            var resultOutParam = param.Param as SeqScoutFlyingVision_OutParam;
            if (resultOutParam.Success == false)
            {
                return null;
            }

            return SequenceAction.Ok();
        }
        #endregion

        // For RCC Only
        private SequenceActionResult SaveScoutImageEvent(SequenceContext context, string id, SequenceActionResult param)
        {
            MIL_ID ScannerFieldImage = Status.GetProcessingWeldingData().ScannerFiledImage;
            if (ScannerFieldImage != null)
            {
                SaveScoutImage(ScannerFieldImage);
            }
            else
            {
                Log.E("ScannerFieldImage is Null");
            }
            return SequenceAction.Ok();
        }
        private object SendEvent(SequenceContext context, string id, SequenceActionResult param)
        {
            //Event로 넘겨줄 Param은 따로 없다.      

            return null;
        }
        private SequenceActionResult FindEdge(SequenceContext context, string id, SequenceActionResult param)
        {
            MIL_ID ScannerFieldImage = Status.GetProcessingWeldingData().ScannerFiledImage;

            //RCC Error로 인해 시퀀스를 종료하고 있는데, NG배출해야 될지 확인 필요
            _StopwatchGenObj = Stopwatch.StartNew();
            #region Find Edge
            _ObjGenerator.ConvertMILToMat(ScannerFieldImage, out _ConvMatImage);
            if (_ConvMatImage == null)
            {
                Log.E(string.Format("[GenerateWeldingObject] Scout Image is empty. Check Camera or Cell."));
                return null;
            }
            var (centerX, centerY) = FindCenterReicpeSingleArc(_ConvMatImage);
            if (_ObjGenerator.FindEdge(_ConvMatImage, _Radius_Pixel, _SystemParameter.Margin, _SystemParameter.PointNum, _SystemParameter.CVThreshold, centerX, centerY, _SystemParameter.DetectPointPercent, _SystemParameter.CVJigSize, out Point[][] maxContour, out _DetectedContourCenter) == false)
            {
                Log.E(string.Format("[GenerateWeldingObject] Edge Detection Interlock."));
                return null;
            }
            if (maxContour[0].Count() < 1 || maxContour == null)
            {
                Log.E(string.Format("[GenerateWeldingObject] MaxContour is Null. Check Scout Image."));
                return null;
            }
            context.PutValue("MAX_CONTOUR_FIND_EDGE", maxContour);
            _StopwatchGenObj.Stop();
            Log.I(string.Format($"[GenerateWeldingObject] Find Edge Complete Time : {_StopwatchGenObj.ElapsedMilliseconds} msec"));
            #endregion

            return SequenceAction.Ok();
        }
        private (int centerX, int centerY) FindCenterReicpeSingleArc(Mat image)
        {
            int centerX = 0, centerY = 0;
            foreach (var item in _RecipeDrawObjects)
            {
                if (item is Arc)
                {
                    Arc arc = (Arc)item;
                    centerX = (int)(arc.Center.X * 1000.0 / _SystemParameter.CameraPixelSize * _SystemParameter.LensMagnification + image.Width / 2);
                    centerY = (int)(-arc.Center.Y * 1000.0 / _SystemParameter.CameraPixelSize * _SystemParameter.LensMagnification + image.Height / 2);
                    break;
                }
            }
            return (centerX, centerY);
        }
        private string DecisionRCCAlgorithmType(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            // FindEdge의 maxContour를 param으로 받아오기
            Point[][] maxContour = context.GetValue<Point[][]>("MAX_CONTOUR_FIND_EDGE");
            // CheckEdge의 Return 결과를 param 으로 받아와서 현재 노드에서 4가지 경우로 분류하자
            var (centerX, centerY) = FindCenterReicpeSingleArc(_ConvMatImage);
            int[] shrinkList = new int[] { _SystemParameter.CVShrinkPixel, _SystemParameter.CVShrinkPixel2, _SystemParameter.CVShrinkPixel3, _SystemParameter.CVShrinkPixel4 };
            int resultCheckEdge = _ObjGenerator.CheckEdge(maxContour, shrinkList, _ConvMatImage.Height, _ConvMatImage.Width, centerX, centerY, _SystemParameter.EnableAutoMissAlign, out _MaxContour);
            if (resultCheckEdge == 3)
            {
                Log.E("Error Check Edge. Check EdgeDetect Center or Over LocalMaxMinDiff Upper");
                return null;
            }

            if (_SystemParameter.RCCAlgorithmType == eRCCAlgorithmType.OnlyGenObject)
            {
                return SEQ_GENERATE_WELDING_OBJECT;
            }
            else if (_SystemParameter.RCCAlgorithmType == eRCCAlgorithmType.OnlyOffsetObject)
            {
                return SEQ_APPLY_OFFSET_OBJECT;
            }
            else
            {
                if (resultCheckEdge == 0)
                {
                    return SEQ_READY_SCANNER_LIST;
                }
                else if (resultCheckEdge == 1)
                {
                    return SEQ_APPLY_OFFSET_OBJECT;
                }
                else if (resultCheckEdge == 2)
                {
                    return SEQ_GENERATE_WELDING_OBJECT;
                }
                else
                {
                    Log.E("Error Check Edge. Check EdgeDetect Center or Over LocalMaxMinDiff Upper");
                    return null;
                }
            }
        }
        private SequenceActionResult ApplyOffsetObejct(SequenceContext context, string id, SequenceActionResult param)
        {
            var (centerX, centerY) = FindCenterReicpeSingleArc(_ConvMatImage);
            // Recipe 객체는 그대로 사용하고 CetnerOffset 값을 SeqUploadWeldingList에서 사용할 수 있도록 넣어준다
            double centerOffsetX = _DetectedContourCenter.X - centerX;
            double centerOffsetY = _DetectedContourCenter.Y - centerY;

            _CellMeasureCenterOffsetX = centerOffsetX;
            _CellMeasureCenterOffsetY = centerOffsetY;
            Log.I(string.Format($"Object CenterOffsetX : {centerOffsetX}, CenterOffsetY : {centerOffsetY}"));

            return SequenceAction.Ok();
        }
        private SequenceActionResult GenerateWeldingObject(SequenceContext context, string id, SequenceActionResult param)
        {
            #region Generate Object
            _StopwatchGenObj.Restart();
            _ObjGenerator.SetPolygonFromList(_MaxContour, out _Polygon);
            if (_SystemParameter.ObjectGenType == eObjectGenType.FitArcsAndLines)
            {
                _ObjGenerator.CalculateAutoPath(_ConvMatImage, _SelectedArcs[0], _Polygon, _SystemParameter.dMergeDist, _SystemParameter.nMaxArcRadius, _SystemParameter.nLineTolerance, _SystemParameter.nArcTolerance, _DetectedContourCenter, out _Paths);
            }
            else
            {
                _ObjGenerator.CalculateAutoPathAngle(_ConvMatImage, _SelectedArcs[0], _Polygon, _SystemParameter.dMergeDist, _SystemParameter.ObjectNumber, _DetectedContourCenter, out _Paths);
            }
            //Generate 한 object 를 SelectedDrawObjects 에 넣어두고 쓴다.
            _ObjGenerator.ConvertPathItemToDrawingObjects(_Paths, _SystemParameter.fLineDefualtWidth, _ConvMatImage, _SelectedArcs[0], out _GeneratedDrawObjects);
            //objGenerator.SaveDrawingObjectsToCSV(GeneratedDrawObjects, "SeqAutoRunKS_RCC_before");
            if (_ObjGenerator.CheckInterlockDrawingObjectPosition(_GeneratedDrawObjects, _DetectedContourCenter, _SelectedArcs[0]) == false)
            {
                Log.E(string.Format("[GenerateWeldingObject]Interlock DrawingObject."));
                return null;
            }
            List<IDrawObject> tempobject = new List<IDrawObject>();
            int startindex = 0; int nCount = _RecipeDrawObjects.Count;
            for (int i = startindex; i < _RecipeDrawObjects.Count; i++)
            {
                if (i >= startindex + nCount)
                    break;
                tempobject.Add(_RecipeDrawObjects[i]);
            }
            _SelectedDrawObjectList = tempobject;

            //현재 Recipe의 Arc객체를 RCC로 생성된 객체로 대체하면서 Group화 해준다
            _ObjGenerator.ReplaceRCCObject(eArcCount.FirstArc, _SelectedDrawObjectList, _GeneratedDrawObjects, _DetectedContourCenter);

            _ObjGenerator.SaveDrawingObjectsToCSV(_GeneratedDrawObjects, "SeqAutoRunKS_RCC");

            _StopwatchGenObj.Stop();
            Log.I(string.Format($"[GenerateWeldingObject] Generate Object Complete Time : {_StopwatchGenObj.ElapsedMilliseconds} msec"));
            #endregion
            return SequenceAction.Ok();
        }

        private SequenceActionResult ReadyScannerList(SequenceContext context, string id, SequenceActionResult param)
        {
            Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqDryRun SetUploadWeldingList_SeqParams");

            SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
            {
                NeedSetLaserTiming = false,
                IncludeListStartEnd = true,
                CellMeasureCenterOffsetX = _CellMeasureCenterOffsetX,
                CellMeasureCenterOffsetY = _CellMeasureCenterOffsetY,
                SelectedDrawObjectList = _RecipeDrawObjects,
                WeldingScannerListNo = _WeldingScannerListNo,
            };

            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
            if (resultOutParam.Success == false)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed);
                return null;
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult WaitWeldingStart(SequenceContext context, string id, SequenceActionResult param)
        {
            return SequenceAction.Ok();
        }

        private SequenceActionResult ExecuteWelding(SequenceContext context, string id, SequenceActionResult param)
        {
            Status.SetWorkingPosition(eWorkingPosition.EXECUTING_WELD);

            // Laser Correction 파일로 변경, 레이저를 사용해야 하므로 2
            _Scanner.SelectCorrectionTable(2);
            _CellId = Status.GetProcessingWeldingData().WorkCellId;
            _LotId = Status.GetProcessingWeldingData().WorkLotId;

            int recipeNo = _RecipeManager.ActivatedRecipe().Id;

            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingTrigger), true);

            int sendresult = _LBAD.SendCellData(_LotId, _CellId, recipeNo, _ModelNo);
            Log.I(string.Format($"SendCellData result :{sendresult}"));


            //_PLC.WriteBit((int)eBitOutput.PC_WELD_REQEUST_ACK, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_WELD_REQEUST_ACK False"));
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_READY, false);
            //Log.I(string.Format($"[PLCInterface]SET PC_WELD_READY False"));

            #region 경신 공운전 검수 용접안함.
            _WeldingStartTime = DateTime.Now;
            Status.GetProcessingWeldingData().WeldStartTime = _WeldingStartTime.ToString("yyyyMMddHHmmss");

            _Scanner.ExecuteList(_WeldingScannerListNo);
            Log.I(string.Format($"START Welding : ExecuteList_{_WeldingScannerListNo}"));

            //WaitForListTaskCompleted 함수에서 List 완료 여부를 Check함, List실행이 끝나면 while문을 빠져나옴
            _Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut, context);
            _WeldEndTime = DateTime.Now;
            _WeldingSpanTime = DateTime.Now.Subtract(_WeldingStartTime);
            Log.I(string.Format($"Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds} msec"));
            Status.GetProcessingWeldingData().WeldTime = _WeldingSpanTime.TotalSeconds.ToString();

            double dExecuteListTime = _Scanner.GetTime();
            Log.I(string.Format($"ExecuteList Time : {dExecuteListTime * 1000} msec"));
            #endregion

            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingTrigger), false);
            Log.I(string.Format($"[IOInterface]SET PCWeldingTrigger false"));
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), true);
            Log.I(string.Format($"[IOInterface]SET PCWeldingStop true"));



            return SequenceAction.Ok();
        }

        private SequenceActionResult RequestUnloadCell(SequenceContext context, string id, SequenceActionResult param)
        {
            UpdateProductCount(context);
            UpdateProductInfoForView();

            return SequenceAction.Ok();
        }

        private SequenceActionResult WaitLBADJudge(SequenceContext context, string id, SequenceActionResult param)
        {
            string judgeResult = "";
            Int16 judgeFlag = 0;

            // 1. LBAD 결과 수신, 확인 & 처리
            //LBAD 결과 받아오는 부분 우선 여기서 추가하여 테스트하고 Sub 시퀀스로 빼자

            _LBAD.IsSimul = true;

            if (_LBAD.IsSimul)
            {
                _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), false);
                Log.I(string.Format($"[IOInterface]SET PCLBADWeldingStop false, LBAD is Simul"));
            }
            else
            {
                _InterfaceStartTime = DateTime.Now;
                while (!context.Stopped)
                {
                    if (_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LBADJudgementComplete)))
                    {
                        Log.I(string.Format($"[IOInterface]SET LBADJudgementComplete true"));
                        _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), false);
                        Log.I(string.Format($"[IOInterface]SET PCWeldingStop false"));

                        int result = _LBAD.GetResult(out judgeFlag);
                        if (result == E1.OK)
                        {
                            switch (judgeFlag)
                            {
                                case 0:
                                    judgeResult = "OK";
                                    break;
                                case 1:
                                    judgeResult = "WARNING";
                                    break;
                                case 2:
                                    judgeResult = "NA";
                                    break;
                                case 3:
                                    judgeResult = "NG";
                                    break;
                                case 4:
                                    judgeResult = "ERROR";
                                    break;
                                default:
                                    judgeResult = "NG";
                                    break;
                            }
                        }
                        else
                        {
                            // TODO: LBAD 가 not Activated 인 상황이다. error 로 보내야 할꺼 같음.
                            judgeFlag = 3;
                            judgeResult = "NG";
                        }

                        Log.I(string.Format($"LBAD Judge Flag : {judgeFlag} Result : {judgeResult}"));
                        _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADJudgementCompleteAck), true);
                        Status.GetProcessingWeldingData().LBAD_Judge = (judgeFlag + 1).ToString();
                        Log.I(string.Format($"[IOInterface]SET PCJudgementCompleteAck true"));
                        break;
                    }
                    _InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
                    if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
                    {
                        Log.E("TIMEOUT_DI_LBADJudgementComplete_TRUE");
                        _InterfaceStartTime = DateTime.Now;
                    }
                    Thread.Sleep(10);
                }

                // 2. LBAD 처리를 IO 에서 확인
                _InterfaceStartTime = DateTime.Now;
                while (!context.Stopped)
                {
                    if (!_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LBADJudgementComplete)))
                    {
                        Log.I(string.Format($"[IOInterface]GET LBADJudgementComplete false"));
                        _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADJudgementCompleteAck), false);
                        Log.I(string.Format($"[IOInterface]SET PCJudgementCompleteAck false"));

                        break;
                    }
                    _InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
                    if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
                    {
                        Log.E("TIMEOUT_DI_LBADJudgementComplete_FALSE");
                        _InterfaceStartTime = DateTime.Now;
                    }
                    Thread.Sleep(10);
                }
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult ReportCellInfoToPLC(SequenceContext context, string id, SequenceActionResult param)
        {
            string strLBADJudge = Status.GetProcessingWeldingData().LBAD_Judge;


            // 다음 시퀀스 대기..

            return SequenceAction.Ok();
        }

        private static string CheckCycleStop(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            Status.SetWorkingPosition(eWorkingPosition.CHECKING_CYCLE);

            // TODO: 확인 필요, CybleStop 에 대한 내용, cycle stop 여부 가져오기
            //bCycleStop = GetCycleStopRequest();

            // TODO: 한번만 돌도록 설정함, PLC 로 받으면 좋음.
            //Jin : cycleStop 명령을 용접 프로그램에서 할 경우가 현재는 없음..
            // CheckCycleStop 노드와 Complete 노드 사이 다른 노드가 필요하다면 해당 노드를 CheckCycleStop 노드 위로 올리자
            //bool cycleStop = false;
            //if (cycleStop)
            //{
            //    return SEQ_SAVE_RESULT_DATA;
            //}
            //else
            //{
            //    //return SEQ_CHECK_LOAD_COMPLETE;

            //}

            return SEQ_SAVE_RESULT_DATA;
        }



        private void UpdateProductCount(SequenceContext context)
        {
            string currentDate = DateTime.Now.ToString("yyyy-MM-dd");
            if (_SystemParameter.CurrentDate != currentDate)
            {
                _TodayProduct = 0;
                _SystemParameter.CurrentDate = currentDate;
            }
            else
            {
                _TodayProduct = _SystemParameter.TodayProductCount;
            }
            if (_TodayProduct < uint.MaxValue)
            {
                _TodayProduct++;
            }
            if (_TotalProduct < uint.MaxValue)
            {
                _TotalProduct++;
            }
            _SystemParameter.TodayProductCount = _TodayProduct;
            _SystemParameter.TotalProductCount = _TotalProduct;

            //Systemparameter Save
            context.Settings.Save(CommonSettingIds.SystemParameter, _SystemParameter, "SeqAutoRunKS_New");
        }

        private void UpdateProductInfoForView()
        {
            Status.GetProcessingWeldingData().TotalProduct = _TotalProduct;
            Status.GetProcessingWeldingData().TodayProduct = _TodayProduct;

            Status.GetProcessingWeldingData().AutoRunStartTime = _AutoRunStartTime;

            Status.GetProcessingWeldingData().WeldingStartTime = _WeldingStartTime;
            Status.GetProcessingWeldingData().WeldingEndTime = _WeldEndTime;
            Status.GetProcessingWeldingData().WeldingSpanTimeMilliseconds = _WeldingSpanTime.TotalMilliseconds.ToString();

            Status.GetProcessingWeldingData().LotId = _LotId;

            DateTime T1 = DateTime.Now;
            string LBADSendBcrId = _BcrID;
            if (LBADSendBcrId == "" && LBADSendBcrId.Equals(null))
                LBADSendBcrId = T1.ToString("HH:mm:ss");

            Status.GetProcessingWeldingData().CellId = LBADSendBcrId;
        }


        // TODO: ImageUtil 에 있는 함수를 사용하도록 수정 필요
        private void SaveScoutImage(MIL_ID imageID)
        {
            // 테스트를 위해서 저장한다. 테스트 끝나고 삭제할것
            Log.I(string.Format($"Start to store completed field scan image"));
            string fieldScanImageFile = "";

            //4.스캐너 필드 이미지 파일 저장
            fieldScanImageFile = System.IO.Path.Combine(ConfigurationManager.AppSettings.Get("DATA_PATH"), "_vision", "RealTimeScout",
                                    string.Format($"{DateTime.Now.Year}_{DateTime.Now.Month}_{DateTime.Now.Day}/{DateTime.Now.ToString("HHmmss")}.PNG"));

            //5.압축하여 저장
            //CompressSaveImage(imageID, fieldScanImageFile, MIL.M_JPEG_LOSSY, 10);
            SaveImage(imageID, fieldScanImageFile, MIL.M_PNG);
        }

        private bool SaveImage(MIL_ID image, string filePath, MIL_INT format)
        {
            string directoryName = Path.GetDirectoryName(filePath);
            if (Directory.Exists(directoryName) == false)
            {
                Directory.CreateDirectory(directoryName);
            }

            MIL.MbufExport(filePath, format, image);

            return true;
        }

        private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
        {
            context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
            return SequenceAction.Ok();
        }

        private SequenceActionResult WriteCompletionPLCBit(SequenceContext context, string id, SequenceActionResult param)
        {
            // 완료 비트 write 하는 Node 추가 필요. format 유지, ReceiveCellInfo 없음
            Log.D("AutoRun Sequence WriteCompletionPLCBit");

            return SequenceAction.Ok();
        }

        private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
        {
            RestoreDeviceStatus();
            Log.I("AutoRun Complete");

            context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
            SeqAutoRunKS_New_OutParam result = new SeqAutoRunKS_New_OutParam() { Success = seqResult };

            if (seqResult == false)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_ResultFailed);
            }

            Log.D("AutoRun Sequence Complete");
            Status.SetWorkingPosition(eWorkingPosition.DONE);

            return SequenceAction.Ok(result);
        }

        private bool RestoreDeviceStatus()
        {
            //PLC All BIT OFF
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_REQEUST_ACK, false);
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, false);
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_READY, false);
            //_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
            //_PLC.WriteBit((int)eBitOutput.PC_RECIPE_PARAM_UPLOAD_COMPLETE, false);
            //Log.I(string.Format("[PLCInterface]PC All Bit Off"));

            //LBAD IO All BIT OFF
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingTrigger), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADReadyStatus), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADJudgementCompleteAck), false);
            Log.I(string.Format("[IOInterface]PC All Bit Off"));

            _LBAD.SetReadybyAuto(false);

            //Laser Off
            _Laser.LaserOff();

            //List 실행 종료
            _Scanner.StopExecution();

            //Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);

            //Scanner 원점 복귀
            _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);

            //Vision Correctiong 파일 변경
            _Scanner.SelectCorrectionTable(1);

            //Recipe를 기존에 Manual에서 작업하던 화면으로 rollback
            WeldingRecipeManager.RollbackRecipe();

            return true;
        }

        private void OnForceError(SequenceContext arg1, string arg2)
        {
            OnSeqActionStop();

            Log.I("SequenceAction Ok : OnForceError");
        }

        private void OnStopped(SequenceContext obj)
        {
            OnSeqActionStop();

            Log.I("SequenceAction Ok : OnStopped");
        }

        private void OnSeqActionStop()
        {
            //PLC All BIT OFF
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_REQEUST_ACK, false);
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, false);
            //_PLC.WriteBit((int)eBitOutput.PC_WELD_READY, false);
            //_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
            //_PLC.WriteBit((int)eBitOutput.PC_RECIPE_PARAM_UPLOAD_COMPLETE, false);
            //Log.I(string.Format("[PLCInterface]PC All Bit Off"));

            //LBAD IO All BIT OFF
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingTrigger), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADReadyStatus), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADWeldingStop), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(eADOAddress.PCLBADJudgementCompleteAck), false);
            Log.I(string.Format("[IOInterface]PC All Bit Off"));

            _LBAD.SetReadybyAuto(false);

            //Laser Off
            _Laser.LaserOff();

            //List 실행 종료
            _Scanner.StopExecution();

            //Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);

            //Scanner 원점 복귀
            _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);

            //Vision Correctiong 파일 변경
            _Scanner.SelectCorrectionTable(1);

            //Recipe를 기존에 Manual에서 작업하던 화면으로 rollback
            WeldingRecipeManager.RollbackRecipe();
        }
    }

    public class SeqRCCTeachingRun_InitParam : InitParam
    {
        public ScoutSeqParams ScoutSeqParams { get; set; }

    }

    public class SeqRCCTeachingRun_OutParam : OutParam
    {

    }
}