LGES-2170-ACW_CCW-Welder/AuroraVision/VisionLight/Light_iPlus_ModbusSerial.cs

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

namespace VisionLight {
    /// <summary>
    /// MagnetAttach strobe 조명으로 사용.
    /// light 관련 time delay 필요했던 조명
    /// 조명 Mode를 변경할 경우 늦게 반영되는 경우가 많아, 자주 변경할 경우 GrabSeq와 별개로 별도로 호출해서도 사용 하였음 ( eLightMode )
    /// !주의! 다른 Light와는 상대적으로 Thread sleep이 자주 호출됨. ( 추후 재검증 시 확인 후 주석 처리 할 것 )
    /// </summary>
    public class Light_iPulse_ModbusSerial : LightBase_ModbusSerial {
        /// <summary>
        /// Light Mode
        /// </summary>
        public enum eLIGHT_MODE {
            /// <summary>
            /// Off
            /// </summary>
            Off = 0x00,
            /// <summary>
            /// Continous
            /// </summary>
            Continous = 0x01,
            /// <summary>
            /// Strobe
            /// </summary>
            Strobe = 0x02,
        }

        private const int _SetLightMode = 0x0300;
        private const int _SetDuration = 0x0310;
        private const int _SetPeriod = 0x0312;
        private const int _SetContinuousBrigtness = 0x0330;
        private const int _SetPulseBrigtness = 0x0340;
        /// <summary>
        /// Light IPlus Modbus Serial 생성자
        /// </summary>
        /// <param name="deviceId">디바이스 Id</param>
        public Light_iPulse_ModbusSerial(string deviceId) : base(deviceId) {
            DeviceId = deviceId;
        }
        /// <summary>
        /// Set Level Implement
        /// </summary>
        /// <param name="level">레벨</param>
        /// <param name="channel">채널</param>
        /// <returns></returns>
        protected override eLightResult SetLevelImpl(int level, int channel) {
            LOG.FuncI();
            int ret = 0;
            int opmode = 0;
            (ret, opmode) = ReadWord(_SetLightMode);

            Thread.Sleep(100);
            //if (_config.LightType == eLightType.Continuous) {
            if (opmode == (short)eLIGHT_MODE.Continous) {
                ret = WriteWord(_SetContinuousBrigtness, (short)level);
                if (ret != 0)
                    return eLightResult.NG;
            }
            else {
                ret = WriteWord(_SetPulseBrigtness, (short)level);
                if (ret != 0)
                    return eLightResult.NG;
            }
            Thread.Sleep(100);
            return eLightResult.OK;
        }
        /// <summary>
        /// Set Off Implement
        /// </summary>
        /// <param name="channel">채널</param>
        /// <returns>Light 결과 값</returns>
        protected override eLightResult SetOffImpl(int channel) {
            LOG.FuncI();
            WriteWord(_SetLightMode, (short)eLIGHT_MODE.Off);
            Thread.Sleep(100);
            return eLightResult.OK;
        }
        /// <summary>
        /// Set On Implement
        /// </summary>
        /// <param name="channel">채널</param>
        /// <returns>Light 결과값</returns>
        protected override eLightResult SetOnImpl(int channel) {
            LOG.FuncI();
            WriteWord(_SetLightMode, (short)eLIGHT_MODE.Strobe);
            Thread.Sleep(100);
            return eLightResult.OK;
        }

        /// <summary>
        ///  모드 변경
        /// </summary>
        /// <param name="mode">Light Mode</param>
        /// <returns>Light 결과 값</returns>
        public eLightResult ModeChange(eLIGHT_MODE mode) {
            int opmode = 0;
            int ret = 0;
            (ret, opmode) = ReadWord(_SetLightMode);

            Thread.Sleep(100);
            // 임시 사용을 위해 Ch1 = strobe, ch2 = continous 사용
            //if (_config.LightType == eLightType.Continuous) {
            if (mode == eLIGHT_MODE.Continous) {
                if (opmode != (short)eLIGHT_MODE.Continous) {
                    ret = WriteWord(_SetLightMode, (short)eLIGHT_MODE.Continous);
                    Thread.Sleep(100);
                    if (ret != 0)
                        return eLightResult.NG;
                }
            }
            else if (mode == eLIGHT_MODE.Off) {
                if (opmode != (short)eLIGHT_MODE.Off) {
                    ret = WriteWord(_SetLightMode, (short)eLIGHT_MODE.Off);
                    Thread.Sleep(100);
                    if (ret != 0)
                        return eLightResult.NG;
                }
            }
            else {
                if (mode == eLIGHT_MODE.Strobe) {
                    ret = WriteWord(_SetLightMode, (short)eLIGHT_MODE.Strobe);
                    Thread.Sleep(100);
                    if (ret != 0)
                        return eLightResult.NG;
                }
            }
            return eLightResult.OK;
        }

        /// <summary>
        /// Duration Setting
        /// </summary>
        /// <param name="duration">continous duriation setting</param>
        /// <returns></returns>
        public eLightResult SetDuration(double duration) {
            int opmode = 0;
            int ret = 0;
            (ret, opmode) = ReadWord(_SetLightMode);
            Thread.Sleep(100);

            // 임시 사용을 위해 Ch1 = strobe, ch2 = continous 사용
            //if (_config.LightType == eLightType.Continuous) {
            ret = WriteReal(_SetDuration, (float)duration);
            if (ret != 0)
                return eLightResult.NG;
            Thread.Sleep(100);

            return eLightResult.OK;
        }


    }
}