Kyungshin-Welder/AuroraDevices/AuroraLaserScanner/ScannerObj.cs

using Aurora.Api;
using Hermes;
using System;
using System.Threading;

namespace AuroraLaserScanner
{
    public enum eRTCType
    {
        RTC5,
        RTC6
    }
    public enum eScannerNo
    {
        SCANNER_0 = 0,
        SCANNER_1 = 1,
        SCANNER_2 = 2
    }

    public enum eLaserMode
    {
        CO2 = 0,
        YAG_1,
        YAG_2,
        YAG_3,
        LASER
    }
    public enum eWaitEncoderMode
    {
        NoUse,
        Range,
        OverStepping,
        UnderStepping,
        BothDirection
    }
    public enum eOntheFlyCoordinate
    {
        XY,
        Rotate
    }
    public enum eLaserSignal { LASERON, LASER1, LASER2 };

    public enum eRecordSignal
    {
        LaserON = 0,
        StatusAX,
        StatusAY,
        SampleX = 7,
        SampleY,
        SampleZ,
        SampleAX_Corr,
        SampleAY_Corr,
        SampleAZ_Corr,
        StatusAX_LaserOn = 16,
        StatusAY_LaserOn,
        SampleAX_Out = 20,
        SampleAY_Out,
        SampleAX_Trans = 25,
        SampleAY_Trans,
        SampleAZ_Trans,
        AnalogOut1 = 33,
        AnalogOut2 = 34,
        Encoder0 = 43,
        Encoder1 = 44
    }
    public enum eEthConfigLinkLossMode
    {
        Mode0 = 0,
        Mode1,
        Mode2,
        Mode3,
        Mode4
    }
    public enum eFunctionType
    {
        COMMAND, LIST
    };
    public enum eAnalogPortOut
    {
        DA1 = 1, DA2
    }

    public enum eEncoderWaitThroughMode
    {
        UnderStepping = -1,
        BothSide = 0,
        OverStepping = 1
    }
    public enum eParkType
    {
        RealImage = 0,
        VirtualImage = 1
    }
    public enum eListNo { LIST1 = 1, LIST2 = 2 };

    public enum eAutoControlParameter
    {
        NoUse = 0,
        AnalogOut1,
        AnalogOut2,
        DigitalOut8Bit,
        PulseLength,
        HalfPeriod,
        DigitalOut16bit,
        FocusShift
    }
    public abstract class ScannerObj
    {
        protected Logger Log = new Logger("Scanner");

        public const int NO_ERROR = 0;
        public const uint PORT_COUNT = 5;

        protected double m_ScaleXYFactor = 1;
        protected double m_ScaleZFactor = 1;

        protected uint m_PrimaryHeadNo = 1;
        protected uint m_SecondHeadNo = 1;

        protected bool m_UseEncoderFeedbackMode = false;

        protected double m_MarkingOnTheFlyEncoderResolutionX = 1;
        protected double m_MarkingOnTheFlyEncoderResolutionY = 1;
        protected double m_MarkingOnTheFlyEncoderResolutionRotate = 1;

        public bool IsOpenUnit {
            get { lock (this) { return isOpenUnit; } }
            set { lock (this) { isOpenUnit = value; } }
        }

        private bool isOpenUnit = false;

        public double CommandPosX {
            get { lock (this) { return m_commandPosX; } }
            set { lock (this) { m_commandPosX = value; } }
        }

        public double CommandPosY {
            get { lock (this) { return m_commandPosY; } }
            set { lock (this) { m_commandPosY = value; } }
        }

        public double CommandPosZ {
            get { lock (this) { return m_commandPosZ; } }
            set { lock (this) { m_commandPosZ = value; } }
        }

        double m_commandPosX = 0;
        double m_commandPosY = 0;
        double m_commandPosZ = 0;

        protected uint m_deviceNo;

        //Config Parameter를 ScannerRTC에서 사용하려면 Obj에서 함수로 불러와서 사용해야 할 수 밖에 없는건가..
        public void SetXYScaleFactor(ScannerConfig config)
        {
            m_ScaleXYFactor = config.ScaleXYFactor;
            m_ScaleZFactor = config.ScaleZFactor;

        }

        public void SetConfigParameter(ScannerConfig config)
        {
            m_PrimaryHeadNo = config.PrimaryHeadNo;
            m_SecondHeadNo = config.SecondHeadNo;

            m_UseEncoderFeedbackMode = config.UseEncoderFeedbackMode;

            m_MarkingOnTheFlyEncoderResolutionX = config.MarkingOnTheFlyEncoderResolutionX;
            m_MarkingOnTheFlyEncoderResolutionY = config.MarkingOnTheFlyEncoderResolutionY;
            m_MarkingOnTheFlyEncoderResolutionRotate = config.MarkingOnTheFlyEncoderResolutionRotate;
        }
        //추상함수 선언
        //internal int GetLastError() { return NO_ERROR; }

        //초기화
        public abstract uint Open();
        public abstract void Close();

        // MOTION FUNCTIONS
        public virtual int Initialize(ScannerConfig config)
        {
            m_deviceNo = (uint)config.ScannerId;

            Open();
            SetXYScaleFactor(config);
            SetConfigParameter(config);

            return E1.OK;
        }
        public abstract uint LoadProgramFile(string fileName);
        public abstract uint LoadCorrectionFile(string fileName, uint correctionNo, bool use3DMode);

        public abstract void JumpAbs(double x, double y, eFunctionType type = eFunctionType.COMMAND);
        public abstract void JumpAbs3D(double x, double y, double z, eFunctionType type = eFunctionType.COMMAND);
        public abstract void JumpRel(double x, double y, eFunctionType type = eFunctionType.COMMAND);
        public abstract void JumpRel3D(double x, double y, double z, eFunctionType type = eFunctionType.COMMAND);
        public abstract void JumpAbsZ(double z, eFunctionType type = eFunctionType.COMMAND);
        public abstract void JumpRelZ(double z, eFunctionType type = eFunctionType.COMMAND);
        public abstract void MarkAbs(double x, double y);
        public abstract void ArcAbs(double x, double y, double angle /*(+)가 반시계 방향*/);
        public abstract void ArcRel(double x, double y, double angle /*(+)가 반시계 방향*/ );

        public abstract void MarkRel(double x, double y);
        public abstract void GetXYPos(out double x, out double y);
        public abstract void GetZPos(out double z);
        public abstract void GetEncoder(out double encoderX, out double encoderY, bool rotateMode = false);
        public abstract uint GetMarkingInfo();

        public abstract uint GetStartStopInfo();

        /// <summary>
        /// Stores the current counts of the two RTC encoder counters in a cache on the RTC
        /// </summary>
        /// <param name="pos">Storage position. 0 or 1</param>
        public abstract void StoreEncoder(uint pos);
        public abstract void ReadEncoder(out double encoder0_0, out double encoder1_0, out double encoder0_1, out double encoder1_1, bool rotateMode = false);
        public abstract void WaitForEncoderX(double position);
        public abstract void WaitForEncoderY(double position);
        public abstract void WaitForEncoderRotateX(double angle);
        public abstract void WaitForEncoderRotateY(double angle);
        public abstract void WaitForEncoderRotateXMode(double angle, eEncoderWaitThroughMode mode);
        public abstract void WaitForEncoderRotateYMode(double angle, eEncoderWaitThroughMode mode);
        public abstract void WaitForEncoderXMode(double position, eEncoderWaitThroughMode mode);
        public abstract void WaitForEncoderYMode(double position, eEncoderWaitThroughMode mode);
        public abstract void WaitForEncoderMode(double position, uint encoderNo, eEncoderWaitThroughMode mode);
        public abstract void WaitForEncoderRange(double minX, double maxX, double minY, double maxY);
        public abstract void WaitForEncoderRotateRange(double minRotateX, double maxRotateX, double minRotateY, double maxRotateY);

        public abstract void SetFlyX(double encoderResolution = 0);
        public abstract void SetFlyY(double encoderResolution = 0);
        public abstract void SetFlyRotate(double encoderResolution);
        public abstract void SetFlyRotatePos(double encoderResolution);
        public abstract void SetRotateCenter(double posX, double posY, eFunctionType type = eFunctionType.COMMAND);
        public abstract void ActivateFlyXY(double encoderResolutionX, double encoderResolutionY);
        public abstract void ActivateFly1Axis(int axis, int mode, double scale, int offset);
        public abstract void Fly_Return(double posX, double posY);
        public abstract void ParkPosition(double posX, double posY, eParkType type = eParkType.VirtualImage);
        public abstract void ParkReturn(double posX, double posY, eParkType type = eParkType.VirtualImage);
        public abstract void InitFly2D(int offsetX = 0, int offsetY = 0);
        public abstract void SimulateEncoder(uint EncoderNo);
        public abstract void SetControlMode(uint mode);
        public abstract void SetLaesrDelay(int laserOnDelay, uint laserOffDelay);
        public abstract void SetScannerDelay(uint jumpDelay, uint markDelay, uint arcDelay);
        public abstract void SetJumpSpeedCtrl(double speed);
        public abstract void SetJumpSpeed(double speed);
        public abstract void SetMarkSpeed(double speed);
        public abstract void SetStartList(eListNo no);
        public abstract uint LoadList(eListNo no);
        public abstract void SetEndList();
        public abstract void ExecuteList(eListNo no);
        public abstract void StartLoop();
        public abstract void QuitLoop();
        public abstract void AutoChange();
        public abstract bool GetBusyStatus();

        public abstract void SelectCorrectionTable(int no);
        public abstract void StopExecution();
        public abstract uint GetRTCVersion();
        public abstract uint GetDLLVersion();
        public abstract void SetLaserTiming(uint halfPeriod, uint laser1PulseWidth, uint laser2PulseWidth);
        public abstract void SetStandby(uint periodkHz, uint laserPulseWidthUs);
        public abstract void SetLaserMode(eLaserMode mode);
        public abstract void SetLaserControl(uint mode);
        public abstract void SetFirstPulseKiller(uint width); //unit:us
        public abstract void LaserSignalOn();
        public abstract void LaserSignalOff();
        public abstract void LaserOnList(double interval);
        public abstract void SetAngle(double angle, uint atOnce = 1, eFunctionType type = eFunctionType.COMMAND);
        public abstract void SetOffset(double offsetX, double offsetY, uint atOnce = 1, eFunctionType type = eFunctionType.COMMAND);
        public abstract void DisableLaser();
        public abstract void EnableLaser();
        public abstract bool GetModulationMode();
        // Write DA
        public abstract void WriteDA(uint portNo, float value/*0~100%*/, eFunctionType type = eFunctionType.COMMAND);
        //Ramping 관련 기능 추가
        public abstract void SetVectorControl(uint portNo, uint value);
        public abstract void ParaMarkAbs(double x, double y, float powerValue/*0~100%*/ );
        public abstract void ParaMarkRel(double x, double y, float powerValue/*0~100%*/ );
        public abstract void ParaJumpAbs(double x, double y, float powerValue/*0~100%*/ );
        public abstract void ParaJumpRel(double x, double y, float powerValue/*0~100%*/ );
        public abstract void ParaLaserOnPulsesList(double period/*msec 최소시간은 0.01msec*/, uint pulses /*0~65535*/, float powerValue/*0~100%*/ );

        //SetTrigger 기능 관련 추가
        public abstract void StopTrigger();
        public abstract void SetTrigger(uint period/*㎲*/, eRecordSignal signal1, eRecordSignal signal2);
        public abstract void SetTrigger(uint period/*㎲*/, eRecordSignal signal1, eRecordSignal signal2, eRecordSignal signal3, eRecordSignal signal4);
        public abstract void Measurement_status(out uint busy, out uint pos);
        public abstract uint ReadStatus();
        public abstract void GetWaveForm(uint channel, uint number, out int[] data);

        public abstract void SetWobbelMode(bool wobbelEnable, double tansversal, double longitudinal, double frequency, int mode);
        public abstract void SetWobbelDirection(int dX, int dY);

        public abstract void SetWobbelVector(double tansversal, double longitudinal, UInt32 period, float power);

        public abstract void ConfigLaserSignal(eLaserSignal pin2, eLaserSignal pin1, eLaserSignal pin9);
        public abstract void LongDelay(uint delay);

        public abstract void SetEthernetConfigLinkLoss(eEthConfigLinkLossMode mode);

        public abstract int CheckEthernetConnection(out uint errorCode);
        public abstract void SetLaserPinOutList(uint pins);
        public abstract void SetLaserPinOut(uint pins);

        public abstract void SetPortDefault(uint port, uint value);
        public abstract uint GetLastError();

        #region 리스트 실행 시간 측정
        public abstract void SaveAndRestartTimer();
        public abstract double GetTime();
        public abstract void SetConfigList(uint mem1, uint mem2);
        public abstract uint GetListSpace();
        #endregion
        public void WaitForListTaskCompleted(int timeOut, SequenceContext context = null) //단위는 초
        {
            TimeSpan spanTime;
            DateTime startTime = DateTime.Now;

            do {
                spanTime = DateTime.Now.Subtract(startTime);

                if (spanTime.TotalMilliseconds > (timeOut * 1000)) {
                    Log.E("ERR_SCANNER_TIMEOUT_FOR_LIST_CMP");
                    // @TIMEOUT  인데 왜 탈출을 안하도록 했는지 ?
                    break;
                }
                if (context != null && context.Stopped) {
                    Log.I("SCANNER_WAIT_LIST_COMPLETE_FORCED_EXIT");
                    break;
                }
                //Thread.Sleep(1);
            } while (GetBusyStatus() == true);
        }


    }
}