LGES-2170-ACW_CCW-Welder/WeldingComponents/WeldingCommon/Sequences/Gun/Monitoring/SeqAlarmMonitor.cs

using ACS.SPiiPlusNET;
using Aurora;
using Aurora.Api;
using Aurora.Framework.Alarm;
using AuroraACS;
using AuroraChiller;
using AuroraIO;
using AuroraLaser;
using AuroraLaser.Trumpf;
using AuroraLaserScanner;
using AuroraLBAD;
using AuroraMotionBoard.Ajin;
using AuroraOCT;
using Hermes.Functional;
using WeldingCommon.Alarm;
using WeldingCommon.Device;
using WeldingCommon.Device.ACS;
using WeldingCommon.Process;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Claims;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WeldingCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Devices;
using WeldingCommon.Sequences;
using WeldingCommon.Settings;
using WeldingCommon.Utils;
using WeldingCommon.Devices.ACS;

namespace WeldingCommon.Sequences.Monitoring
{
    public class SeqAlarmMonitor
    {
        static readonly Logger Log = new Logger("AlarmMonitoring");

        const string SEQ_START = "SEQ START";                                       // 딱 한번 Sequence 진입 시에만 실행될 Node

        const string SEQ_LoopFirst = "SEQ Loop First";

        public const string CHECK_ALARM_PLC = "Check Alarm PLC";
        public const string CHECK_ALARM_ACS = "Check Alarm ACS";
        public const string CHECK_ALARM_LASER = "Check Alarm Laser";
        public const string CHECK_ALARM_IO = "Check Alarm IO";

        private static SequenceSetting _SequenceSetting;

        private static Laser _laser;
        private static LaserTruFiber _laserCore;
        private static ScannerACS _acs; // 26.04.13
        private static ACSMotor _axisX, _axisZ; //, _axisY1, _axisY2,

        public const int NODE_SLEEP = 100;     // msec

        public static SequenceBuilder Builder()
        {
            SequenceBuilder sb = new SequenceBuilder(1000, true);

            sb.AddAction(SEQ_START, StartNode);
            sb.AddDecision(SEQ_LoopFirst, LoopFirstNode);
            sb.AddAction(CHECK_ALARM_LASER, CheckAlarmLaser);
            sb.AddAction(CHECK_ALARM_IO, CheckAlarmIO);
            sb.AddAction(CHECK_ALARM_ACS, CheckAlarmAcs);

            sb.Flows(sb.Init > sb[SEQ_START] > sb[SEQ_LoopFirst]
                     > sb[CHECK_ALARM_LASER] > sb[CHECK_ALARM_IO] > sb[CHECK_ALARM_ACS]
                     > sb[SEQ_LoopFirst]);

            sb.Flows(sb[SEQ_LoopFirst] > sb.Final);

            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            //sb.Draw("SeqAlarmMonitor.pdf");

            return sb;

        }

        //StartNode 알람 
        private static SequenceActionResult StartNode(SequenceContext context, string id, SequenceActionResult param)
        {
            _SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;

            if (_laser is null)
                _laser = context.Devices[CommonDeviceIds.Laser] as Laser;

            _laserCore = _laser.getCore() as LaserTruFiber;

            if (_acs is null)
                _acs = context.Devices[CommonDeviceIds.ACS] as ScannerACS;

            if (_axisX is null)
                _axisX = context.Devices[CommonMotorIds.AxisX2] as ACSMotor;

            //if (_axisY1 is null)
            //    _axisY1 = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;

            //if (_axisY2 is null)
            //    _axisY2 = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;

            if (_axisZ is null)
                _axisZ = context.Devices[CommonMotorIds.AxisZ] as ACSMotor;

            return SequenceAction.Ok();
        }

        private static string LoopFirstNode(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            while (!context.Stopped) {
                return CHECK_ALARM_PLC;
            }

            Thread.Sleep(NODE_SLEEP);
            return SeqNodeIds.FINAL;
        }

        private static SequenceActionResult CheckAlarmAcs(SequenceContext context, string id, SequenceActionResult param)
        {
            if ((_acs.HasHeavyAlarm | _acs.HasLightAlarm) & _acs.IsActivated) {
                foreach (var alarm in _acs.HaveAlarmCodes) {
                    if (alarm != 0) {
                        if (!AlarmManager.IsOccuredAlarm(alarm))
                            Log.E($"{context.AlarmAccured(alarm)}");
                    }
                }
            }

            Thread.Sleep(NODE_SLEEP);
            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckAlarmLaser(SequenceContext context, string id, SequenceActionResult param)
        {
            #region  26.04.13 잠시 주석처리 
            _laserCore = _laser.getCore() as LaserTruFiber;
            if (_laserCore.GetEStopOpen())
            {
                if (!AlarmManager.IsOccuredAlarm(AlarmCode_PrismaticGun.DEVICE_IO_LASER_EMO))
                    Log.E($"{context.AlarmAccured(AlarmCode_PrismaticGun.DEVICE_IO_LASER_EMO)}");
            }
            if (_laserCore.GetFaultLaser())
            {
                if (!AlarmManager.IsOccuredAlarm(AlarmCode_PrismaticGun.DEVICE_LASER_ERROR_MSG))
                {
                    string alarmCode = $"{Convert.ToString(_laserCore.GetLastMessageCompID(), 16).ToUpper().PadLeft(2, '0')}{Convert.ToString(_laserCore.GetLastMessageCompNum(), 16).ToUpper().PadLeft(2, '0')} {Convert.ToString(_laserCore.GetLastMessageMsgCode(), 16).ToUpper().PadLeft(2, '0')}";
                    string alarmDescription = $" {_laserCore.GetLastMessageShortText()}";
                    Log.E($"{context.AlarmAccured(AlarmCode_PrismaticGun.DEVICE_LASER_ERROR_MSG)} >> code desc {alarmCode + alarmDescription}");
                }
            }
            else if (_laserCore.GetMonitoring())
            {
                if (!AlarmManager.IsOccuredAlarm(AlarmCode_PrismaticGun.DEVICE_LASER_WARNING_MSG))
                {
                    string alarmCode = $"{Convert.ToString(_laserCore.GetLastMessageCompID(), 16).ToUpper().PadLeft(2, '0')}{Convert.ToString(_laserCore.GetLastMessageCompNum(), 16).ToUpper().PadLeft(2, '0')} {Convert.ToString(_laserCore.GetLastMessageMsgCode(), 16).ToUpper().PadLeft(2, '0')}";
                    string alarmDescription = $" {_laserCore.GetLastMessageShortText()}";
                    Log.E($"{context.AlarmAccured(AlarmCode_PrismaticGun.DEVICE_LASER_WARNING_MSG)} >> code desc {alarmCode + alarmDescription}");
                }
            }
            Thread.Sleep(NODE_SLEEP);

            #endregion
            return SequenceAction.Ok();


        }
        private static SequenceActionResult CheckAlarmIO(SequenceContext context, string id, SequenceActionResult param)
        {
            return SequenceAction.Ok();
        }

        private static void OnStopped(SequenceContext context)
        {
        }

        private static void OnForceError(SequenceContext context, string arg2)
        {
        }
    }
}