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

using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Util.HislogPlus;
using Aurora.View;
using AuroraLaser;
using AuroraLaser.Trumpf;
using AuroraMassFlowMeter;
using Hermes;
using Hermes.Collections;
using WeldingCommon.Alarm;
using WeldingCommon.Device.ACS;
using WeldingCommon.Process;
using WeldingCommon.Recipes;
using WeldingCommon.Settings;
using WeldingCommon.Tools;
using WeldingCommon.Views.Recipes;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WeldingCommon;
using WeldingCommon.Sequences;
using WeldingCommon.Devices.ACS;

namespace WeldingCommon.Sequences
{
    class SeqOneShot
    {
        static readonly Logger Log = new Logger("OneShotSequence");
        const string SEQ_ENTER = "SEQ_ENTER";
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";
        const string SEQ_ONE_SHOT = "OneShot";
        const string SEQ_ONE_SHOT_COMPLETE = "OneShot Sequence Complete";
        private static IScannerACS _motion;
        private static Laser _laser;
        private static OneShotItem _Item; // 26.04.13 
        private static eStage _stage;

        public static bool _LaserIOUse; 

        const int MOTION_TIMEOUT = 10 * 1000;
        const int WELDING_TIMEOUT = 100 * 1000;
        const int MOTION_INTERVAL = 20;

        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_ONE_SHOT, OneShot);
            sb.AddAction(SEQ_ONE_SHOT_COMPLETE, ProcessComplete);

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

            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_ONE_SHOT] > sb[SEQ_ONE_SHOT_COMPLETE] > sb.Final);

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

            return sb;
        }

        public static SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqOneShot Start");
            if (_motion is null)
                _motion = context.Devices[CommonDeviceIds.ACS] as IScannerACS;
            //if (_laser is null)
            //    _laser = context.Devices[CommonDeviceIds.Laser] as Laser;

            var settingItems = (ManualLaserSetting)param.Param;  // 26.04.13 
            _Item = settingItems.OneShots;
            _LaserIOUse = settingItems.LaserIOUse;

            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqOneShot CheckInitCondition");
            if (!((_motion as ScannerACS).IsActivated)) {
                Log.E($"[ACS activated({(_motion as ScannerACS).IsActivated})]");
                return null;
            }
            
            _motion.SetLaserIOUse(_LaserIOUse);
            Log.V($"LaserUse({_LaserIOUse})");

            //if (!(_laser.IsActivated && _laser.GetConnected())) {
            //    Log.E($"[Laser activated({_laser.IsActivated}) / connected({_laser.GetConnected()})]");
            //    context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.DEVICE_LASER_DEACTIVATED_DISCONNECTED);
            //    return null;
            //}

            //if (!_laser.GetLaserReady()) {
            //    _laser.LaserOn();

            //    Log.V($"Laser On");
            //    var res = context.RetryUntilSuccess(() => _laser.GetLaserReady(), WELDING_TIMEOUT, MOTION_INTERVAL);
            //    if (res == E2.TIMEOUT) {
            //        Log.FuncE("Laser Ready Check Timeout!");
            //        context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.GET_LASER_READY);
            //        return null;
            //    } else if (res == E2.CANCELLED) {
            //        Log.FuncE("Laser Ready Check Cancel!");
            //        context.PutValue<int>("AlarmCode", 0);
            //        return null;
            //    }
            //}

            Log.V($"Laser Setting Complete");
            return SequenceAction.Ok();
        }

        private static SequenceActionResult OneShot(SequenceContext context, string id, SequenceActionResult param)
        {
            var _shotTime = _Item.ShotTime;
            var _shotPower1 = _Item.ShotPower1;
            var _shotPower2 = _Item.ShotPower2;

            _motion.SetLCILserOn(true);
            _motion.SetOneShot(_shotTime, _shotPower1, _shotPower2);
            Thread.Sleep(500);

            _motion.OneShotStart();
            Log.E(">> OneShot Start");
            Thread.Sleep(500);

            return SequenceAction.Ok();
        }

        private static SequenceActionResult ProcessComplete(SequenceContext context, string id, SequenceActionResult param)
        {
            var ret = context.RetryUntilSuccess(() => _motion.CheckOneShotComp(), MOTION_TIMEOUT, MOTION_INTERVAL);
            if(ret == E2.TIMEOUT) {
                Log.E("OneShot Timeout");
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_ONESHOT_COMP); //26.04.13 잠시 주석
                return null;
            } else if(ret == E2.CANCELLED) {
                Log.E("OneShot Cancel");
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_ONESHOT_COMP); // 26.04.13 잠시 주석
                return null;
            }

            Log.FuncV(">> OneShot Complete");
            _motion.SetLCILserOn(false);
            //_laser.LaserOff();
            Thread.Sleep(500);
            return SequenceAction.Ok();
        }

        private static void OnStopped(SequenceContext context)
        {
            _motion.SetLCILserOn(false);
            //_laser.LaserOff();
            MessageUtil.ShowErrorToast(">> Sequence Stop");
            return;
        }

        private static void OnForceError(SequenceContext context, string arg2)
        {
            _motion.SetLCILserOn(false);
            //_laser.LaserOff();
            MessageUtil.ShowErrorToast(">> Sequence Fail");
            return;
        }
    }
}