272 lines
8.9 KiB
C#
272 lines
8.9 KiB
C#
using Aurora.Api;
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using AuroraCellTracker;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WeldingCommon.Sequences;
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using WeldingCommon;
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using AuroraLaserScanner;
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using WeldingCommon.Settings;
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using AuroraLaser;
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using AuroraOCT;
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using AuroraPLC;
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using AuroraIO;
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using VisionCommon;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using Aurora.Api.Manager;
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using AuroraLBAD;
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using CoreUnit.Control.UserControl.Canvas;
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using Matrox.MatroxImagingLibrary;
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using WeldingCommon.Vision.WeldingObjectGenerator;
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using OpenCvSharp;
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using System.Diagnostics;
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using ILSOS_SampleWeldEquipment.Models;
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using Aurora;
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using DB.Recipe;
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using System.Runtime.Remoting.Contexts;
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using System.IO;
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using System.Text.RegularExpressions;
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using WeldingCommon.Utils;
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using System.Threading;
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using OpenCvSharp.Dnn;
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using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
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using DB;
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using System.Configuration;
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using System.Runtime.InteropServices.ComTypes;
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using System.Windows.Media.Imaging;
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using OpenCvSharp.WpfExtensions;
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using System.Windows;
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using Aurora.View;
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using System.Drawing;
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using System.Collections.ObjectModel;
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using WeldingCommon.Views;
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using WeldingCommon.Data;
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using Hermes;
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using System.CodeDom.Compiler;
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using static Aurora.Api.SequenceBuilder;
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using WeldingCommon.Devices;
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using static ILSOS_SampleWeldEquipment.Device.PLCControllerSampleWeldEquipment;
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using System.Windows.Forms.VisualStyles;
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using static AuroraIO.Vendor.PAIX.PAIXIO;
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using WeldingCommon.Alarm;
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namespace ILSOS_SampleWeldEquipment.Sequences
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{
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class SeqAutoRunSampleWeldEquipment
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{
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static readonly Logger Log = new Logger("SeqAutoRunSampleWeldEquipment");
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const string SEQ_ENTER = "[SeqAutoRunSampleWeldEquipment] SEQ_ENTER"; // inputParam 으로 받자.
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const string SEQ_CHECK_INIT_CONDITION = "[SeqAutoRunSampleWeldEquipment] Check Init Condition"; // Check Init Condition
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// TODO: [장비구현필요] 실제 공정 추가
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const string SEQ_SAVE_RESULT_DATA = "[SeqAutoRunSampleWeldEquipment] Save Result Data";
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const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqAutoRunSampleWeldEquipment] Write Completion PLC Bit";
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const string SEQ_COMPLETE = "[SeqAutoRunSampleWeldEquipment] 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_SeqAutoRunSampleWeldEquipment";
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public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqAutoRunSampleWeldEquipment";
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}
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const int PLC_TIMEOUT = 60; // sec, Timeout은 시퀀스 정지가 아니라 타임아웃 시간마다 로그만 남기도록 한다
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private Scanner _Scanner;
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private LaserDevice _Laser;
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private SystemParameter _SystemParameter;
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private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
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private List<IDrawObject> _SelectedDrawObjectList;
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private SeqAutoRunSampleWeldEquipment_InitParam _InitParam;
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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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// TODO: [장비구현필요] 실제 공정 추가
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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_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("SeqAutoRunSampleWeldEquipment.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("SeqAutoRunSampleWeldEquipment Start");
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_InitParam = param.Param as SeqAutoRunSampleWeldEquipment_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_AutoRun_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_AutoRun_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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// TODO: [장비구현필요] Initialize Variable 추가
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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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_Laser = context.GetLaser();
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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, CommonDeviceIds.Laser };
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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(SequenceContext context)
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{
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if (CheckCondition_Interlock()) {
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if (InitializeDeviceStatus(context)) {
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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(SequenceContext context)
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{
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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(context)) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_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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// TODO: [장비구현필요] 다음 공정 Node 변경
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return SEQ_SAVE_RESULT_DATA;
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}
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// TODO: [장비구현필요] 공정 Node 구현
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private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
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{
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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
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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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context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
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SeqAutoRunSampleWeldEquipment_OutParam result = new SeqAutoRunSampleWeldEquipment_OutParam() { Success = seqResult };
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if (seqResult == false) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_ResultFailed);
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}
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Status.SetWorkingPosition(eWorkingPosition.DONE);
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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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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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OnSeqActionStop();
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Log.I("SequenceAction Ok : OnForceError");
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}
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private void OnStopped(SequenceContext obj)
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{
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OnSeqActionStop();
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Log.I("SequenceAction Ok : OnStopped");
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}
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private void OnSeqActionStop()
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{
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}
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}
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public class SeqAutoRunSampleWeldEquipment_InitParam : InitParam
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{
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}
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public class SeqAutoRunSampleWeldEquipment_OutParam : OutParam
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{
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}
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} |