Kyungshin-Welder/WeldingComponents/WeldingCommon/Sequences/Main/SeqReceiveCellInfo.cs

using Aurora.Api;
using AuroraCellTracker;
using AuroraLaserScanner;
using DB;
using Hermes;
using Matrox.MatroxImagingLibrary;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using VisionCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Data;

namespace WeldingCommon.Sequences
{
    class SeqReceiveCellInfo
    {
        static readonly Logger Log = new Logger("SeqReceiveCellInfo");

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

        const string SEQ_READ_CELL_INFO = "[SeqReceiveCellInfo] Read CellInfo";
        const string SEQ_ADAPT_CELL_INFO = "[SeqReceiveCellInfo] Adapt CellInfo";
        const string SEQ_SEND_CELL_INFO_TO_PLC = "[SeqReceiveCellInfo] SendC ellInfo To PLC";

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

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

        static class ContextKey
        {
            public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqReceiveCellInfo";
            public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqReceiveCellInfo";
        }

        private SeqReceiveCellInfo_InitParam _InitParam;

        private CellTracker _CellTracker;

        public SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(1000, 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_READ_CELL_INFO, ReadCellInfo);
            sb.AddAction(SEQ_ADAPT_CELL_INFO, AdaptCellInfo);
            sb.AddAction(SEQ_SEND_CELL_INFO_TO_PLC, SendCellInfoToPLC);

            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_READ_CELL_INFO] > sb[SEQ_ADAPT_CELL_INFO] > sb[SEQ_SEND_CELL_INFO_TO_PLC]
                    > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);

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


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


            //sb.Draw("SeqReceiveCellInfo.pdf");

            return sb;
        }

        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqReceiveCellInfo Start");

            _InitParam = param.Param as SeqReceiveCellInfo_InitParam;

            InitDev(context);

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

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

            return SequenceAction.Ok();
        }

        private bool InitSequenceVariable(SequenceContext context)
        {
            return true;
        }


        private void InitDev(SequenceContext context)
        {
            //Device Init
            _CellTracker = context.GetCellTracker();
        }

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

            return isAllDeviceActivated;
        }

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

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

        private bool InitializeDeviceStatus()
        {
            // format 유지, ReceiveCellInfo 없음
            return true;
        }

        private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (!CheckCondition()) {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_ReceiveCellInfo_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_READ_CELL_INFO;
        }

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

        private SequenceActionResult AdaptCellInfo(SequenceContext context, string id, SequenceActionResult param)
        {
            var cellInfoStrings = _CellTracker.GetCellInfoStrings();
            Status.GetProcessingWeldingData().WorkCellId = cellInfoStrings.CellID;
            Status.GetProcessingWeldingData().WorkLotId = cellInfoStrings.LotID;

            Log.I(string.Format($"AdaptCellInfo  CellID : {cellInfoStrings.CellID} LotID : {cellInfoStrings.LotID}"));
            return SequenceAction.Ok();
        }

        private SequenceActionResult SendCellInfoToPLC(SequenceContext context, string id, SequenceActionResult param)
        {
            // PLC 약속된 주소에 CellID, LotId 를 써준다.
            return SequenceAction.Ok();
        }

        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("ReceiveCellInfo Sequence WriteCompletionPLCBit");
            return SequenceAction.Ok();
        }

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

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

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

            Log.D("ReceiveCellInfo Sequence Complete");
            return SequenceAction.Ok(result);
        }

        private bool RestoreDeviceStatus()
        {
            return true;
        }

        private void OnForceError(SequenceContext arg1, string arg2)
        {
            Log.I("SequenceAction Ok : OnForceError");
        }

        private void OnStopped(SequenceContext obj)
        {
            Log.I("SequenceAction Ok : OnStopped");
        }

    }

    public class SeqReceiveCellInfo_InitParam : InitParam
    {

    }

    public class SeqReceiveCellInfo_OutParam : OutParam
    {

    }
}