LGES-2170-ACW_CCW-Welder/AuroraVision/VisionCommon/Adapter/Equip/Sequence/SeqAdapter.cs

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

namespace VisionCommon {
    /// <summary>
    /// 장비에서 시퀀스 노드를 정의하고,
    /// AuroraVision 시퀀스에서 사용하기 위한 클래스
    /// </summary>
    public abstract class SeqAdapter {
        protected Logger _logger;
        private Dictionary<string, DoAction> _actionNodeMap = new Dictionary<string, DoAction>();
        private Dictionary<string, DoDecision> _decisionNodeMap = new Dictionary<string, DoDecision>();

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="logTag">로그 태그명</param>
        public SeqAdapter(string logTag) {
            _logger = new Logger(logTag);
        }

        /// <summary>
        /// Action 노드를 가져온다.
        /// </summary>
        /// <param name="nodeName">노드 이름</param>
        /// <param name="defaultNode">Default Decision 노드</param>
        /// <returns>Action 노드</returns>
        public DoAction GetActionNode(string nodeName, DoAction defaultNode = default(DoAction)) {
            return GetNode(nodeName, _actionNodeMap, defaultNode);
        }

        /// <summary>
        /// Decision 노드를 가져온다.
        /// </summary>
        /// <param name="nodeName">노드 이름</param>
        /// <param name="defaultNode">Default Decision 노드</param>
        /// <returns>Decision 노드</returns>
        public DoDecision GetDecisionNode(string nodeName, DoDecision defaultNode = default(DoDecision)) {
            return GetNode(nodeName, _decisionNodeMap, defaultNode);
        }

        private T GetNode<T>(string nodeName, Dictionary<string, T> map, T defaultNode) {
            if (map.ContainsKey(nodeName)) {
                return map[nodeName];
            }

            _logger.FuncE($"Node does NOT exist : {nodeName}");
            return defaultNode;
        }

        /// <summary>
        /// Action 노드를 등록한다.
        /// </summary>
        /// <param name="nodeName">노드 이름</param>
        /// <param name="node">Action 노드</param>
        protected void SetActionNode(string nodeName, DoAction node) {
            SetNode(nodeName, node, _actionNodeMap);
        }

        /// <summary>
        /// Deicision 노드를 등록한다.
        /// </summary>
        /// <param name="nodeName">노드 이름</param>
        /// <param name="node">Deicision 노드</param>
        protected void SetDeicisionNode(string nodeName, DoDecision node) {
            SetNode(nodeName, node, _decisionNodeMap);
        }

        private void SetNode<T>(string nodeName, T node, Dictionary<string, T> map) {
            if (!map.ContainsKey(nodeName)) {
                map[nodeName] = node;
            }
            else {
                _logger.I($"Node already exist : {nodeName}");
            }
        }
    }

    /// <summary>
    /// Sequence adapter 사용 시 default node ( ActionNode ) 만들어주는 Method
    /// </summary>
    public class DefaultActionNode{
        SequenceActionResult _DefaultActionNodeReturn = SequenceAction.Ok();

        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="defaultActionNodeReturn">ActionNode 사용 시 Default로 제공하는 결과값 (default(non param) : SequenceAction.OK())</param>
        public DefaultActionNode(SequenceActionResult defaultActionNodeReturn) {
            _DefaultActionNodeReturn = defaultActionNodeReturn;
        }
        /// <summary>
        /// 생성자 : ActionNode 사용 시 Default로 제공하는 결과값 (default : SequenceAction.OK())
        /// </summary>
        public DefaultActionNode() {
        }
        /// <summary>
        /// Default Action Node
        /// </summary>
        /// <returns>Default Action Node return</returns>
        public SequenceActionResult ActionNode(
           SequenceContext context, string id, SequenceActionResult param) {
            return _DefaultActionNodeReturn;
        }
    }

    /// <summary>
    /// Sequence adapter 사용 시 default node (Decision Node ) 만들어주는 Method
    /// </summary>
    public class DefaultDecisionNode {
        private string _DefaultDecisionNodeReturn = "";
        /// <summary>
        /// 생성자
        /// </summary>
        /// <param name="defaultDecisionNodeReturn">DecisionNode 사용 시 Default로 제공하는 결과값(default : "")</param>
        public DefaultDecisionNode(string defaultDecisionNodeReturn) {
            _DefaultDecisionNodeReturn = defaultDecisionNodeReturn;
        }

        /// <summary>
        /// Default Decision Node
        /// </summary>
        /// <returns>Default Decision Node return</returns>
        public string DecisionNode(
         SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) {
            return _DefaultDecisionNodeReturn;
        }
    }

}