361 lines
14 KiB
C#
361 lines
14 KiB
C#
using Aurora.Api;
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using AuroraLaser.Coherent;
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using AuroraLaserScanner;
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using Hermes;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Linq;
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using System.Numerics;
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using System.Reflection;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using WeldingCommon.Alarm;
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using WeldingCommon.Settings;
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namespace WeldingCommon.Sequences
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{
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class SeqMarkGrid
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{
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static readonly Logger Log = new Logger("SeqMarkGrid");
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const string SEQ_ENTER = "[SeqMarkGrid] SEQ_ENTER"; // inputParam 으로 받자.
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const string SEQ_CHECK_INIT_CONDITION = "[SeqMarkGrid] Check Init Condition"; // Check Init Condition
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const string SEQ_DOWNLOAD_MARKING_GRID_LIST = "[SeqMarkGrid] Download Marking GridList";
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const string SEQ_EXCUTE_SCANNER = "[SeqMarkGrid] Excute Scanner";
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const string SEQ_WAIT_SCANNER_TASK_COMPLETE = "[SeqMarkGrid] Wait Scanner Task Complete";
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const string SEQ_SAVE_RESULT_DATA = "[SeqMarkGrid] Save Result Data";
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const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqMarkGrid] Write Completion PLC Bit";
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const string SEQ_COMPLETE = "[SeqMarkGrid] SEQ_COMPLETE"; // 완료
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static class ContextKey
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{
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public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqMarkGrid";
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public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqMarkGrid";
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}
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private SeqMarkGrid_InitParam _InitParam;
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private Scanner _Scanner;
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private SystemParameter _SystemParameter;
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private eListNo _MarkingGridScannerListNo;
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private double _JumpSpeed;
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private List<PointF> _MarkingPositionList_MM; // MM 은 밀리미터 단위 인듯
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//private DateTime _WeldingStartTime;
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public SequenceBuilder Builder()
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{
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var sb = new SequenceBuilder(1000, true);
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////var sb = new SequenceBuilder(1000, false); // With log
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sb.AddAction(SEQ_ENTER, Sequence_Enter);
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sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
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sb.AddAction(SEQ_DOWNLOAD_MARKING_GRID_LIST, DownloadMarkingGridList); //분기
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sb.AddAction(SEQ_EXCUTE_SCANNER, ExcuteScanner);
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sb.AddAction(SEQ_WAIT_SCANNER_TASK_COMPLETE, WaitScannerTaskComplete);
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sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함.
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sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write
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sb.AddAction(SEQ_COMPLETE, Complete);
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sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
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> sb[SEQ_DOWNLOAD_MARKING_GRID_LIST] > sb[SEQ_EXCUTE_SCANNER] > sb[SEQ_WAIT_SCANNER_TASK_COMPLETE]
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> sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
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sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);
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sb.OnStopped(OnStopped);
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sb.OnForceError(OnForceError);
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//sb.Draw("SeqMarkGrid.pdf");
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return sb;
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}
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private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("SeqMarkGrid Start");
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_InitParam = param.Param as SeqMarkGrid_InitParam;
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_SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
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InitDev(context);
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if (!CheckDeviceReady(context)) { //Check Device
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_MarkGrid_DeviceNotReady);
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Log.E("The devices are not active.");
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return null;
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}
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if (InitSequenceVariable(context) == false) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_MarkGrid_InitVariableError);
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return null;
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}
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return SequenceAction.Ok();
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}
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private bool InitSequenceVariable(SequenceContext context)
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{
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// MarkGrid 는 Scanner의 List2 를 사용한다.
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_MarkingGridScannerListNo = eListNo.LIST2;
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_JumpSpeed = _Scanner.Config.JumpSpeed;
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// Initialize MasterPos
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_MarkingPositionList_MM = new List<PointF>();
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float posX = 0;
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float posY = 0;
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for (int column = 0; column < _InitParam.ColumnCount; column++) {
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posX = _InitParam.UnitLength * ((column % _InitParam.ColumnCount) - (_InitParam.ColumnCount - 1) / 2f);
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for (int row = 0; row < _InitParam.RowCount; row++) {
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posY = _InitParam.UnitLength * ((row % _InitParam.RowCount) - (_InitParam.RowCount - 1) / 2f);
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_MarkingPositionList_MM.Add(new PointF(posX, posY));
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}
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}
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return true;
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}
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private void InitDev(SequenceContext context)
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{
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//Device Init
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_Scanner = context.GetLaserScanner();
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}
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private bool CheckDeviceReady(SequenceContext context)
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{
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List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner };
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bool isAllDeviceActivated = true;
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foreach (string item in deviceListToCheck) {
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if (!context.Devices[item].IsActivated) {
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isAllDeviceActivated = isAllDeviceActivated && false;
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}
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}
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return isAllDeviceActivated;
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}
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private bool CheckCondition()
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{
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if (CheckCondition_Interlock()) {
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if (InitializeDeviceStatus()) {
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return true;
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}
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}
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return false;
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}
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private bool CheckCondition_Interlock()
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{
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// PLC, Data, IO 등 Interlock checking
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return true;
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}
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private bool InitializeDeviceStatus()
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{
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// Device 의 status 를 맞추자. MarkGrid 는 Scanner 를 설정 한다. 초기 설정 해야 하는 값으로
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//LaserCorrectionTable 사용 (1 소스 Initialize() 함수에 있던 내용)
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_Scanner.SelectCorrectionTable(2);
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// 1.스캐너 리스트 동작구성
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_Scanner.SetStartList(_MarkingGridScannerListNo);
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// 2. SetLaserTiming은 Modulation 사용하는 레이저 장비에서 셋팅될 수 있도록 InitParam으로 받아오자.(ex. Coherent)
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if (_InitParam.IsModulation) {
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_Scanner.SetLaserTiming(_InitParam.Frequnecy, _InitParam.PulseDulation * 1000, _InitParam.PulseDulation * 1000);
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Log.I(string.Format($"[SetLaserTiming] LaserFrequency : {_InitParam.Frequnecy}, LaserPulseDuration : {_InitParam.PulseDulation}"));
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}
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_Scanner.SetLaesrDelay(0, 0);
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//3.DA(레이저 파워값) 설정
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)_InitParam.MarkPower, eFunctionType.LIST);
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////4.점프 및 마크 속도 설정
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_Scanner.SetJumpSpeed(_JumpSpeed);
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_Scanner.SetMarkSpeed(_InitParam.MarkSpeed);
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return true;
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}
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private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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if (!CheckCondition()) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_MarkGrid_CheckInitCondition);
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Log.E("Condition is not in state to start sequence.");
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context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
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return SEQ_COMPLETE;
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}
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var startTime = DateTime.Now;
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context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
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Log.D("DoCrossLaserShot Sequence CheckInitCondition");
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return SEQ_DOWNLOAD_MARKING_GRID_LIST;
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}
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private SequenceActionResult DownloadMarkingGridList(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("Start List up Marking Grid.");
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for (int i = 0; i < _MarkingPositionList_MM.Count; i++) {
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//Won : KS프로젝트에서 MarkGrid 진행 시 Jump구간 발진 되는 부분 확인, 하기 소스코드 테스트 후 적용 필요
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//십자마킹 가로
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
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_Scanner.JumpAbs(_MarkingPositionList_MM[i].X - _InitParam.MarkLength * 0.5, _MarkingPositionList_MM[i].Y, eFunctionType.LIST);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)_InitParam.MarkPower, eFunctionType.LIST);
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_Scanner.MarkAbs(_MarkingPositionList_MM[i].X + _InitParam.MarkLength * 0.5, _MarkingPositionList_MM[i].Y);
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//십자마킹 세로
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
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_Scanner.JumpAbs(_MarkingPositionList_MM[i].X, _MarkingPositionList_MM[i].Y - _InitParam.MarkLength * 0.5, eFunctionType.LIST);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)_InitParam.MarkPower, eFunctionType.LIST);
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_Scanner.MarkAbs(_MarkingPositionList_MM[i].X, _MarkingPositionList_MM[i].Y + _InitParam.MarkLength * 0.5);
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}
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_Scanner.SetEndList();
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return SequenceAction.Ok();
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}
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private SequenceActionResult ExcuteScanner(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("Marking Start");
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//_WeldingStartTime = DateTime.Now;
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_Scanner.ExecuteList(_MarkingGridScannerListNo);
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return SequenceAction.Ok();
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}
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private SequenceActionResult WaitScannerTaskComplete(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.FuncI(MethodBase.GetCurrentMethod().Name);
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var res = context.RetryUntilSuccess(CheckScannerTaskComplete, _SystemParameter.WeldLinesTaskTimeOut * 1000);
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if (res == E2.TIMEOUT) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_MarkGrid_TimeOverExcuteList);
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// Scanner complete 되는 것이 timeout 까지 종료되지 않으면, excute time over 로 sequence 종료
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Log.FuncE("Time Over excuteList");
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return null;
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}
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return SequenceAction.Ok();
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}
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private bool CheckScannerTaskComplete()
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{
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if (_Scanner.GetBusyStatus()) {
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return false;
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} else {
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return true;
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}
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}
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private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
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{
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// 결과 Data 를 업데이트 함. format 유지, MarkGrid 없음
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context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
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return SequenceAction.Ok();
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}
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private SequenceActionResult WriteCompletionPLCBit(SequenceContext context, string id, SequenceActionResult param)
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{
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// 완료 비트 write 하는 Node 추가 필요. format 유지, MarkGrid 없음
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Log.D("MarkGrid Sequence WriteCompletionPLCBit");
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return SequenceAction.Ok();
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}
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private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
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{
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RestoreDeviceStatus();
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Log.I("MarkGrid Complete");
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context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
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SeqMarkGrid_OutParam result = new SeqMarkGrid_OutParam() { Success = seqResult };
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if (seqResult == false) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_MarkGrid_ResultFailed);
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}
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Log.D("MarkGrid Sequence Complete");
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return SequenceAction.Ok(result);
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}
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private bool RestoreDeviceStatus()
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{
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//vision correctiontable로 원복
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_Scanner.SelectCorrectionTable(1);
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//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
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//Scanner 원점 복귀
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_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
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return true;
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}
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private void OnForceError(SequenceContext arg1, string arg2)
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{
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//List 실행 종료
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_Scanner.StopExecution();
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//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
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//Scanner 원점 복귀
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_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
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Log.E("MarkGrid Sequence is stopped");
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}
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private void OnStopped(SequenceContext obj)
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{
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//List 실행 종료
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_Scanner.StopExecution();
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//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
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//Scanner 원점 복귀
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_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
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Log.E("MarkGrid Sequence is stopped");
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}
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}
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public class SeqMarkGrid_InitParam : InitParam
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{
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//public bool IsLaserCalibration { get; set; }
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public int ColumnCount { get; set; }
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public int RowCount { get; set; }
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public float UnitLength { get; set; } // 단위 mm
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public double MarkPower { get; set; } // 단위 %
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public double MarkSpeed { get; set; } // 단위 mm/s
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public double MarkLength { get; set; } // 단위 mm
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public bool IsModulation { get; set; }
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public uint Frequnecy { get; set; } // 단위 Hz
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public uint PulseDulation { get; set; } //단위 msec
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}
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public class SeqMarkGrid_OutParam : OutParam
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{
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// 레이저 쏘기만 하기 때문에 필요 없음.
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}
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}
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