LGES-2170-ACW_CCW-Welder/WeldingComponents/WeldingCommon/Sequences/Manual/SeqTeachingRun.cs

using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Api.Services;
// 26.04.08 NDY 추가 - 비전 있는 오토 티칭 버튼은 MIL없어서 리스트만으로 테스트 시퀸스 확인하고자 추가 예정 
using AuroraACS;
using AuroraIO;
using AuroraLaserScanner;
using AuroraLBAD;
using AuroraLBAD.Services;
using AuroraMotionBoard.Ajin;
using AuroraOCT;
using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using DB;
using Hermes;
using Matrox.MatroxImagingLibrary;
using OpenCvSharp.Dnn;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using VisionCommon;
using WeldingCommon.Alarm;
using WeldingCommon.Data;
using WeldingCommon.Settings;
using WeldingCommon.Utils;
using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
using static AuroraIO.Vendor.PAIX.PAIXIO;

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

        const string SEQ_ENTER = "[SeqTeachingRun] SEQ_ENTER";   // inputParam 으로 받자.
        const string SEQ_CHECK_INIT_CONDITION = "[SeqTeachingRun] Check Init Condition";  // Check Init Condition

        const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Set Sequence Param (UploadWeldingList Seq)";
        const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Process (UploadWeldingList Seq)";
        const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Get Sequence Result (UploadWeldingList Seq)";

        const string SEQ_SET_BLOW_ON = "[SeqTeachingRun] Set Blow On";
        const string SEQ_STREAM_LBAD_BEFORE_WELDLINES = "[SeqTeachingRun] StreamLBAD Before Weldlines";
        const string SEQ_EXECUTE_WELDLINES = "[SeqTeachingRun] Execute WeldLines";
        const string SEQ_SET_BLOW_OFF = "[SeqTeachingRun] Set Blow Off";
        const string SEQ_STREAM_LBAD_AFTER_WELDLINES = "[SeqTeachingRun] StreamLBAD After Weldlines";

        const string SEQ_SAVE_RESULT_DATA = "[SeqTeachingRun] Save Result Data";

        const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqTeachingRun] Write Completion PLC Bit";
        const string SEQ_COMPLETE = "[SeqTeachingRun] SEQ_COMPLETE";         // 완료

        #region 26.04.08 NDY 상수 추가
        const string SEQ_MOVE_STAGE_ORIGIN = "[SeqTeachingRun] Move Stage To Origin";
        const string SEQ_ENCODER_RESET = "[SeqTeachingRun] Encoder Reset";

        #endregion

        static class ContextKey
        {
            public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqTeachingRun";
            public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqTeachingRun";
        }

        private SeqTeachingRun_InitParam _InitParam;

        private Scanner _Scanner;
        private OCT _OCT;
        private IODevice _IO;
        private StreamLBADClient _StreamLBADClient;
        private ACSMotor _AxisX;  // ← 26.04.08 NDY 필드 추가

        private SystemParameter _SystemParameter;
        private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언

        private eListNo _WeldingScannerListNo;
        private List<IDrawObject> _SelectedObjectList;

        private static TimeSpan _WeldingSpanTime; //TeacingRun 시퀀스에서 용접 소요시간

       

  
        public SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(1000, true);
            ////var sb = new SequenceBuilder(1000, false);        // With log

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기

            #region 26.04.08 NDY 노드 추가 
            sb.AddAction(SEQ_MOVE_STAGE_ORIGIN, MoveStageToOrigin);
            sb.AddAction(SEQ_ENCODER_RESET, EncoderReset);
            #endregion


            sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
            sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);

            sb.AddAction(SEQ_SET_BLOW_ON, SetBlowOn);
            sb.AddAction(SEQ_STREAM_LBAD_BEFORE_WELDLINES, StreamLBADBeforeWeldlines);
            sb.AddAction(SEQ_EXECUTE_WELDLINES, ExecuteWeldLines);
            sb.AddAction(SEQ_SET_BLOW_OFF, SetBlowOff);
            sb.AddAction(SEQ_STREAM_LBAD_AFTER_WELDLINES, StreamLBADAfterWeldlines);

            sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData);      // 해당 공정의 정보를 기록 함.
            sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit);      // 정상적으로 종료 되면, complete bit write
            sb.AddAction(SEQ_COMPLETE, Complete);

            #region 기존 흐름 26.04.08 주석처리 
            //sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
            //        > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
            //        > sb[SEQ_SET_BLOW_ON] > sb[SEQ_STREAM_LBAD_BEFORE_WELDLINES] > sb[SEQ_EXECUTE_WELDLINES]
            //        > sb[SEQ_SET_BLOW_OFF] > sb[SEQ_STREAM_LBAD_AFTER_WELDLINES]
            //        > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
            #endregion

            #region 2개 노드 추가 흐름 26.04.08 - Test 중 
            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
                    > sb[SEQ_MOVE_STAGE_ORIGIN]  // ← 추가
                    > sb[SEQ_ENCODER_RESET]      // ← 추가
                    > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
                    > sb[SEQ_SET_BLOW_ON] > sb[SEQ_STREAM_LBAD_BEFORE_WELDLINES] > sb[SEQ_EXECUTE_WELDLINES]
                    > sb[SEQ_SET_BLOW_OFF] > sb[SEQ_STREAM_LBAD_AFTER_WELDLINES]
                    > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
            #endregion

            sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);

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


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

            return sb;
        }
        #region 26.04.08 NDY  메서드 추가 
        private SequenceActionResult EncoderReset(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_AxisX == null)
            {
                Log.W("[EncoderReset] AxisX2 null - 스킵");
                return SequenceAction.Ok();
            }

            if (!_Scanner.Config.UseMarkingOnTheFly)
            {
                Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
                return SequenceAction.Ok();
            }

            Log.I("[EncoderReset] 시작");

            _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
            Log.I($"[EncoderReset] SetFlyX: {_Scanner.Config.MarkingOnTheFlyEncoderResolutionX}");

            _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
            Log.I($"[EncoderReset] WaitForEncoderX: {_Scanner.Config.MarkingStartEncoderPositionX}");

            _Scanner.StoreEncoder(0);
            _Scanner.SaveAndRestartTimer();

            Log.I("[EncoderReset] 완료 - Stage(0) = Scanner(0) 동기화");
            return SequenceAction.Ok();
        }

        private SequenceActionResult MoveStageToOrigin(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_AxisX == null)
            {
                Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
                return SequenceAction.Ok();
            }

            Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");

            _AxisX.SetTargetPos(0, TargetPosType.ABS);
            _AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
            _AxisX.AccelerationImm(AuroraACS.Speed.M);
            _AxisX.DecelerationImm(AuroraACS.Speed.M);
            _AxisX.JerkImm(AuroraACS.Speed.M);
            _AxisX.Move();

            var res = context.RetryUntilSuccess(
                () => _AxisX.IsReachedTargetPosition(0),
                30 * 1000, 20, true);

            if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
            if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }

            Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
            return SequenceAction.Ok();
        }
        #endregion

        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqTeachingRun Start");

            _InitParam = param.Param as SeqTeachingRun_InitParam;
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);

            InitDev(context);
            if (!CheckDeviceReady(context)) { //Check Device
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_DeviceNotReady);
                Log.E("The devices are not active.");
                return null;
            }

            if (InitSequenceVariable(context) == false) {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_InitVariableError);
                return null;
            }

            return SequenceAction.Ok();
        }

        private bool InitSequenceVariable(SequenceContext context)
        {
            var mainPage = CommonHelper.GetMainPage();
            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;

            _WeldingScannerListNo = eListNo.LIST1;

            if (_InitParam.IsObjectSelectAll) {
                _SelectedObjectList = _ScannerCanvasUserCtrl.Model.ActiveLayer.Objects;
            } else {
                _SelectedObjectList = _ScannerCanvasUserCtrl.Canvas.Model.SelectedObjects;
            }

            //Status.GetProcessingWeldingData().WeldingScannerListNo = _WeldingScannerListNo;
            //Status.GetProcessingWeldingData().SelectedDrawObjectList = _SelectedObjectList;

            return true;
        }


        private void InitDev(SequenceContext context)
        {
            //Device Init
            _Scanner = context.GetLaserScanner();
            _OCT = context.GetOCT();
            _IO = context.GetIOUnit();

            if (_InitParam.UseStream) {
                _StreamLBADClient = context.GetLBADClient();
            }

            // @geprecated  각형배터리에서 문제 생겨서 추가한 코드임
            // Scanner를 다시 초기화해주면 시간이 오래걸린다.. 굳이 수동용접시 마다 해줄 필요가 없음
            //if (E1.OK != _scanner._scannerObj.Open())
            //{
            //    Log.E("Scanner open Error");
            //    return SequenceAction.Error();
            //}

            //if (E1.OK != _scanner._scannerObj.Initialize(_scanner.Config))
            //{
            //    Log.E("Scanner Initialize Error");
            //    return SequenceAction.Error();
            //}


            #region 26.04.08 NDY  수정 예외처리를 위해서 

            // ↓ 추가
            try { _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor; }
            catch { _AxisX = null; Log.W("[SeqTeachingRun] AxisX2 취득 실패"); }
            #endregion

        }

        private bool CheckDeviceReady(SequenceContext context)
        {
            List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, /*CommonDeviceIds.OCT, */CommonDeviceIds.IODevice };
            if (_InitParam.UseStream) {
                deviceListToCheck.Add(CommonServiceIds.StreamLBADClient);
            }

            bool isAllDeviceActivated = true;
            foreach (string item in deviceListToCheck) {
                if (!context.Devices[item].IsActivated) {
                    isAllDeviceActivated = isAllDeviceActivated && false;
                }
            }

            return isAllDeviceActivated;
        }

        private bool CheckCondition()
        {
            if (CheckCondition_Interlock()) {
                if (InitializeDeviceStatus()) {
                    return true;
                }
            }
            return false;
        }

        private bool CheckCondition_Interlock()
        {
            // PLC, Data, IO 등 Interlock checking
            return true;
        }

        private bool InitializeDeviceStatus()
        {
            //Vision Correction File 선택
            //_scanner._scannerObj.SelectCorrectionTable(1);
            _Scanner.SelectCorrectionTable(2);

            if (_InitParam.UseStream) {
                if (InitializeStream() == false) {
                    Log.E("Fail Initialize Stream");
                    return false;
                }
            }

            return true;
        }

        private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (!CheckCondition()) {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_CheckInitCondition);
                Log.E("Condition is not in state to start sequence.");
                context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
                return SEQ_COMPLETE;
            }

            var startTime = DateTime.Now;
            context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);

            Log.D("TeachingRun Sequence CheckInitCondition");
            return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
        }

        private bool InitializeStream()
        {
            // TODO: 이거는 원래 source 에 없었는데, 언제 반영 되었는지 확인 필요. 그리고 맞는 방법으로 되었는지 확인 필요함.
            // TODO: 우선은 주석 처리 해 둠. 2025.03.05
            // TODO: StreamLBADClient 의 생성자에 해당 Message 가 있음. 이걸 좀 바꿔야 함. 생성할때 보내는 것이 맞는지 명시적으로 보내는것이 맞는지.

            //// CELL ID와 LOT ID는 CellTacker로부터 받은 정보를 LBAD측으로 용접 전 줘야함, Reply는 로그만 남기자
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_CELL_ID, new StreamStringParser(), new StreamNumberParser<int>());
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_LOT_ID, new StreamStringParser(), new StreamNumberParser<int>());

            ////LBAD측이랑 통신하기 전 항상 ReadyStauts에 대한 Request하고 LBAD에서는 Ready가 되있으면 Reply를 한다..
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_READY_STATUS, new StreamNumberParser<int>(), new StreamNumberParser<int>());
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_WELDING_TRIGGER, new StreamNumberParser<int>(), new StreamNumberParser<int>());
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_WELDING_STOP, new StreamNumberParser<int>(), new StreamNumberParser<int>());
            ////용접 완료 후 LBAD측에 JudgeComplete를 요청한뒤 JudgeFlag를 회신 받는다
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_JUDGEMENT_COMPLETE, new StreamNumberParser<int>(), new StreamNumberParser<int>());
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_CELL_ID, new StreamStringParser(), new StreamNumberParser<int>());
            //_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_LOT_ID, new StreamStringParser(), new StreamNumberParser<int>());

            return true;
        }

        private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            // TeachingRun 에서는 CellMeasureCenterOffset 사용하지 않음. 0 으로 넘기자
            SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
                NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
                IncludeListStartEnd = true,
                CellMeasureCenterOffsetX = 0.0,
                CellMeasureCenterOffsetY = 0.0,
                SelectedDrawObjectList = _SelectedObjectList,
                WeldingScannerListNo = _WeldingScannerListNo,
            };

            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
            if (resultOutParam.Success == false) {
                return null;
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetBlowOn(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_InitParam.UseBlow == false) {
                return SequenceAction.Ok();
            }

            int intervalTime = _InitParam.IntervalTimeBlowOn;
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), true);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingOpticAirKnifeSol), true);
            Thread.Sleep(intervalTime);

            Log.D(string.Format($"[TeachingRun] Blow ON Complete"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult StreamLBADBeforeWeldlines(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_InitParam.UseStream == false) {
                return SequenceAction.Ok();
            }

            if (!_StreamLBADClient.CheckReadyStatus()) {
                return null;
            }

            if (!_StreamLBADClient.SendCellID(1)) {
                return null;
            }

            if (!_StreamLBADClient.SendLotID(2)) {
                return null;
            }

            if (!_StreamLBADClient.SetWeldTriggerOn()) {
                return null;
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult StreamLBADAfterWeldlines(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_InitParam.UseStream == false) {
                return SequenceAction.Ok();
            }

            //Welding Stop On
            if (!_StreamLBADClient.SendWeldingStop()) {
                return null;
            }

            //JudgeFlag에 따라서 시퀀스 결정
            var judgeFlag = _StreamLBADClient.CheckJudgeComplete();
            if (judgeFlag == StreamLBADClient.eJudgeFlag.NO_RESPONSE) {
                return null;
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult ExecuteWeldLines(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.D(string.Format($"[TeachingRun] Welding Start"));
            DateTime weldingTime = DateTime.Now;
            _Scanner.ExecuteList(_WeldingScannerListNo);
            _Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
            _WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
            Log.D(string.Format($"[TeachingRun] Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));

            double dExecuteListTime = _Scanner.GetTime();
            Log.I(string.Format($"[TeachingRun] ExecuteList Time : {dExecuteListTime * 1000} msec"));
            //Welding Stop On
            if (_InitParam.UseStream) {
                if (!_StreamLBADClient.SendWeldingStop()) {
                    return null;
                }
            }

            // OCT File Fomrat Record Test
            //SaveOCTFileFormat();

            // File Format Record Test
            weldingTime = DateTime.Now;
            //SaveScannerRecordFileForamt();
            _WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
            Log.D(string.Format($"[TeachingRun] SaveScannerRecordFileForamt Time : {_WeldingSpanTime.TotalMilliseconds}"));

            weldingTime = DateTime.Now;
            _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);

            //용접 완료 후 CorrectionFile Vision으로 원복
            _Scanner.SelectCorrectionTable(1);

            _WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
            Log.D(string.Format($"[TeachingRun] Change SelectCorrectionTable Time : {_WeldingSpanTime.TotalMilliseconds}"));

            return SequenceAction.Ok();
        }

        private void SaveScannerRecordFileForamt()
        {
            _Scanner.SaveRecord("Normal");
        }

        private void SaveOCTFileFormat()
        {
            // TODO: ian0513.kim, DataPath 옮겨야 함.
            var DefaultPath = ConfigurationManager.AppSettings.Get("DATA_PATH");
            string fullPath = Path.Combine(DefaultPath, "_device", "_scanner", "Record");
            string coordinateFolderpath = fullPath + string.Format("\\Coordinate");
            string metaDataFolderpath = fullPath + string.Format("\\Metadata");

            if (Directory.Exists(coordinateFolderpath) == false) {
                Directory.CreateDirectory(coordinateFolderpath);
            }

            if (Directory.Exists(metaDataFolderpath) == false) {
                Directory.CreateDirectory(metaDataFolderpath);
            }

            List<string> MetaDataWeldName = new List<string>(_SelectedObjectList.Count);
            List<string> MetaDataWeldType = new List<string>(_SelectedObjectList.Count);
            List<int> MetaDataWeldCoordinateID = new List<int>(_SelectedObjectList.Count);

            int iCoordinateID = 0;
            for (int i = 0; i < _SelectedObjectList.Count; i++) {
                if (_SelectedObjectList.ElementAt(i).Type == "Dot") {
                    MetaDataWeldCoordinateID.Add(0);
                } else {
                    MetaDataWeldCoordinateID.Add(++iCoordinateID);
                }

                MetaDataWeldName.Add(_SelectedObjectList.ElementAt(i).Type + (i + 1));
                MetaDataWeldType.Add(_SelectedObjectList.ElementAt(i).Type);
                //MetaDataWeldCoordinateID.Add(m_selectedObjects.ElementAt(i).No + 1)
            }

            _Scanner.SaveRecord("CoordinateFile", true, MetaDataWeldCoordinateID, iCoordinateID);
            _OCT.SaveMetaData(MetaDataWeldName, MetaDataWeldType, MetaDataWeldCoordinateID);

            string coordinateFilepath = _Scanner.GetLatestFile(coordinateFolderpath);
            string metaDataFilepath = _Scanner.GetLatestFile(metaDataFolderpath);

            _Scanner.SaveRecordZip(coordinateFilepath, metaDataFilepath);

            MetaDataWeldName.Clear();
            MetaDataWeldType.Clear();
            MetaDataWeldCoordinateID.Clear();
        }

        private SequenceActionResult SetBlowOff(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_InitParam.UseBlow == false) {
                return SequenceAction.Ok();
            }

            int intervalTime = _InitParam.IntervalTimeBlowOff;
            Thread.Sleep(intervalTime);

            _IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), false);
            _IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingOpticAirKnifeSol), false);

            Log.D(string.Format($"[TeachingRun] Blow OFF Complete"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
        {
            // 결과 Data 를 업데이트 함.
            context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
            return SequenceAction.Ok();
        }

        private SequenceActionResult WriteCompletionPLCBit(SequenceContext context, string id, SequenceActionResult param)
        {
            // 완료 비트 write 하는 Node 추가 필요. format 유지, SeqScoutNormal 없음

            Log.D("TeachingRun Sequence WriteCompletionPLCBit");
            return SequenceAction.Ok();
        }

        private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
        {
            RestoreDeviceStatus();
            Log.I("TeachingRun Complete");

            context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
            SeqTeachingRun_OutParam result = new SeqTeachingRun_OutParam() { Success = seqResult };

            if (seqResult == false) {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_ResultFailed);
            }

            Log.D("TeachingRun Sequence Complete");
            return SequenceAction.Ok(result);
        }

        private bool RestoreDeviceStatus()
        {
            return true;
        }

        private void OnForceError(SequenceContext arg1, string arg2)
        {
            //List 실행 종료
            _Scanner.StopExecution();

            //Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);

            //Scanner 원점 복귀
            _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);

            Log.I("SequenceAction Ok : OnForceError");
        }

        private void OnStopped(SequenceContext obj)
        {
            //List 실행 종료
            _Scanner.StopExecution();

            //Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);

            //Scanner 원점 복귀
            _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);

            Log.I("SequenceAction Ok : OnStopped");
        }

    }

    // TODO: UseStream 으로 TeachingRun 을 할 필요가 있을까?? 확인 필요
    public class SeqTeachingRun_InitParam : InitParam
    {
        public bool IsUseExternalObjects { get; set; }
        public List<CoreUnit.Control.UserControl.Canvas.IDrawObject> ExternalObjects { get; set; }
        public bool IsObjectSelectAll { get; set; }     // All == true, Selected Object == false
        public bool UseStream { get; set; }
        public bool UseBlow { get; set; }
        public int IntervalTimeBlowOn { get; set; }
        public int IntervalTimeBlowOff { get; set; }
        public bool NeedSetLaserTiming { get; set; }      // For SubSequence, SeqUploadWeldingList
        public double CellCenterOffsetX { get; set; } = 0;
        public double CellCenterOffsetY { get; set; } = 0;
    }

    public class SeqTeachingRun_OutParam : OutParam
    {

    }
}