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

using ACS.SPiiPlusNET;
using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.View;
using AuroraACS;
using AuroraHeightSensor; //26.04.13 잠시 주석
using AuroraLaser;
using AuroraLaser.Trumpf;
using AuroraMassFlowMeter;
using AuroraMotionBoard.Ajin;
using AuroraOCT.Trumpf;
using Hermes;
using WeldingCommon.Alarm;
using WeldingCommon.Device;
using WeldingCommon.Device.ACS;
using WeldingCommon.Process;
using WeldingCommon.Recipes;
using WeldingCommon.Sequences.SubSequence.StageA;
using WeldingCommon.Settings;
using WeldingCommon.Tools;
using WeldingCommon.Views.Recipes;
using OpenCvSharp.Dnn;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Threading;
using System.Windows;
using VisionCommon;
using WeldingCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Data;
using WeldingCommon.Sequences;
using WeldingCommon.Settings;
using static AuroraOCT.Trumpf.OCT;
using static WeldingCommon.Devices.PLCController;
using WeldingCommon.Devices.ACS;


namespace WeldingCommon.Sequences
{
    class SeqMotorInit
    {
        static readonly Logger Log = new Logger("MotorInitSequence");
        const int SEQ_TIMEOUT = 120 * 1000;
        const int RESET_TIMEOUT = 10 * 1000;

        const int MOTION_TIMEOUT = 10 * 1000;
        const int MOTION_INTERVAL = 20;

        const string SEQ_ENTER = "SEQ_ENTER";
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";
        const string SEQ_ACS_ALARM_RESET = "ACS Alarm Reset";
        const string SEQ_INIT_ACS_AXIS = "Init ACS X,Y Axis";
        const string SEQ_INIT_COMPLETE = "Init Complete";

        private static ScannerACS _acs;
        private static IScannerACS _motion;

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

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition);
            sb.AddAction(SEQ_ACS_ALARM_RESET, ACSAlarmReset);
            sb.AddAction(SEQ_INIT_ACS_AXIS, ACSAxisInit);
            sb.AddAction(SEQ_INIT_COMPLETE, InitComplete);

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

            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_ACS_ALARM_RESET] > sb[SEQ_INIT_ACS_AXIS] > sb[SEQ_INIT_COMPLETE] > sb.Final);
            return sb;
        }

        private static SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_motion is null)
                _motion = _acs = context.Devices[CommonDeviceIds.ACS] as ScannerACS;

            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
        {
            if (!((_motion as ScannerACS).IsActivated)) {
                //26.04.13 잠시 주석
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.STAGE_A_DEACTIVATED_DISCONNECTED);
                context.PutValue<string>("AlarmMessage",
                    $"[ACS activated({(_motion as ScannerACS).IsActivated})]");
                return null;
            }

            return SequenceAction.Ok();
        }

        private static SequenceActionResult ACSAlarmReset(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.V("ACS Alarm Reset Start");
            _motion.ResetAlarm();
            Thread.Sleep(1000);

            var res = context.RetryUntilSuccess(() => !_acs.HasHeavyAlarm & !_acs.HasLightAlarm, RESET_TIMEOUT, MOTION_INTERVAL);
            if (res == E2.TIMEOUT) {
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_AXIS_INITIALIZE_FAIL); //26.04.13 잠시 주석
                context.PutValue<string>("AlarmMessage", "ACS Alarm Reset Fail");
                return null;
            } else if (res == E2.CANCELLED) {
                context.PutValue<int>("AlarmCode", 0);
                context.PutValue<string>("AlarmMessage", "ACS Alarm Reset Cancel");
                return null;
            }
            Log.V("ACS Alarm Reset End");

            return SequenceAction.Ok();
        }

        private static SequenceActionResult ACSAxisInit(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.V($"ACS Init Start");
            _motion.AllAxisHomeStart();
            Thread.Sleep(1000);

            var res = context.RetryUntilSuccess(() => _motion.CheckAllAxisHome(), SEQ_TIMEOUT, MOTION_INTERVAL);
            if (res == E2.TIMEOUT) {
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_AXIS_INITIALIZE_FAIL); // 26.04.13 잠시 주석
                context.PutValue<string>("AlarmMessage", "ACS Axis Home Timeout");
                return null;
            } else if (res == E2.CANCELLED) {
                context.PutValue<int>("AlarmCode", 0);
                context.PutValue<string>("AlarmMessage", "ACS Axis Home Cancel");
                return null;
            }

            Log.V($"ACS Init End");
            return SequenceAction.Ok(eTeachingPosition.SafetyPosition);
        }

        private static SequenceActionResult InitComplete(SequenceContext context, string id, SequenceActionResult param)
        {
            MessageBox.Show("전체 초기화 완료");
            MessageUtil.ShowSuccessToast("Initialize Complete", Log);
            return SequenceAction.Ok();
        }

        private static void OnStopped(SequenceContext context)
        {
            var AlarmCode = context.GetValue<int>("AlarmCode");
            if (AlarmCode > 0)
                Log.E(context.AlarmAccured(AlarmCode));

            _motion.AllAxisHomeStop();

            return;
        }

        private static void OnForceError(SequenceContext context, string arg2)
        {
            var AlarmCode = context.GetValue<int>("AlarmCode");
            if (AlarmCode > 0)
                Log.E(context.AlarmAccured(AlarmCode));

            var message = context.GetValue<string>("AlarmMessage");
            Application.Current.Dispatcher.Invoke(() => { MessageUtil.CreateAndShowMessageDialog("Initialize", message); });

            _motion.AllAxisHomeStop();

            return;
        }
    }
}