Kyungshin-Welder/AuroraVision/VisionSequence/Aligner/ReviewSeq_C1_MV.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using Aurora.Api.Devices;
using VisionCommon;
using VisionSequence.Pattern;
using Hermes;
using System.Collections.Generic;
using VisionSequence.Camera;
using VisionLight;

namespace VisionSequence.Aligner {

    /// <summary>
    /// 리뷰 타입
    /// </summary>
    public enum eReviewType {
        /// <summary>공정 진행 전 수행</summary>
        Preview,
        /// <summary>공정 진행 후 수행</summary>
        Review
    }

    /// <summary>
    /// C1_MV 리뷰 시퀀스 파라미터
    /// </summary>
    public class ReviewSeqParams_C1_MV {
        /// <summary>서브 시스템 키 정보</summary>
        public SubSysInfo SubSysInfo { get; set; }
        /// <summary>리뷰 타입</summary>
        public eReviewType ReviewType { get; set; }
        /// <summary>리뷰 포지션 (모터 절대 위치)</summary>
        public List<Position> Positions { get; set; }
        /// <summary>자재 정보</summary>
        public MaterialInfo MaterialInfo { get; set; }

        /// <summary>
        /// C1_MV 얼라인 시퀀스 파라미터를 얻어온다.
        /// </summary>
        /// <param name="subSysInfo">서브 시스템 키 정보</param>
        /// <param name="reviewType">리뷰 타입</param>
        /// <param name="positions">리뷰 포지션 (모터 절대 위치)</param>
        /// <param name="materialInfo">자재 정보</param>
        public ReviewSeqParams_C1_MV(
            SubSysInfo subSysInfo,
            eReviewType reviewType,
            List<Position> positions = null,
            MaterialInfo materialInfo = null) {

            this.SubSysInfo = subSysInfo;
            this.ReviewType = reviewType;
            this.Positions = positions;
            this.MaterialInfo = materialInfo;
        }
    }

    /// <summary>
    /// CAM 1대 / N개 포지션 이동 / 리뷰 시퀀스
    /// </summary>
    public class ReviewSeq_C1_MV : SubSeqBase {
        private readonly Logger LOG = new Logger(typeof(ReviewSeq_C1_MV).Name);

        private ReviewSeqParams_C1_MV _Params;
        private FovInfo _FovInfo;
        private ImageManager _ImageManager = new ImageManager();

        private int _CurPosIdx = 0;
        private string _SeqName;

        #region Sequence Id
        private const string SEQ_ID_INIT = "INIT";
        private const string SEQ_ID_CLEAR = "CLEAR";

        private const string SEQ_ID_MOVE_FOV_POS = "MOVE_FOV_POS";
        private const string SEQ_ID_GRAB = "GRAB";
        private const string SEQ_ID_SAVE_IMAGE = "SAVE_IMAGE";
        private const string SEQ_ID_CHECK_MOVE_FINISHED = "CHECK_MOVE_FINISHED";

        private const string SEQ_ID_SEQ_COMPLETE = "SEQ_COMPLETE";
        #endregion

        /// <summary>
        /// 생성자
        /// </summary>
        public ReviewSeq_C1_MV() {
        }

        private void SetActions(SequenceBuilder sb) {
            SequenceBuilder grabSeqBuilder = SubSeqManager.CreateSubSeqBuilder(new GrabSeq(), typeof(GrabSeq).Name);

            sb.AddAction(SEQ_ID_INIT, Init);
            sb.AddAction(SEQ_ID_CLEAR, Clear);

            sb.AddAction(SEQ_ID_MOVE_FOV_POS, MoveFovPos);
            sb.AddAction(SEQ_ID_GRAB, Grab);
            sb.AddAction(SEQ_ID_SAVE_IMAGE, SaveImage);
            sb.AddDecision(SEQ_ID_CHECK_MOVE_FINISHED, CheckMoveFinished);

            sb.AddAction(SEQ_ID_SEQ_COMPLETE, SeqComplete);
        }

        public override SequenceBuilder Builder(string seqName) {
            _SeqName = seqName;

            SequenceBuilder sb = new SequenceBuilder(1000);
            SetActions(sb);
            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            sb.Flows(
                  sb.Init
                > sb[SEQ_ID_INIT]
                > sb[SEQ_ID_CLEAR]

                > sb[SEQ_ID_MOVE_FOV_POS]
                > sb[SEQ_ID_GRAB]
                > sb[SEQ_ID_SAVE_IMAGE]
                > sb[SEQ_ID_CHECK_MOVE_FINISHED]
                > sb[SEQ_ID_SEQ_COMPLETE]
                );
            sb.Flows(
                  sb[SEQ_ID_CHECK_MOVE_FINISHED]
                > sb[SEQ_ID_MOVE_FOV_POS]
                );
            sb.Flows(
                  sb[SEQ_ID_SEQ_COMPLETE]
                > sb.Final
                );

#if SEQ_DRAW
            sb.Draw($"{GetType().Name}.pdf");
#endif

            return sb;
        }

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

            if (param.Param != null) {
                _Params = param.Param as ReviewSeqParams_C1_MV;
            }
            else {
                LOG.E($"Param is null.");
                return null;
            }

            _FovInfo = VisionRecipeManager.GetFovInfo(_Params.SubSysInfo, eFovId.Fov1);     // 리뷰 시퀀스는 Fov가 오직 한 개만 존재

            return SequenceAction.Ok();
        }

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

            ClearCurPosIdx();

            return SequenceAction.Ok();
        }

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

            if (EquipAdapter.Instance.EquipMode.IsSimulMode()) {
                return SequenceAction.Ok();
            }

            int res = EquipAdapter.Instance.TeachingMotionManager.AbsMove(_FovInfo, _Params.Positions[_CurPosIdx]);

            if (res == E1.OK) {
                ApplyGrabDelay(_Params.SubSysInfo);
                return SequenceAction.Ok();
            }
            else {
                return SequenceAction.Error(E2.ABORTED);
            }
        }

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

            var cameraAgent = CameraAgentManager.GetCameraAgent(_FovInfo);
            var milCameraDisplay = CameraDisplayManager.GetDisplay(_FovInfo);
            var lightParams = LightHub.Instance.GetLightParams(VisionRecipeManager.GetCamRecipe(_FovInfo).CamId);
            var grabImage = GrabFindSeqUtil.GetProcGrabImage(_FovInfo, new LightInfo() { LightParams = lightParams });

            var image = (object)grabImage;
            cameraAgent.GrabSync(milCameraDisplay, ref image);

            return SequenceAction.Ok(grabImage);
        }

        private SequenceActionResult SaveImage(
            SequenceContext context,
            string id,
            SequenceActionResult param) {   // Param : GrabImage

            object grabImage = param.Param;
            string dirPath = GetDirPath();
            string fileName = GetFileName();
            _ImageManager.SaveImage(dirPath, fileName, grabImage);

            return SequenceAction.Ok();
        }

        private string GetDirPath() {
            List<string> subDirNames = ImagePathManager.Instance.GetSubDirNames(_FovInfo, _Params.MaterialInfo);
            subDirNames.Add("Review");

            return ImagePathManager.Instance.GetDirPath(subDirNames);
        }

        private string GetFileName() {
            var status = _Params.ReviewType.ToString();
            var fileNameWithMaterialInfo = ImagePathManager.Instance.
                GetFileNameWithMaterialInfo(_Params.SubSysInfo.SubSysName, _FovInfo.FovName, status, _Params.MaterialInfo);
            var fileNameWithDateTime = ImagePathManager.Instance.GetFileNameWithDataTime(fileNameWithMaterialInfo);

            return $"Pos_{_CurPosIdx}" + "_" + fileNameWithDateTime;
        }

        private string CheckMoveFinished(
            SequenceContext context,
            string id,
            ICollection<string> branches,
            SequenceActionResult param) {

            if (_CurPosIdx == _Params.Positions.Count - 1) {
                return SEQ_ID_SEQ_COMPLETE;
            }
            else {
                IncreaseCurPosIdx();
                return SEQ_ID_MOVE_FOV_POS;
            }
        }

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

            return SequenceAction.Ok();
        }

        private void ClearCurPosIdx() {
            _CurPosIdx = 0;
        }

        private void IncreaseCurPosIdx() {
            _CurPosIdx++;
        }

        void OnStopped(
            SequenceContext context) {
            LOG.I($"{context.SequenceId} - STOP Handler");
            HandleAbnormalFinish(context);
        }

        void OnForceError(
            SequenceContext context, string id) {
            LOG.E($"{context.SequenceId} - FORCE ERROR Handler");
            HandleAbnormalFinish(context);
        }

        void HandleAbnormalFinish(
            SequenceContext context) {
        }
    }
}