350 lines
14 KiB
C#
350 lines
14 KiB
C#
using Aurora;
|
|
using Aurora.Api;
|
|
using Aurora.View;
|
|
using AuroraLaser;
|
|
using AuroraLaserScanner;
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Threading;
|
|
using System.Threading.Tasks;
|
|
using System.Windows.Input;
|
|
using System.Windows.Threading;
|
|
|
|
namespace WeldingCommon.Views
|
|
{
|
|
public class UCScannerLaserControlViewModel : NotifyPropertyChangedBase
|
|
{
|
|
private readonly Logger Log = new Logger("UCScannerLaserControlViewModel");
|
|
|
|
public ICommand CMD_VisibleChanged { get; }
|
|
public ICommand CMD_LaserShotOn { get; }
|
|
public ICommand CMD_LaserShotOff { get; }
|
|
|
|
public ICommand CMD_ActivateOnTheFly { get; }
|
|
public ICommand CMD_DeactivateOnTheFly { get; }
|
|
|
|
public ICommand CMD_ResetEncoderValue { get; }
|
|
public ICommand CMD_SimulateEncoder { get; }
|
|
public ICommand CMD_SimulateEncoderXY { get; }
|
|
|
|
private readonly IAuroraEnvironment _Aurora;
|
|
|
|
private readonly Scanner _Scanner;
|
|
private readonly ILaserDevice _Laser;
|
|
private readonly ScannerConfig _ScannerConfig;
|
|
|
|
private double _LaserPower1;
|
|
public double LaserPower1 { get => _LaserPower1; set => SetProperty(ref _LaserPower1, value); }
|
|
private double _LaserPower2;
|
|
public double LaserPower2 { get => _LaserPower2; set => SetProperty(ref _LaserPower2, value); }
|
|
|
|
private uint _LaserPeriod;
|
|
public uint LaserPeriod { get => _LaserPeriod; set => SetProperty(ref _LaserPeriod, value); }
|
|
private uint _LaserPulseWidth;
|
|
public uint LaserPulseWidth { get => _LaserPulseWidth; set => SetProperty(ref _LaserPulseWidth, value); }
|
|
|
|
private bool _IsUseLaserAutoOffChecked;
|
|
public bool IsUseLaserAutoOffChecked { get => _IsUseLaserAutoOffChecked; set => SetProperty(ref _IsUseLaserAutoOffChecked, value); }
|
|
private double _LaserOnTime;
|
|
public double LaserOnTime { get => _LaserOnTime; set => SetProperty(ref _LaserOnTime, value); }
|
|
|
|
// List1 or List2 를 Scanner 의 상태를 보고 check
|
|
private string _BusyStatus;
|
|
public string BusyStatus { get => _BusyStatus; set => SetProperty(ref _BusyStatus, value); }
|
|
private int _ListInterationCount;
|
|
public int ListInterationCount { get => _ListInterationCount; set => SetProperty(ref _ListInterationCount, value); }
|
|
|
|
private double _RotateCenterX;
|
|
public double RotateCenterX { get => _RotateCenterX; set => SetProperty(ref _RotateCenterX, value); }
|
|
private double _RotateCenterY;
|
|
public double RotateCenterY { get => _RotateCenterY; set => SetProperty(ref _RotateCenterY, value); }
|
|
private double _EncoderResolution;
|
|
public double EncoderResolution { get => _EncoderResolution; set => SetProperty(ref _EncoderResolution, value); }
|
|
|
|
private double _EncoderValueAxisX;
|
|
public double EncoderValueAxisX { get => _EncoderValueAxisX; set => SetProperty(ref _EncoderValueAxisX, value); }
|
|
private double _EncoderValueAxisY;
|
|
public double EncoderValueAxisY { get => _EncoderValueAxisY; set => SetProperty(ref _EncoderValueAxisY, value); }
|
|
private double _EncoderValueRotate;
|
|
public double EncoderValueRotate { get => _EncoderValueRotate; set => SetProperty(ref _EncoderValueRotate, value); }
|
|
private double _EncoderValueVelocity;
|
|
public double EncoderValueVelocity { get => _EncoderValueVelocity; set => SetProperty(ref _EncoderValueVelocity, value); }
|
|
|
|
private bool _IsFieldOutX;
|
|
public bool IsFieldOutX { get => _IsFieldOutX; set => SetProperty(ref _IsFieldOutX, value); }
|
|
private bool _IsFieldOutY;
|
|
public bool IsFieldOutY { get => _IsFieldOutY; set => SetProperty(ref _IsFieldOutY, value); }
|
|
|
|
private bool _IsUseMarkingOnTheFly;
|
|
public bool IsUseMarkingOnTheFly { get => _IsUseMarkingOnTheFly; set => SetProperty(ref _IsUseMarkingOnTheFly, value); }
|
|
|
|
private int _BeforeBusyList = 0;
|
|
private int _ListIterationCount = 0;
|
|
private DateTime _LastEncRecordTime = DateTime.Now;
|
|
private double _LastEncoderRecorded = 0;
|
|
|
|
private bool _ToggleSimulateEncoder = false; // 왜 있는지는 모르겠음.
|
|
|
|
private readonly DispatcherTimer _MonitorTimer;
|
|
|
|
public UCScannerLaserControlViewModel(IAuroraEnvironment aurora, string scannerId, bool isUseMarkingOntheFly = false)
|
|
{
|
|
_Aurora = aurora;
|
|
|
|
_Scanner = _Aurora.DeviceManager[scannerId] as Scanner;
|
|
_Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as ILaserDevice;
|
|
_ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
|
|
|
|
IsUseMarkingOnTheFly = isUseMarkingOntheFly;
|
|
InitVariable();
|
|
|
|
CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
|
|
CMD_LaserShotOn = new DelegateCommand(PerformCmdLaserShotOn);
|
|
CMD_LaserShotOff = new DelegateCommand(PerformCmdLaserShotOff);
|
|
|
|
CMD_ActivateOnTheFly = new DelegateCommand(PerformCmdActivateOnTheFly);
|
|
CMD_DeactivateOnTheFly = new DelegateCommand(PerformCmdDeactivateOnTheFly);
|
|
|
|
CMD_ResetEncoderValue = new DelegateCommand(PerformCmdResetEncoderValue);
|
|
CMD_SimulateEncoder = new DelegateCommand(PerformCmdSimulateEncoder);
|
|
CMD_SimulateEncoderXY = new DelegateCommand(PerformCmdSimulateEncoderXY);
|
|
|
|
_MonitorTimer = new DispatcherTimer();
|
|
_MonitorTimer.Tick += OnMonitoring;
|
|
_MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);
|
|
}
|
|
|
|
private void InitVariable()
|
|
{
|
|
LaserPower1 = 10;
|
|
LaserPower2 = 0;
|
|
LaserPeriod = 1;
|
|
LaserPulseWidth = 1000;
|
|
|
|
|
|
_LastEncRecordTime = DateTime.Now;
|
|
|
|
IsUseLaserAutoOffChecked = true;
|
|
}
|
|
|
|
private void VisibleChanged(object obj)
|
|
{
|
|
bool visible = (bool)obj;
|
|
if (visible) {
|
|
//Init_XYLimitPos();
|
|
_MonitorTimer.Start();
|
|
} else {
|
|
_MonitorTimer.Stop();
|
|
}
|
|
}
|
|
|
|
private void OnMonitoring(object sender, EventArgs e)
|
|
{
|
|
if (_Scanner.IsActivated == false) {
|
|
Log.D(string.Format("[OnMonitoring] Check Scanner device Connect. ScannerLaserControl view OnMonitoring Stop"));
|
|
MessageUtil.ShowWarningToast(string.Format("Check Scanner device Connect."));
|
|
|
|
_MonitorTimer.Stop();
|
|
}
|
|
|
|
double encoderX = 0;
|
|
double encoderY = 0;
|
|
if (_ScannerConfig.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
|
|
_Scanner.GetEncoder(out encoderX, out encoderY, false);
|
|
} else {
|
|
_Scanner.GetEncoder(out encoderX, out encoderY, true);
|
|
}
|
|
|
|
TimeSpan encRecordTimeSpan = DateTime.Now.Subtract(_LastEncRecordTime);
|
|
_LastEncRecordTime = DateTime.Now;
|
|
|
|
// CBW Test용 임시 수정
|
|
//m_scannerUnit.GetEncoder(out encoderX, out encoderY, true);
|
|
EncoderValueAxisX = encoderX;
|
|
EncoderValueAxisY = encoderY;
|
|
|
|
//m_scannerUnit.GetEncoder(out encoderX, out encoderY, true);
|
|
//lbRotateEncoderValue.Text = (encoderX).ToString("f3");
|
|
EncoderValueRotate = 0;
|
|
|
|
EncoderValueVelocity = (encoderX - _LastEncoderRecorded) / (encRecordTimeSpan.TotalSeconds);
|
|
_LastEncoderRecorded = encoderX;
|
|
|
|
//// Field 초과 판단
|
|
uint markingInfo = 0;
|
|
markingInfo = _Scanner.GetMarkingInfo();
|
|
|
|
// x 범위 초과
|
|
if ((markingInfo & 0x0001) == 0x0001 || (markingInfo & 0x0002) == 0x0002) {
|
|
IsFieldOutX = true;
|
|
} else {
|
|
IsFieldOutX = false;
|
|
}
|
|
|
|
// y 범위 초과
|
|
if ((markingInfo & 0x0004) == 0x0004 || (markingInfo & 0x0008) == 0x0008) {
|
|
IsFieldOutY = true;
|
|
} else {
|
|
IsFieldOutY = false;
|
|
}
|
|
|
|
// 상태 파악 및 반복성 확인.
|
|
uint readStatus = _Scanner.ReadStatus();
|
|
string busyStatus;
|
|
|
|
uint IsList1Busy = readStatus & 16;
|
|
uint IsList2Busy = readStatus & 32;
|
|
if (IsList1Busy == 16) {
|
|
busyStatus = "List1";
|
|
if (_BeforeBusyList != 1) {
|
|
_ListIterationCount++;
|
|
}
|
|
_BeforeBusyList = 1;
|
|
} else if (IsList2Busy == 32) {
|
|
busyStatus = "List2";
|
|
if (_BeforeBusyList != 2) {
|
|
_ListIterationCount++;
|
|
}
|
|
_BeforeBusyList = 2;
|
|
} else {
|
|
busyStatus = "N/A";
|
|
}
|
|
|
|
BusyStatus = busyStatus;
|
|
ListInterationCount = _ListIterationCount;
|
|
}
|
|
|
|
private void PerformCmdLaserShotOn(object obj)
|
|
{
|
|
if (_Scanner.GetBusyStatus()) {
|
|
MessageUtil.ShowWarningToast(string.Format("Laser, Scanner is busy."));
|
|
return;
|
|
}
|
|
if (!_Laser.GetLaserReady()) {
|
|
MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
|
|
return;
|
|
}
|
|
|
|
_Scanner.SetStartList(eListNo.LIST1);
|
|
_Scanner.SetLaserTiming(LaserPeriod, LaserPulseWidth * 1000, LaserPulseWidth * 1000);
|
|
_Scanner.SetStandby(LaserPeriod, LaserPulseWidth * 1000);
|
|
|
|
if (IsUseLaserAutoOffChecked) {
|
|
_Scanner.LaserOnList(LaserOnTime);
|
|
}
|
|
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)LaserPower1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, (float)LaserPower2, eFunctionType.LIST);
|
|
|
|
_Scanner.SetEndList();
|
|
_Scanner.ExecuteList(eListNo.LIST1);
|
|
|
|
if (IsUseLaserAutoOffChecked == false) {
|
|
Thread.Sleep(50);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)LaserPower1, eFunctionType.COMMAND);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, (float)LaserPower2, eFunctionType.COMMAND);
|
|
_Scanner.SetLaserTiming(LaserPeriod, LaserPulseWidth * 1000, LaserPulseWidth * 1000);
|
|
_Scanner.SetStandby(LaserPeriod, LaserPulseWidth * 1000);
|
|
_Scanner.LaserSignalOn();
|
|
}
|
|
}
|
|
|
|
private void PerformCmdLaserShotOff(object obj)
|
|
{
|
|
if (IsUseLaserAutoOffChecked) {
|
|
_Scanner.StopExecution();
|
|
} else {
|
|
_Scanner.LaserSignalOff();
|
|
}
|
|
|
|
_Scanner.SetStandby(10, 0);
|
|
}
|
|
|
|
private void PerformCmdResetEncoderValue(object obj)
|
|
{
|
|
try {
|
|
_Scanner.InitFly2D();
|
|
|
|
// CBW OTW 테스트를 위해 아래는 일단 주석처리
|
|
//m_scannerUnit.SetFlyX(m_scannerUnit.ScannerUnitParamObj.MarkingOnTheFlyEncoderResolutionX);
|
|
|
|
// list 반복 숫자 초기화
|
|
_ListIterationCount = 0;
|
|
} catch (Exception ex) {
|
|
MessageUtil.ShowErrorToast(string.Format($"{ex.Message}"));
|
|
}
|
|
}
|
|
|
|
private void PerformCmdActivateOnTheFly(object obj)
|
|
{
|
|
_Scanner.SetRotateCenter(RotateCenterX, RotateCenterY);
|
|
|
|
// list 1
|
|
_Scanner.SetStartList(eListNo.LIST1);
|
|
_Scanner.SetFlyRotate(EncoderResolution);
|
|
|
|
_Scanner.SetLaserTiming(10, 100, 100); // 아무거나
|
|
_Scanner.SetStandby(10, 0); // 아무거나
|
|
_Scanner.LaserOnList(LaserOnTime); // 1000이 1초
|
|
|
|
_Scanner.SetEndList();
|
|
// End - list1
|
|
|
|
_Scanner.ExecuteList(eListNo.LIST1);
|
|
}
|
|
|
|
private void PerformCmdDeactivateOnTheFly(object obj)
|
|
{
|
|
_Scanner.SetStartList(eListNo.LIST1);
|
|
|
|
_Scanner.Fly_Return(0, 0);
|
|
|
|
_Scanner.SetEndList();
|
|
_Scanner.ExecuteList(eListNo.LIST1);
|
|
}
|
|
|
|
private void PerformCmdSimulateEncoder(object obj)
|
|
{
|
|
if (_ToggleSimulateEncoder) {
|
|
_Scanner.SimulateEncoder(0);
|
|
_ToggleSimulateEncoder = false;
|
|
} else {
|
|
_ToggleSimulateEncoder = true;
|
|
_Scanner.SimulateEncoder(1);
|
|
}
|
|
}
|
|
|
|
private void PerformCmdSimulateEncoderXY(object obj)
|
|
{
|
|
if (_ToggleSimulateEncoder) {
|
|
_Scanner.SimulateEncoder(0);
|
|
_ToggleSimulateEncoder = false;
|
|
} else {
|
|
_ToggleSimulateEncoder = true;
|
|
_Scanner.SimulateEncoder(3);
|
|
}
|
|
}
|
|
|
|
// 일단 이건 1 source 에서 가져옴. view 에서 주석처리 된 부분
|
|
//private void ApplyAnalogValue(object obj)
|
|
//{
|
|
// try {
|
|
// //DA1, DA2 Combobox 이벤트로 현재값을 AnalogVaule에 보여주고싶으나 해야될게많다..
|
|
// //일단 유저가 셋팅만 해서 쓰는 걸로하자..
|
|
// if (AnalogPortSelectedIndex == 0) {
|
|
// DA1PercentLaser = (float)AnalogValue;
|
|
// } else if (AnalogPortSelectedIndex == 1) {
|
|
// DA2PercentLaser = (float)AnalogValue;
|
|
// } else {
|
|
// MessageDialog.Show(Application.Current.MainWindow, "LaserManual", "Check AnalogPortIndex", MessageDialog.Type.Affirmative);
|
|
// }
|
|
// } catch (Exception ex) {
|
|
// Log.E(string.Format($"{ex.Message}"));
|
|
// }
|
|
//}
|
|
|
|
}
|
|
}
|