895 lines
39 KiB
C#
895 lines
39 KiB
C#
using Aurora;
|
|
using Aurora.Api;
|
|
using Aurora.Api.Devices;
|
|
using Aurora.Api.Services;
|
|
using Aurora.View;
|
|
using AuroraACS;
|
|
using AuroraIO;
|
|
using AuroraLaser;
|
|
using AuroraLaser.Ekspla;
|
|
using AuroraLaser.Trumpf;
|
|
using AuroraLaserScanner;
|
|
using AuroraLBAD;
|
|
using AuroraLBAD.Services;
|
|
using AuroraOCT;
|
|
using CoreUnit.Control.UserControl.Canvas;
|
|
using CoreUnit.Scanner.UserControl.ScannerCanvas;
|
|
using DB;
|
|
using GUI;
|
|
using Hermes;
|
|
using ILSOS_PrismaticScanner.Device;
|
|
using ILSOS_PrismaticScanner.Device.IO;
|
|
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.Runtime.Remoting.Contexts;
|
|
using System.Text;
|
|
using System.Threading;
|
|
using System.Threading.Tasks;
|
|
using VisionCommon;
|
|
using WeldingCommon;
|
|
using WeldingCommon.Alarm;
|
|
using WeldingCommon.Data;
|
|
using WeldingCommon.Devices.ACS; // 26.04.06
|
|
using WeldingCommon.Sequences;
|
|
using WeldingCommon.Settings;
|
|
using WeldingCommon.Utils;
|
|
using WeldingCommon.Views;
|
|
using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
|
|
using static AuroraIO.Vendor.PAIX.PAIXIO;
|
|
using static CoreUnit.Scanner.UserControl.ScannerCanvas.ScannerParam;
|
|
using static ILSOS_PrismaticScanner.Device.PLCControllerPrismaticScanner;
|
|
|
|
namespace ILSOS_PrismaticScanner.Sequences
|
|
{
|
|
public class SeqComponentTeachingRun
|
|
{
|
|
static readonly Logger Log = new Logger("SeqComponentTeachingRun");
|
|
|
|
const string SEQ_ENTER = "[SeqComponentTeachingRun] SEQ_ENTER"; // inputParam 으로 받자.
|
|
const string SEQ_CHECK_INIT_CONDITION = "[SeqComponentTeachingRun] Check Init Condition"; // Check Init Condition
|
|
|
|
const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Set Sequence Param (UploadWeldingList Seq)";
|
|
const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Process (UploadWeldingList Seq)";
|
|
const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Get Sequence Result (UploadWeldingList Seq)";
|
|
const string SEQ_SET_BLOW_ON = "[SeqComponentTeachingRun] Set Blow On";
|
|
const string SEQ_SET_BLOW_OFF = "[SeqComponentTeachingRun] Set Blow Off";
|
|
|
|
const string SEQ_SAVE_RESULT_DATA = "[SeqComponentTeachingRun] Save Result Data";
|
|
|
|
const string SEQ_COMPLETE = "[SeqComponentTeachingRun] SEQ_COMPLETE"; // 완료
|
|
|
|
const string SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS = "[SeqComponentTeachingRun] Update Component Welding Parameters";
|
|
const string SEQ_START_WELDING = "[SeqComponentTeachingRun] Start All Welding";
|
|
const string SEQ_DO_COMPONENT_WELDING = "[SeqComponentTeachingRun] Do Component Welding";
|
|
const string SEQ_CHECK_END_LIST = "[SeqComponentTeachingRun] Check End List";
|
|
const string SEQ_END_WELDING = "[SeqComponentTeachingRun] End All Welding";
|
|
|
|
#region 260408 NDY 노드 추가
|
|
// Builder()에 노드 추가
|
|
//const string SEQ_MOVE_STAGE_ORIGIN = "[SeqComponentTeachingRun] Move Stage To Origin";
|
|
//const string SEQ_ENCODER_RESET = "[SeqComponentTeachingRun] Encoder Reset";
|
|
#endregion
|
|
|
|
const int timeoutSeconds = 10;
|
|
static class ContextKey
|
|
{
|
|
public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqComponentTeachingRun";
|
|
public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqComponentTeachingRun";
|
|
}
|
|
|
|
private SeqTeachingRun_InitParam _InitParam;
|
|
|
|
private static Scanner _Scanner;
|
|
private static PAIX_PrismaticScanner _IO;
|
|
|
|
// 필드 선언 추가 (다른 필드들 옆에)
|
|
// 변경 전
|
|
//private ScannerACS _ACS;
|
|
|
|
|
|
// 변경 후
|
|
private IScannerACS _ACS; // 26.04.06 NDY - MOTF용 ACS Stage X 제어
|
|
private static ACSMotor _AxisX; // 26.04.08 NDY - MOTF용 Stage X 축
|
|
|
|
private Laser _Laser;
|
|
private ILaser _LaserDevice;
|
|
private LaserTruFiber _LaserTruFiber;
|
|
private LaserPowerCalParam _LaserPowerCalParam;
|
|
private PLCControllerPrismaticScanner _plc;
|
|
|
|
private SystemParameter _SystemParameter;
|
|
private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
|
|
|
|
private static SequenceSetting _SequenceSetting;
|
|
|
|
private eListNo _WeldingScannerListNo;
|
|
|
|
|
|
private List<IDrawObject> _SelectedObjectList;
|
|
private Queue<List<IDrawObject>> _DivideObjectsQueue;
|
|
private List<IDrawObject> _TargetObjects;
|
|
private static DateTime _SequenceCompleteTime; // 시퀸스 시간
|
|
private static TimeSpan _MeasurementSpanTime; //측정 시간
|
|
private static TimeSpan _ScannerSaveLogTime;
|
|
private static DateTime _partialWeldingStartTime;
|
|
private static List<IDrawObject> _FlattenRecipes;
|
|
private static int _CountWeldingObject; // 트럼프 레시피에서 부분 용접 할 Ojbect의 개수
|
|
private static int _CurrentobjectIndex;
|
|
private static int _BeforeObjectIndex;
|
|
private static int _BeforeProgramNo; // 이전 트럼프 레이저 용접 번호
|
|
private static int _BeforeParameterNo; //
|
|
|
|
private static int _CenterBeamPower;
|
|
private static int _RingBeamPower;
|
|
private static bool _LaserPowerControlByRatio = false;
|
|
private static int _CenterRingRatio; // Center Ring의 파워 비율
|
|
private static double _LaserPowerRatio; // Laser에서 출력 파워 비율
|
|
public SequenceBuilder Builder()
|
|
{
|
|
var sb = new SequenceBuilder(1000, true);
|
|
////var sb = new SequenceBuilder(1000, false); // With log
|
|
|
|
sb.AddAction(SEQ_ENTER, Sequence_Enter);
|
|
sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
|
|
sb.AddAction(SEQ_SET_BLOW_ON, SetBlowOn);
|
|
#region 26.04.08 추가된 노드 NDY
|
|
// 26.04.08 필드 좌표 0,0으로 스테이지 이동 시퀸스 + EncoderReset 호출
|
|
//sb.AddAction(SEQ_MOVE_STAGE_ORIGIN, MoveStageToOrigin);
|
|
//sb.AddAction(SEQ_ENCODER_RESET, EncoderReset);
|
|
#endregion
|
|
|
|
sb.AddAction(SEQ_START_WELDING, StartWelding);
|
|
sb.AddDecision(SEQ_CHECK_END_LIST, CheckEndList);
|
|
sb.AddAction(SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS, UpdateComponentWeldingParameters);
|
|
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_DO_COMPONENT_WELDING, DoComponentWelding);
|
|
sb.AddAction(SEQ_END_WELDING, EndWelding);
|
|
sb.AddAction(SEQ_SET_BLOW_OFF, SetBlowOff);
|
|
sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함.
|
|
sb.AddAction(SEQ_COMPLETE, Complete);
|
|
|
|
|
|
// 기존 흐름에서 SET_BLOW_ON → START_WELDING 사이에 끼워넣기
|
|
#region 기존 흐름 26.04.08
|
|
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
|
|
> sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
|
|
#endregion
|
|
#region 2개 노드 추가한 흐름 26.04.08
|
|
//sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
|
|
// > sb[SEQ_MOVE_STAGE_ORIGIN] // ← 추가
|
|
// > sb[SEQ_ENCODER_RESET] // ← 추가
|
|
// > sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
|
|
#endregion
|
|
|
|
// 아래 두 흐름은 기존 그대로 유지
|
|
sb.Flows(sb[SEQ_CHECK_END_LIST] > sb[SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS]
|
|
> 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_DO_COMPONENT_WELDING] > sb[SEQ_CHECK_END_LIST]);
|
|
sb.Flows(sb[SEQ_CHECK_END_LIST] > sb[SEQ_END_WELDING] > sb[SEQ_SET_BLOW_OFF]
|
|
> sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_COMPLETE] > sb.Final);
|
|
|
|
sb.OnStopped(OnStopped);
|
|
sb.OnForceError(OnForceError);
|
|
|
|
|
|
//sb.Draw("SeqComponentTeachingRun.pdf");
|
|
|
|
return sb;
|
|
}
|
|
#region 26.04.08 NDY
|
|
private SequenceActionResult EncoderReset(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
if (_ACS == null)
|
|
{
|
|
Log.W("[EncoderReset] ACS null - 스킵");
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
if (!_Scanner.Config.UseMarkingOnTheFly)
|
|
{
|
|
Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
Log.I("[EncoderReset] 시작");
|
|
|
|
// SeqUploadWeldingList.MarkingOnTheFlyOn 패턴
|
|
_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();
|
|
}
|
|
//SeqTeachingPosMoveStageA패턴 참고 - 기존 GUN 프로젝트 시퀸스
|
|
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");
|
|
|
|
// SeqTeachingPosMoveStageA.MoveXYStage 패턴
|
|
_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 Sequence_Enter 진입 ====="); // 임시 추가
|
|
Log.I("SeqTeachingRun Start");
|
|
|
|
_InitParam = param.Param as SeqTeachingRun_InitParam;
|
|
_SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
|
|
|
|
//_Laser = context.GetLaser();
|
|
//_Laser.GetLaserDevice(ref _LaserDevice);
|
|
//_LaserTruFiber = _LaserDevice as LaserTruFiber;
|
|
|
|
//if (_plc == null)
|
|
// _plc = context.Devices[DeviceIds.PLCDevice] as PLCControllerPrismaticScanner;
|
|
|
|
// Laser 시퀀스 Running. 안 넣어줘도 됨.
|
|
//_LaserTruFiber.SetIsSeqRunning(true);
|
|
|
|
_LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함
|
|
//laserPowerCalParam 초기화(CSV 파일 불러오기)
|
|
_LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);
|
|
|
|
_SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;
|
|
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 void InitDev(SequenceContext context)
|
|
{
|
|
//Device Init
|
|
_Scanner = context.GetLaserScanner();
|
|
//_IO = context.Devices[CommonDeviceIds.IODevice] as PAIX_PrismaticScanner;
|
|
|
|
// 26.04.06 NDY 추가: ACS 디바이스 취득 (null-safe)
|
|
// 변수 맵 수신 후 MOTFStart() 호출에 사용
|
|
// 변경 전
|
|
//try { _ACS = context.Devices[DeviceIds.ACS] as ScannerACS; }
|
|
// 변경 후
|
|
try { _ACS = context.Devices[DeviceIds.ACS] as IScannerACS; }
|
|
catch { _ACS = null; Log.W("ACS 디바이스 취득 실패 (null 처리)"); }
|
|
|
|
//26.04.08 NDY 추가 _AxisX 가져오기
|
|
try { _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor; }
|
|
catch { _AxisX = null; Log.W("AxisX2 취득 실패"); }
|
|
}
|
|
private bool CheckDeviceReady(SequenceContext context)
|
|
{
|
|
List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice };
|
|
//List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice,DeviceIds.ACS }; 변수 맵 수신 후 ACS 주석 해제 위에 주석 처리
|
|
bool isAllDeviceActivated = true;
|
|
foreach (string item in deviceListToCheck)
|
|
{
|
|
if (!context.Devices[item].IsActivated)
|
|
{
|
|
isAllDeviceActivated = isAllDeviceActivated && false;
|
|
}
|
|
}
|
|
|
|
return isAllDeviceActivated;
|
|
}
|
|
private bool InitSequenceVariable(SequenceContext context)
|
|
{
|
|
var mainPage = CommonHelper.GetMainPage();
|
|
_ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
|
|
|
|
_WeldingScannerListNo = eListNo.LIST1;
|
|
|
|
_SelectedObjectList = FindObjects();
|
|
|
|
return true;
|
|
}
|
|
|
|
private List<IDrawObject> FindObjects()
|
|
{
|
|
if (_InitParam.IsUseExternalObjects)
|
|
{
|
|
return _InitParam.ExternalObjects;
|
|
}
|
|
else if (_InitParam.IsObjectSelectAll)
|
|
{
|
|
return _ScannerCanvasUserCtrl.Model.ActiveLayer.Objects;
|
|
}
|
|
else
|
|
{
|
|
return _ScannerCanvasUserCtrl.Canvas.Model.SelectedObjects;
|
|
}
|
|
|
|
}
|
|
|
|
private SequenceActionResult CheckInitCondition(SequenceContext context, string id, 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 null;
|
|
}
|
|
|
|
_CurrentobjectIndex = 0;
|
|
_BeforeObjectIndex = 0;
|
|
_CountWeldingObject = 0;
|
|
_BeforeParameterNo = -1;
|
|
_BeforeProgramNo = -1;
|
|
_ScannerSaveLogTime = TimeSpan.Zero;
|
|
|
|
_FlattenRecipes = new List<IDrawObject>(); // 레시피 초기화
|
|
UnpackRecipes(_SelectedObjectList);
|
|
var startTime = DateTime.Now;
|
|
context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
|
|
|
|
Log.D("ComponentTeachingRun Sequence CheckInitCondition");
|
|
return SequenceAction.Ok();
|
|
}
|
|
private bool CheckCondition()
|
|
{
|
|
if (CheckCondition_Interlock())
|
|
{
|
|
if (InitializeDeviceStatus())
|
|
{
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
private bool CheckCondition_Interlock()
|
|
{
|
|
//// PLC, Data, IO 등 Interlock checking
|
|
bool boolian = AlarmManager.HasAlarmLevelHigh();
|
|
if (boolian)
|
|
{
|
|
Log.E($"Clear Heavy Alarms For Welding!");
|
|
MessageUtil.ShowWarningToast(string.Format("Clear Heavy Alarms For Welding!"));
|
|
return false;
|
|
}
|
|
boolian = AlarmManager.IsPlcDoorOpen();
|
|
if (boolian)
|
|
{
|
|
Log.E($"PLC Door Opened!! Can't Weld Now.");
|
|
MessageUtil.ShowWarningToast(string.Format("Close Door ! Clear PLC DoorInterlock!"));
|
|
return false;
|
|
}
|
|
|
|
boolian = AlarmManager.IsPlcEmoAlarm();
|
|
if (boolian)
|
|
{
|
|
Log.E($"PLC EMO Pushed!! Can't Weld Now.");
|
|
MessageUtil.ShowWarningToast(string.Format("Clear PLC EMO Status!"));
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
private bool InitializeDeviceStatus()
|
|
{
|
|
//Vision Correction File 선택
|
|
_Scanner.SelectCorrectionTable(2);
|
|
return true;
|
|
}
|
|
|
|
private SequenceActionResult SetBlowOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
if (_InitParam.UseBlow == false)
|
|
{
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
int intervalTime = _InitParam.IntervalTimeBlowOn;
|
|
//_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), true);
|
|
Thread.Sleep(intervalTime);
|
|
|
|
Log.D(string.Format($"[ComponentTeachingRun] Blow ON Complete"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private void SaveScannerRecordFileForamt()
|
|
{
|
|
if (_Scanner.Config.UseRecordSignal)
|
|
{
|
|
DateTime startTime = DateTime.Now;
|
|
_Scanner.SaveStackRecord("Normal");
|
|
_ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
|
|
}
|
|
}
|
|
|
|
private SequenceActionResult StartWelding(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.D(string.Format($"[ComponentTeachingRun] Start Component Welding"));
|
|
_SequenceCompleteTime = DateTime.Now;
|
|
// Laser 판넬 On
|
|
//_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, true);
|
|
|
|
_DivideObjectsQueue = SplitBySerialize(_FlattenRecipes);
|
|
Log.I($"Divided DrawObjects List Count[{_DivideObjectsQueue.Count}]");
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
// 펼쳐진 객체(_FlattenRecipes)를 여러개의 스캔 파라미터에 따라 여러개로 나눈다
|
|
public static Queue<List<IDrawObject>> SplitBySerialize(List<IDrawObject> source)
|
|
{
|
|
var result = new Queue<List<IDrawObject>>();
|
|
if (source == null || source.Count == 0)
|
|
return result;
|
|
|
|
List<IDrawObject> current = null;
|
|
int? currentId = null;
|
|
|
|
foreach (var item in source)
|
|
{
|
|
if (current == null || currentId.Value != item.ScannerParamID)
|
|
{
|
|
current = new List<IDrawObject>();
|
|
result.Enqueue(current);
|
|
currentId = item.ScannerParamID;
|
|
}
|
|
|
|
current.Add(item);
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
private string CheckEndList(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
|
|
{
|
|
if (_DivideObjectsQueue.Count == 0)
|
|
return SEQ_END_WELDING;
|
|
|
|
// 파일 저장 변수 초기화
|
|
if (_Scanner.Config.UseRecordSignal)
|
|
{
|
|
DateTime startTime = DateTime.Now;
|
|
_Scanner.InitializeRecord();
|
|
_ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
|
|
}
|
|
|
|
return SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS;
|
|
|
|
}
|
|
|
|
private SequenceActionResult UpdateComponentWeldingParameters(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
_partialWeldingStartTime = DateTime.Now;
|
|
//var currentDivideObject = _DivideObjectsQueue.Peek();
|
|
//int paramIndex = currentDivideObject[0].ScannerParamID - 1;
|
|
//Log.I($"Remain Divided DrawObjects Count[{currentDivideObject.Count}] / ParameterNo[{paramIndex + 1}]");
|
|
|
|
//int SlotNo = _plc.ReadWord(eWordInput.PLC_CURRENT_SLOT_NO).data;
|
|
//if (SlotNo <= 0)
|
|
// SlotNo = 1;
|
|
//// 결과 Data 를 업데이트 함.
|
|
//var power = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Power_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
|
|
|
|
//#region 26.04.08 NDY 캘리브레이션 노드 추가 테스트를 위해서 잠시 예외처리 코드 추가
|
|
//if (power != null)
|
|
// power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1
|
|
// + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
|
|
//#endregion
|
|
//// 26.04.08 NDY 주석처리 - power null 예외 방지 (위 null 체크로 대체)
|
|
////power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1 + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
|
|
|
|
|
|
//var velocity = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Velocity_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
|
|
//#region 26.04.08 NDY velocity null에 대한 예외 처리
|
|
//if (velocity != null)
|
|
// velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
|
|
//#endregion
|
|
//// 26.04.08 NDY 주석처리 - velocity null 예외 방지 (위 null 체크로 대체)
|
|
////velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
|
|
|
|
|
|
//// 26.04.08 NDY - FDC 데이터 상신 -기존 코드 주석처리
|
|
////_plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
|
|
//// 26.04.08 NDY - FDC 상신도 데이터 있을 때만 - 테스트 목적 예외 처리 추가
|
|
//if (Status.GetProcessingWeldingData().UploadProcessDatas.Count > 0)
|
|
// _plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
|
|
|
|
//_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
|
|
//_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
|
|
//_CenterRingRatio = 0;
|
|
|
|
//if (_CenterBeamPower == 0 && _RingBeamPower == 0)
|
|
// _CenterRingRatio = 100;
|
|
//else
|
|
// _CenterRingRatio = (int)Math.Round((double)(100 * _CenterBeamPower) / (double)(_CenterBeamPower + _RingBeamPower), 0); // Discrete 한 값이라서 Ring은 오차 발생
|
|
|
|
////if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP)
|
|
////{
|
|
// _CenterBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_CenterBeamPower, (uint)LaserPowerCalParam.beamMode.Center);
|
|
// _RingBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_RingBeamPower, (uint)LaserPowerCalParam.beamMode.Ring);
|
|
////}
|
|
//// Ready 상태 변경 확인(Complete 상태에서 Laser Ready로 변환되기까지 시간이 걸림)
|
|
//// 여기서는 왜 IW03과 Center를 비교하는 것인지.... 아직 값을 써주지 않았으므로 레이저 출사 가능 여부만 확인하면 되지 않을까.
|
|
//var res = context.RetryUntilSuccess(_Laser.GetLaserReady, timeoutSeconds * 1000, 1);
|
|
|
|
//if (res == E2.TIMEOUT)
|
|
//{
|
|
// Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReady"));
|
|
// return null;
|
|
//}
|
|
//Log.D(string.Format($"[Page Change Req] Laser Program Ready OK"));
|
|
|
|
//// Laser Program Parameters 설정(Laser Ready 상태는 용접 직전에 확인)
|
|
//List<(int, int, bool)> datas = new List<(int, int, bool)>();
|
|
//datas.Add((csWriteNodeNo.IW03, _CenterBeamPower, true));
|
|
//datas.Add((csWriteNodeNo.IW04, _RingBeamPower, true));
|
|
//datas.Add((csWriteNodeNo.IW05, _CenterRingRatio, true));
|
|
|
|
//// 업데이트 될 경우, 프로그램 전환을 위한 프로그램 종료 시퀸스 진행됨.
|
|
//if (_LaserTruFiber.UpdatesDatasIfChanged(datas))
|
|
//{
|
|
|
|
// // 프로그램이 종료 될 때까지 대기.
|
|
// res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramCompleted, timeoutSeconds * 1000, 10);
|
|
|
|
// if (res == E2.TIMEOUT)
|
|
// {
|
|
// Log.E(string.Format($"[Page Change Req] Laser Program Completed Timeout When Parameter Changes"));
|
|
// return null;
|
|
// }
|
|
// Log.D(string.Format($"[Page Change Req] Laser Program Completed OK When Data Updated"));
|
|
//}
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
|
|
|
|
// TeachingRun에는 용접 시퀀스만 정의해서 Auto Run에서도 사용하므로 Offset 넣어줘야 함
|
|
SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
|
|
{
|
|
NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
|
|
IncludeListStartEnd = true,
|
|
CellMeasureCenterOffsetX = _SystemParameter.CellPosMeasureCenterOffsetX + _InitParam.CellCenterOffsetX,
|
|
CellMeasureCenterOffsetY = _SystemParameter.CellPosMeasureCenterOffsetY + _InitParam.CellCenterOffsetY,
|
|
SelectedDrawObjectList = _DivideObjectsQueue.Peek(),
|
|
WeldingScannerListNo = _WeldingScannerListNo,
|
|
};
|
|
|
|
var _PageNo = _SequenceSetting.LastPageNo;
|
|
|
|
Log.W($"page {_PageNo}({Status.GetProcessingWeldingData().CellId}) : Cell Offset Value Check ; X : {_SystemParameter.CellPosMeasureCenterOffsetX} + {_InitParam.CellCenterOffsetX} ; Y : {_SystemParameter.CellPosMeasureCenterOffsetY} + {_InitParam.CellCenterOffsetY}");
|
|
|
|
Log.D(string.Format($"[ComponentTeachingRun] Set UploadWelindList Seq Param"));
|
|
|
|
return SequenceAction.Ok(seqParams);
|
|
}
|
|
|
|
private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.D(string.Format($"[ComponentTeachingRun] Get UploadWelindList Seq Param"));
|
|
|
|
var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
|
|
if (resultOutParam.Success == false)
|
|
{
|
|
Log.E(string.Format($"[ComponentTeachingRun] Failed UploadWeldingList Sequence"));
|
|
return null;
|
|
}
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
|
|
private SequenceActionResult DoComponentWelding(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
_DivideObjectsQueue.Dequeue();
|
|
Log.I("UploadWeldingList Complete");
|
|
Log.D(string.Format($"[ComponentTeachingRun] Component Welding Start idx :({_BeforeObjectIndex} ~ {_BeforeObjectIndex + _CountWeldingObject - 1})"));
|
|
|
|
#region PSTART_DYN 사용시 참고
|
|
//// PSTART_DYN에서는 레이저가 활성화되었는지 확인하여야 함. 하지만, PSTART_STATICALLY에서는 굳이 확인할 필요 없음. (이전에 확인해줄 것이므로)
|
|
// var res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramActive, timeoutSeconds * 1000, 1);
|
|
//if (res == E2.TIMEOUT)
|
|
//{
|
|
// Log.E(string.Format($"[ComponentTeachingRun] Laser Program Active Timeout"));
|
|
// return null;
|
|
//}
|
|
#endregion
|
|
|
|
//Log.D(string.Format($"[ComponentTeachingRun] Check LaserReadyResponse"));
|
|
//// 만일 프로그램이 정상적으로 종료 및 변경 원할 경우, 레이저 스레드에서 Ready 상태로 만들어주고 있을 것임.
|
|
//// Ready 상태 변경 확인
|
|
//var res = context.RetryUntilSuccess(LaserReadyResponse, timeoutSeconds * 1000, 10);
|
|
//if (res == E2.TIMEOUT)
|
|
//{
|
|
// Log.E(string.Format($"[ComponentTeachingRun] Laser Program Ready Timeout When LaserReadyResponse"));
|
|
// return null;
|
|
//}
|
|
//Log.D(string.Format($"[ComponentTeachingRun] Laser Program Ready OK When ReadyResponse"));
|
|
|
|
//Status.SetWorkingPosition(eWorkingPosition.EXECUTING_WELD);
|
|
|
|
Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
|
|
DateTime weldingTime = DateTime.Now;
|
|
_Scanner.ExecuteList(_WeldingScannerListNo);
|
|
|
|
|
|
// ── 26.04.06 NDY 추가: ACS Stage X 이동 ──────────────
|
|
// MOTF: Scanner List 실행과 동시에 Stage X 이동 시작
|
|
// Stage X 엔코더가 트리거 → WaitForEncoderX 조건 도달 시 갈바노 마킹
|
|
// TODO: 변수 맵 수신 후 _ACS.MOTFStart()로 교체
|
|
// _ACS?.MOTFStart();
|
|
// ────────────────────────────────────────────────────
|
|
|
|
|
|
|
|
_Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
|
|
|
|
// ── 26.04.06 NDY 추가: ACS 완료 대기 ─────────────────
|
|
// TODO: 변수 맵 수신 후 활성화
|
|
// while (!_ACS.CheckMOTFComp()) { Thread.Sleep(10); }
|
|
// ────────────────────────────────────────────────────
|
|
|
|
_MeasurementSpanTime = DateTime.Now.Subtract(weldingTime);
|
|
Log.D(string.Format($"[ComponentTeachingRun] Component Welding Complete Time : {_MeasurementSpanTime.TotalMilliseconds}"));
|
|
|
|
#region PSTART_DYN 사용시 참고
|
|
//// 굳이 확인할 필요가 없을 듯 함.PSTAT_STATICALLY 활용시.
|
|
//res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramCompleted, timeoutSeconds * 1000, 1);
|
|
|
|
//if (res == E2.TIMEOUT)
|
|
//{
|
|
// Log.E(string.Format($"[ComponentTeachingRun] Laser Program Complete Timeout"));
|
|
// return null;
|
|
//}
|
|
#endregion
|
|
|
|
Log.D(string.Format($"[ComponentTeachingRun] Laser Program Complete OK"));
|
|
|
|
|
|
if (_Scanner.Config.UseRecordSignal)
|
|
{
|
|
DateTime startTime = DateTime.Now;
|
|
_Scanner.StackRecord();
|
|
_ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
|
|
}
|
|
|
|
// excel 파일 작성
|
|
SaveScannerRecordFileForamt();
|
|
Log.D(string.Format($"[ComponentTeachingRun] SaveScannerRecordFileForamt Time : {_ScannerSaveLogTime.TotalMilliseconds}"));
|
|
|
|
var PartialTactTime = DateTime.Now.Subtract(_partialWeldingStartTime);
|
|
Log.D(string.Format($"[TactTime] Complete Partial Component Weld : {PartialTactTime.TotalMilliseconds}"));
|
|
|
|
_ScannerCanvasUserCtrl.TimeLabelUpdate(_MeasurementSpanTime.TotalMilliseconds, PartialTactTime.TotalMilliseconds);
|
|
|
|
//// 용접 끝난 후, 초기화 시킴
|
|
//var UploadDatas = Status.GetProcessingWeldingData().UploadProcessDatas;
|
|
//foreach (var data in UploadDatas)
|
|
// data.Clear();
|
|
//_plc.UploadReportDatas(UploadDatas);
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult EndWelding(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
_MeasurementSpanTime = DateTime.Now.Subtract(_SequenceCompleteTime);
|
|
Log.D(string.Format($"[TactTime] Complete All Component Weld : {_MeasurementSpanTime.TotalMilliseconds}"));
|
|
|
|
|
|
//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
|
|
// Laser 판넬 Off
|
|
//_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
|
|
|
|
var mesurementTime = DateTime.Now;
|
|
|
|
//용접 완료 후 CorrectionFile Vision으로 원복
|
|
_Scanner.SelectCorrectionTable(1);
|
|
|
|
_MeasurementSpanTime = DateTime.Now.Subtract(mesurementTime);
|
|
Log.D(string.Format($"[ComponentTeachingRun] Change SelectCorrectionTable Time : {_MeasurementSpanTime.TotalMilliseconds}"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
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);
|
|
|
|
Log.D(string.Format($"[ComponentTeachingRun] Blow OFF Complete"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
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("ComponentTeachingRun Sequence Complete");
|
|
return SequenceAction.Ok(result);
|
|
}
|
|
|
|
private static void UnpackRecipes(List<IDrawObject> recipes)
|
|
{
|
|
// Recipe를 재귀적으로 탐색해서 List로 재구성하는 함수
|
|
if (recipes == null)
|
|
return;
|
|
|
|
for (int i = 0; i < recipes.Count; i++)
|
|
{
|
|
if (recipes[i] is Group)
|
|
{
|
|
Group subGroup = recipes[i] as Group;
|
|
List<IDrawObject> subrecipes = subGroup.SubObjects as List<IDrawObject>;
|
|
UnpackRecipes(subrecipes);
|
|
}
|
|
else
|
|
{
|
|
_FlattenRecipes.Add(recipes[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
private void OnForceError(SequenceContext context, string arg2)
|
|
{
|
|
// Scanner Log 저장
|
|
SaveScannerRecordFileForamt();
|
|
|
|
//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);
|
|
|
|
// TruFiber레이저 Ready로 변경
|
|
ForceLaserReady();
|
|
|
|
//Scanner 원점 복귀
|
|
// 복귀 시 Scanner Busy 상태일 수 있으므로 진행중인 작업이 끝날 때까지 대기
|
|
Thread.Sleep(10);
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
Thread.Sleep(10);
|
|
|
|
Log.I("SequenceAction Ok : OnForceError");
|
|
}
|
|
|
|
private void OnStopped(SequenceContext context)
|
|
{
|
|
// Scanner Log 저장
|
|
SaveScannerRecordFileForamt();
|
|
|
|
//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);
|
|
|
|
// TruFiber레이저 Ready로 변경
|
|
ForceLaserReady();
|
|
|
|
//Scanner 원점 복귀
|
|
// 복귀 시 Scanner Busy 상태일 수 있으므로 진행중인 작업이 끝날 때까지 대기
|
|
Thread.Sleep(10);
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
Thread.Sleep(10);
|
|
|
|
// Laser 판넬 Off
|
|
//_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
|
|
|
|
Log.I("SequenceAction Ok : OnStopped");
|
|
}
|
|
|
|
|
|
|
|
private void ForceLaserReady()
|
|
{
|
|
// 트럼프 레이저에서 PStartDyn, Prog_Stop을 감시하여 강제로 Ready 상태로 만드는 함수
|
|
if (_Laser.IsSimul)
|
|
{
|
|
return;
|
|
}
|
|
|
|
//// PSTART_STATICAL 에서는 필요 없어보임.
|
|
//_LaserTruFiber.SetProgEnd();
|
|
|
|
// Laser 판넬 Off
|
|
//_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
|
|
|
|
Log.I("SequenceAction Ok : Set Laser Ready");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// TODO: UseStream 으로 TeachingRun 을 할 필요가 있을까?? 확인 필요
|
|
public class SeqComponentTeachingRun_InitParam : InitParam
|
|
{
|
|
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 class SeqComponentTeachingRun_OutParam : OutParam
|
|
{
|
|
|
|
}
|
|
} |