LGES-2170-ACW_CCW-Welder/AuroraVision/VisionCommon/Sequence/SubSeqBase.cs

using Aurora.Api;
using Aurora.View;
using System.Threading;

namespace VisionCommon {
    /// <summary>
    /// 서브 시퀀스 추상 베이스 클래스
    /// </summary>
    public abstract class SubSeqBase {
        private const int DEFAULT_GRAB_DELAY = 50;   // 50 ms
        protected Logger _VisionLog = new Logger(typeof(SubSeqBase).Name, VisionKeys.LogKey);

        /// <summary>
        /// 서브 시퀀스의 시퀀스빌더 생성
        /// </summary>
        /// <param name="seqName">서브 시퀀스 이름</param>
        /// <returns>시퀀스빌더</returns>
        public abstract SequenceBuilder Builder(string seqName);

        /// <summary>
        /// 무브 후, 그랩 전 딜레이 적용
        /// </summary>
        /// <param name="subSysInfo">서브 시스템 정보</param>
        public void ApplyGrabDelay(SubSysInfo subSysInfo) {
            var subSysRecipe = VisionRecipeManager.GetSubSysRecipe(subSysInfo);
            if (subSysRecipe != null) {
                Thread.Sleep(subSysRecipe.ProcRecipe.GrabDelay);
            }
            else {
                Thread.Sleep(DEFAULT_GRAB_DELAY);
            }
        }

        /// <summary>
        /// 에러로그 출력 및 Toast 메시지 띄우기
        /// </summary>
        /// <param name="logger">로거</param>
        /// <param name="errMsg">에러 메시지</param>
        public void PrintErrorLogAndShowErrorToast(Logger logger, string errMsg) {
            logger.E(errMsg);
            MessageUtil.ShowErrorToast(errMsg);
        }

        /// <summary>
        /// 에러로그 출력 및 Toast 메시지 띄우기
        /// </summary>
        /// <param name="logger">로거</param>
        /// <param name="msg">메시지</param>
        public void PrintLogAndShowToast(Logger logger, string msg) {
            logger.I(msg);
            MessageUtil.ShowToast(msg);
        }

        /// <summary>
        /// C2_F4 or C4_F4 라인 교점 얼라인시, 이웃한 FOV들 간에 상관관계를 이용하여 라인 교점을 보상할지 체크
        /// </summary>
        /// <returns></returns>
        protected bool IsFixedLineIntersections(AlignInfo alignInfo) {
            var alignRecipe = VisionRecipeManager.GetAlignRecipe(alignInfo);

            if (alignRecipe.ProcParams.ProcFovType == eProcFovType.C2_F4_MV ||
                alignRecipe.ProcParams.ProcFovType == eProcFovType.C4_F4) {
                if (alignRecipe.ProcParams.FixedLineIntersections) {
                    return true;
                }
            }
            return false;
        }

        protected PatternInfo GetPatternInfo(AlignInfo alignInfo, FovInfo fovInfo, ProcPatternInfo procPatternInfo) {
            var fovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo);
            var alignRecipe = VisionRecipeManager.GetAlignRecipe(alignInfo);

            PatternIndex patternIndex;
            PatternAgentBase patternAgent;

            if (procPatternInfo.IsFovPattern) {
                patternAgent = FovPatternAgentManager.GetAgent(fovInfo.ToSubSysInfo());
                patternIndex = new FovPatternIndex(fovInfo, fovRecipe.FovName, procPatternInfo.PatternId);
            }
            else {
                patternAgent = CamPatternAgentManager.GetAgent(fovRecipe.CamRecipe.CamId);
                patternIndex = new CamPatternIndex(fovRecipe.CamRecipe.CamId, procPatternInfo.PatternId);
            }

            PatternInfo patternInfo = patternAgent.GetPatternInfo(patternIndex);
            patternInfo.PatternName = procPatternInfo.PatternName;

            return patternInfo;
        }

        protected void PrintVisionLog(AlignResult alignResult) {
            _VisionLog.I($"AlignCnt : {alignResult.AlignCnt}");
            _VisionLog.I($"dX : {alignResult.Delta.X:F4}, dY : {alignResult.Delta.Y:F4}, dT : {alignResult.Delta.T.Degree:F4}");
            _VisionLog.I($"Status : {alignResult.Status}");
            _VisionLog.I($"Algorithm : {alignResult.AlignAlgorithm}");
        }

        #region Light Retry
        protected LightInfo _OriginalLightInfo = null;    // 원본 조명 백업용
        protected int _CurLightRetryCnt = 0;
        //protected const int LIGHT_RETRY_MAX_CNT = 4;      // -20%, -10%, +10%, +20% (총 4회)

        protected void SetLightRetry() {
            _CurLightRetryCnt = 0;
            _OriginalLightInfo = null;
        }
        protected bool IsLightRetryStepMode(eLightRetryMode mode) => mode == eLightRetryMode.Step_OneWay || mode == eLightRetryMode.Step_Swing;
        // LightRetry Step Mode 일때 Light Value 가져오는 Method
        protected double GetLightRetryValueStepMode(int curLightRetryCnt, double curLightValue, LightRetryParams lightRetryParams)
        {
            double result = 0;
            if (lightRetryParams.LightRetryMode == eLightRetryMode.Step_OneWay)
            {
                result = curLightValue + lightRetryParams.LightRetryStep;
            }
            else // if (lightRetryParams.LightRetryMode == eLightRetryMode.Step_Swing)
            {
                var sign = curLightRetryCnt % 2 == 0 ? 1 : -1;
                result = curLightValue + lightRetryParams.LightRetryStep * curLightRetryCnt * sign;
            }
            return result >=0 ? result : 0;
        }
        // LightRetry Ratio Mode 일때 Light Value 가져오는 Method
        protected double GetLightRetryValueRatioMode(int curLightRetryCnt, double curLightValue, double originLightValue, LightRetryParams lightRetryParams)
        {
            double result = 0;
            if (lightRetryParams.LightRetryMode == eLightRetryMode.Ratio_OneWay )
            {
                result = curLightValue + (lightRetryParams.LightRetryRatio == 0? 0: originLightValue * (lightRetryParams.LightRetryRatio / 100.0));
            }
            else // if(lightRetryParams.LightRetryMode == eLightRetryMode.Ratio_Swing)
            {
                var sign = curLightRetryCnt % 2 == 0 ? 1 : -1;
                result = curLightValue + (lightRetryParams.LightRetryRatio == 0 ? 0 : originLightValue * (lightRetryParams.LightRetryRatio / 100.0 * curLightRetryCnt * sign));
            }
            return result >= 0 ? result : 0;
        }

        #endregion
    }
}