Kyungshin-Welder/AuroraVision/VisionSequence/Pattern/GrabFindProcSeq.cs

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

namespace VisionSequence.Pattern {
    /// <summary>
    /// 카메라 그랩, 패턴 검출 공정 시퀀스 파라미터
    /// </summary>
    public class GrabFindProcSeqParams : SeqParamsBase {
        /// <summary>FOV 키 정보</summary>
        public FovInfo FovInfo { get; set; }
        /// <summary>패턴 정보</summary>
        public PatternInfo PatternInfo { get; set; }
        /// <summary>메인 화면 타입</summary>
        public eDisplayType DisplayType { get; set; }

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="fovInfo">FOV 키 정보</param>
        /// <param name="patternInfo">패턴 정보</param>
        /// <param name="displayType">메인 화면 타입</param>
        /// <param name="seqMode">시퀀스 모드</param>
        public GrabFindProcSeqParams(
            FovInfo fovInfo,
            PatternInfo patternInfo,
            eDisplayType displayType = eDisplayType.Main_1,
            eSeqMode seqMode = eSeqMode.Auto) : base(seqMode) {

            this.FovInfo = fovInfo;
            this.PatternInfo = patternInfo;
            this.DisplayType = displayType;
        }

        /// <summary>
        /// GrabFindWithFixtureSeqParams로 변환한다.
        /// </summary>
        /// <returns>GrabFindWithFixtureSeqParams</returns>
        internal GrabFindWithFixtureSeqParams ToGrabFindWithFixtureSeqParams() {
            return new GrabFindWithFixtureSeqParams(FovInfo, PatternInfo, DisplayType, SeqMode);
        }

        /// <summary>
        /// GrabFindSeqParams로 변환한다.
        /// </summary>
        /// <returns>GrabFindSeqParams</returns>
        internal GrabFindSeqParams ToGrabFindSeqParams() {
            return new GrabFindSeqParams(FovInfo, PatternInfo, DisplayType, SeqMode);
        }
    }

    /// <summary>
    /// 카메라 그랩, 패턴 검출 공정 시퀀스
    /// </summary>
    public class GrabFindProcSeq : SubSeqBase {
        private readonly Logger _Logger;
        private TactTimeChecker _TactTimeChecker;
        private GrabFindProcSeqParams _Params;
        private FovRecipe _FovRecipe;

        private string _SeqName;

        #region Sequence Id
        private const string SEQ_ID_INIT = "INIT";
        private const string SEQ_ID_CHECK_FIXTURE_ENABLED = "CHECK_FIXTURE_ENABLED";

        private const string SEQ_ID_SET_GRAB_FIND_SEQ_PARAMS = "SET_GRAB_FIND_SEQ_PARAMS";
        private const string SEQ_ID_GRAB_FIND_SEQ = "GRAB_FIND_SEQ";

        private const string SEQ_ID_SET_GRAB_FIND_WITH_FIXTURE_SEQ_PARAMS = "SET_GRAB_FIND_WITH_FIXTURE_SEQ_PARAMS";
        private const string SEQ_ID_GRAB_FIND_WITH_FIXTURE_SEQ = "GRAB_FIND_WITH_FIXTURE_SEQ";

        private const string SEQ_ID_SEQ_COMPLETE = "SEQ_COMPLETE";
        #endregion

        /// <summary>
        /// 생성자
        /// </summary>
        public GrabFindProcSeq() {
            _Logger = new Logger($"{GetType().Name}");
        }

        private void SetActions(SequenceBuilder sb) {
            var grabFindSeqBuilder = SubSeqManager.CreateSubSeqBuilder(new GrabFindSeq(), "GrabFindSeq");
            var grabFindWithFixtureSeqBuilder = SubSeqManager.CreateSubSeqBuilder(new GrabFindWithFixtureSeq(), "GrabFindWithFixtureSeq");

            sb.AddAction(SEQ_ID_INIT, Init);
            sb.AddDecision(SEQ_ID_CHECK_FIXTURE_ENABLED, CheckFixtureEnabled);

            sb.AddAction(SEQ_ID_SET_GRAB_FIND_WITH_FIXTURE_SEQ_PARAMS, SetGrabFindWithFixtureSeqParams);
            sb.AddSubsequence(SEQ_ID_GRAB_FIND_WITH_FIXTURE_SEQ, grabFindWithFixtureSeqBuilder);

            sb.AddAction(SEQ_ID_SET_GRAB_FIND_SEQ_PARAMS, SetGrabFindSeqParams);
            sb.AddSubsequence(SEQ_ID_GRAB_FIND_SEQ, grabFindSeqBuilder);

            sb.AddAction(SEQ_ID_SEQ_COMPLETE, SeqComplete);
        }

        public override SequenceBuilder Builder(string seqName) {
            _SeqName = seqName;
            _TactTimeChecker = new TactTimeChecker(_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_CHECK_FIXTURE_ENABLED]

                > sb[SEQ_ID_SET_GRAB_FIND_WITH_FIXTURE_SEQ_PARAMS]
                > sb[SEQ_ID_GRAB_FIND_WITH_FIXTURE_SEQ]
                > sb[SEQ_ID_SEQ_COMPLETE]
                > sb.Final
                );

            sb.Flows(
                  sb[SEQ_ID_CHECK_FIXTURE_ENABLED] // Fixture Disabled
                > sb[SEQ_ID_SET_GRAB_FIND_SEQ_PARAMS]
                > sb[SEQ_ID_GRAB_FIND_SEQ]
                > sb[SEQ_ID_SEQ_COMPLETE]
                );

#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 GrabFindProcSeqParams;
            }
            else {
                _Logger.E($"_Params is null.");
                return null;
            }

            _FovRecipe = VisionRecipeManager.GetFovRecipe(_Params.FovInfo);

            return SequenceAction.Ok();
        }

        private string CheckFixtureEnabled(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) {
            if (_Params.PatternInfo.FixtureSetting.Enabled) {
                return SEQ_ID_SET_GRAB_FIND_WITH_FIXTURE_SEQ_PARAMS;
            }
            else {
                return SEQ_ID_SET_GRAB_FIND_SEQ_PARAMS;
            }
        }

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

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

        private SequenceActionResult SeqComplete(SequenceContext context, string id, SequenceActionResult param) {
            var mainPatternResult = context.GetValue<PatternResult>(string.Format(VisionContextKeys.CNTXT_KEY_PATTERN_RESULT, _Params.FovInfo.GetKey()));
            _TactTimeChecker.Stop(TactTimeType.ProcSeq, "Light/Grab/Find");

            return SequenceAction.Ok(mainPatternResult);
        }

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

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

        void HandleAbnormalFinish(
            SequenceContext context) {
            _TactTimeChecker.Stop(TactTimeType.ProcSeq, "Light/Grab/Find");
        }
    }
}