548 lines
22 KiB
C#
548 lines
22 KiB
C#
using Aurora;
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using Aurora.Api;
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using Aurora.Api.Devices;
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using Aurora.Api.Manager;
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using Aurora.View;
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using AuroraACS;
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using AuroraCellTracker;
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using AuroraIO;
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using AuroraLaser;
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using AuroraLaser.Trumpf;
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using AuroraLaserScanner;
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using AuroraLBAD;
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using AuroraLight;
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using AuroraOCT;
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using AuroraPLC;
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using CoreUnit.Control.UserControl.Canvas;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using DB;
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using DB.Recipe;
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using Hermes;
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using Hermes.Functional.Option;
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using ILSOS_PrismaticScanner.Device;
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using ILSOS_PrismaticScanner.Models;
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using Matrox.MatroxImagingLibrary;
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using MilCommon;
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using MilUI;
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using OpenCvSharp;
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using OpenCvSharp.Dnn;
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using OpenCvSharp.WpfExtensions;
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using System;
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using System.CodeDom.Compiler;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Configuration;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.Globalization;
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using System.IO;
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using System.IO.Pipes;
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using System.Linq;
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using System.Runtime.InteropServices.ComTypes;
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using System.Runtime.Remoting.Contexts;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Forms.VisualStyles;
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using System.Windows.Media.Imaging;
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using VisionCommon;
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using WeldingCommon;
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using WeldingCommon.Alarm;
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using WeldingCommon.Data;
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using WeldingCommon.Devices;
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using WeldingCommon.Devices.ACS;
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using WeldingCommon.Models;
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using WeldingCommon.Sequences;
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using WeldingCommon.Sequences.Main;
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using WeldingCommon.Settings;
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using WeldingCommon.Utils;
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using WeldingCommon.Views;
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using WeldingCommon.Vision.WeldingObjectGenerator;
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using static Aurora.Api.SequenceBuilder;
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using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
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using static AuroraIO.Vendor.PAIX.PAIXIO;
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using static ILSOS_PrismaticScanner.Device.PLCControllerPrismaticScanner;
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using static WeldingCommon.Devices.PLCController;
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using static WeldingCommon.Sequences.Main.SeqExecutePlcBitInterface_InitParam;
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namespace ILSOS_PrismaticScanner.Sequences
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{
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/// <summary>
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/// 각형 스캐너 타입 자동 운전을 위한 시퀸스
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/// </summary>
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public class SeqAutoRunPrismaticScanner
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{
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static readonly Logger Log = new Logger("SeqAutoRunPrismaticScanner");
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const string SEQ_ENTER = "SEQ_ENTER"; // inputParam 으로 받자.
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const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition"; // Check Init Condition
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const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "Set Sequence Param (UploadWeldingList Seq)";
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const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "Process (UploadWeldingList Seq)";
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const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "Get Sequence Result (UploadWeldingList Seq)";
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const string SEQ_COMPLETE = "SEQ_COMPLETE"; // 완료
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const string SEQ_START_WELDING = "Start All Welding";
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const string SEQ_DO_COMPONENT_WELDING = "Do Component Welding";
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const string SEQ_ACS_MOTION_SET = "Set ACS Motion Parameter";
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const string SEQ_ACS_MOTION_START = "ACS Motion Start";
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const string SEQ_CHECK_MOTION_END = "Check ACS Motion Complete";
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#region 260408 NDY 노드 추가
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// Builder()에 노드 추가
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const string SEQ_STANDBY_MOTION = "Move Stage To Origin";
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const string SEQ_STANDBY_SCANNER = "Encoder Reset";
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#endregion
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const int timeoutSeconds = 10;
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static class ContextKey
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{
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public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqAutoRunPrismaticScanner";
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public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqAutoRunPrismaticScanner";
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}
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private SeqTeachingRun_InitParam _InitParam;
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private static Scanner _Scanner;
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// 필드 선언 추가 (다른 필드들 옆에)
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// 변경 전
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//private ScannerACS _ACS;
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// 변경 후
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private IScannerACS _ACS; // 26.04.06 NDY - MOTF용 ACS Stage X 제어
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private static ACSMotor _AxisX, _AxisZ; // 26.04.08 NDY - MOTF용 Stage X 축
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private SystemParameter _SystemParameter;
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private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
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private static SequenceSetting _SequenceSetting;
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private eListNo _WeldingScannerListNo;
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private List<IDrawObject> _SelectedObjectList;
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private List<IDrawObject> _TargetObjects;
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private static DateTime _SequenceCompleteTime; // 시퀸스 시간
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private static TimeSpan _MeasurementSpanTime; //측정 시간
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private static TimeSpan _ScannerSaveLogTime;
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private static DateTime _partialWeldingStartTime;
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public SequenceBuilder Builder()
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{
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var sb = new SequenceBuilder(1000, true);
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sb.AddAction(SEQ_ENTER, Sequence_Enter);
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sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
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#region 26.04.08 추가된 노드 NDY
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// 26.04.08 필드 좌표 0,0으로 스테이지 이동 시퀸스 + EncoderReset 호출
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sb.AddAction(SEQ_STANDBY_MOTION, SetStandbyMotion);
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sb.AddAction(SEQ_STANDBY_SCANNER, SetStandbyScanner);
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#endregion
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sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
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sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
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sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
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sb.AddAction(SEQ_DO_COMPONENT_WELDING, DoComponentWelding);
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sb.AddAction(SEQ_ACS_MOTION_SET, SetMotion);
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sb.AddAction(SEQ_ACS_MOTION_START, StartMotion);
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sb.AddAction(SEQ_CHECK_MOTION_END, EndWelding);
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sb.AddAction(SEQ_COMPLETE, Complete);
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sb.Flows(sb.Init
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> sb[SEQ_ENTER]
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> sb[SEQ_CHECK_INIT_CONDITION]
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> sb[SEQ_STANDBY_MOTION]
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> sb[SEQ_STANDBY_SCANNER]
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> sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ]
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> sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ]
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> sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
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> sb[SEQ_DO_COMPONENT_WELDING]
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> sb[SEQ_ACS_MOTION_SET]
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> sb[SEQ_ACS_MOTION_START]
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> sb[SEQ_CHECK_MOTION_END]
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> sb[SEQ_COMPLETE]
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> sb.Final);
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sb.OnStopped(OnStopped);
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sb.OnForceError(OnForceError);
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//sb.Draw("SeqAutoRunPrismaticScanner.pdf");
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return sb;
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}
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private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("===== SeqTeachingRun Sequence_Enter 진입 ====="); // 임시 추가
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Log.I("SeqTeachingRun Start");
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_InitParam = param.Param as SeqTeachingRun_InitParam;
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_SystemParameter = context.Settings[CommonSettingIds.SystemParameter] as SystemParameter;
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_SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;
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_Scanner = context.Devices[DeviceIds.Scanner] as Scanner;
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if (_Scanner == null) { MessageUtil.ShowErrorToast("Scanner not Ready", Log); return null; }
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_ACS = context.Devices[DeviceIds.ACS] as ScannerACS;
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if (_ACS == null) { MessageUtil.ShowErrorToast("ACS not Ready", Log); return null; }
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_AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor;
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if (_AxisX == null) { MessageUtil.ShowErrorToast("AxisX not Ready", Log); return null; }
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_AxisZ = context.Devices[CommonDeviceIds.AxisZ] as ACSMotor;
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if (_AxisZ == null) { MessageUtil.ShowErrorToast("AxisZ not Ready", Log); return null; }
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//Check Device
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if (!CheckDeviceReady(context))
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{
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_DeviceNotReady);
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Log.E("The devices are not active.");
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return null;
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}
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return SequenceAction.Ok();
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}
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private bool CheckDeviceReady(SequenceContext context)
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{
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List<string> deviceListToCheck = new List<string>() { DeviceIds.ACS, CommonDeviceIds.Scanner, CommonDeviceIds.AxisX2, CommonDeviceIds.AxisZ };
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//List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice,DeviceIds.ACS }; 변수 맵 수신 후 ACS 주석 해제 위에 주석 처리
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bool isAllDeviceActivated = true;
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foreach (string item in deviceListToCheck)
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{
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if (!context.Devices[item].IsActivated)
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{
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isAllDeviceActivated = isAllDeviceActivated && false;
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}
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}
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return isAllDeviceActivated;
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}
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private SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
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{
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bool boolian = AlarmManager.HasAlarmLevelHigh();
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if (boolian)
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{
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Log.E($"Clear Heavy Alarms For Welding!");
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MessageUtil.ShowWarningToast(string.Format("Clear Heavy Alarms For Welding!"));
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return null;
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}
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_ScannerSaveLogTime = TimeSpan.Zero;
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var startTime = DateTime.Now;
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context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
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Log.D("ComponentTeachingRun Sequence CheckInitCondition");
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return SequenceAction.Ok();
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}
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#region 26.04.08 NDY
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private SequenceActionResult SetStandbyMotion(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_AxisX == null)
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{
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Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
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return SequenceAction.Ok();
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}
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Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");
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// (스캐너의 0,0 && 용접 대상의 시작 위치) >> X축을 이동
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_AxisX.SetTargetPos(0, TargetPosType.ABS);
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_AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
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_AxisX.AccelerationImm(AuroraACS.Speed.M);
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_AxisX.DecelerationImm(AuroraACS.Speed.M);
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_AxisX.JerkImm(AuroraACS.Speed.M);
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_AxisX.Move();
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// Laser FocusPosition Move
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_AxisZ.SetTargetPos(0, TargetPosType.ABS);
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_AxisZ.SetMoveVelocityImm(AuroraACS.Speed.M);
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_AxisZ.AccelerationImm(AuroraACS.Speed.M);
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_AxisZ.DecelerationImm(AuroraACS.Speed.M);
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_AxisZ.JerkImm(AuroraACS.Speed.M);
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_AxisZ.Move();
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var res = context.RetryUntilSuccess(
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() => _AxisX.IsReachedTargetPosition(0) && _AxisZ.IsReachedTargetPosition(0),
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30 * 1000, 20, true);
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if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
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else if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }
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Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetStandbyScanner(SequenceContext context, string id, SequenceActionResult param)
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{
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// Scanner Default Setting
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var mainPage = CommonHelper.GetMainPage();
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_ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
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_WeldingScannerListNo = eListNo.LIST1;
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_SelectedObjectList = FindObjects();
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//Vision Correction File 선택
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_Scanner.SelectCorrectionTable(2);
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if (!_Scanner.Config.UseMarkingOnTheFly)
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{
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Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
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return SequenceAction.Ok();
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}
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Log.I("[EncoderReset] 시작");
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// SeqUploadWeldingList.MarkingOnTheFlyOn 패턴
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_Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
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Log.I($"[EncoderReset] SetFlyX: {_Scanner.Config.MarkingOnTheFlyEncoderResolutionX}");
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_Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
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Log.I($"[EncoderReset] WaitForEncoderX: {_Scanner.Config.MarkingStartEncoderPositionX}");
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_Scanner.StoreEncoder(0);
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_Scanner.SaveAndRestartTimer();
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Log.I("[EncoderReset] 완료 - Stage(0) = Scanner(0) 동기화");
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return SequenceAction.Ok();
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}
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//SeqTeachingPosMoveStageA패턴 참고 - 기존 GUN 프로젝트 시퀸스
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private List<IDrawObject> FindObjects()
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{
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if (_InitParam.IsUseExternalObjects)
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{
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return _InitParam.ExternalObjects;
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}
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else if (_InitParam.IsObjectSelectAll)
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{
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return _ScannerCanvasUserCtrl.Model.ActiveLayer.Objects;
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}
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else
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{
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return _ScannerCanvasUserCtrl.Canvas.Model.SelectedObjects;
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}
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}
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#endregion
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private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
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{
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Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
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// TeachingRun에는 용접 시퀀스만 정의해서 Auto Run에서도 사용하므로 Offset 넣어줘야 함
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SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
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{
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NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
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IncludeListStartEnd = true,
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CellMeasureCenterOffsetX = _SystemParameter.CellPosMeasureCenterOffsetX + _InitParam.CellCenterOffsetX,
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CellMeasureCenterOffsetY = _SystemParameter.CellPosMeasureCenterOffsetY + _InitParam.CellCenterOffsetY,
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SelectedDrawObjectList = _SelectedObjectList,
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WeldingScannerListNo = _WeldingScannerListNo,
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};
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Log.D(string.Format($"[ComponentTeachingRun] Set UploadWelindList Seq Param"));
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return SequenceAction.Ok(seqParams);
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}
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private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.D(string.Format($"[ComponentTeachingRun] Get UploadWelindList Seq Param"));
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var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
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if (resultOutParam.Success == false)
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{
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Log.E(string.Format($"[ComponentTeachingRun] Failed UploadWeldingList Sequence"));
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return null;
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult DoComponentWelding(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("ExecuteList Start");
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Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
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DateTime weldingTime = DateTime.Now;
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_Scanner.ExecuteList(_WeldingScannerListNo);
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// ── 26.04.06 NDY 추가: ACS Stage X 이동 ──────────────
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// MOTF: Scanner List 실행과 동시에 Stage X 이동 시작
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// Stage X 엔코더가 트리거 → WaitForEncoderX 조건 도달 시 갈바노 마킹
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// TODO: 변수 맵 수신 후 _ACS.MOTFStart()로 교체
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// _ACS?.MOTFStart();
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// ────────────────────────────────────────────────────
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// ── 26.04.06 NDY 추가: ACS 완료 대기 ─────────────────
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// TODO: 변수 맵 수신 후 활성화
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// while (!_ACS.CheckMOTFComp()) { Thread.Sleep(10); }
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// ────────────────────────────────────────────────────
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if (_Scanner.Config.UseRecordSignal)
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{
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DateTime startTime = DateTime.Now;
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_Scanner.StackRecord();
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_ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
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}
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// excel 파일 작성
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SaveScannerRecordFileForamt();
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Log.D(string.Format($"[ComponentTeachingRun] SaveScannerRecordFileForamt Time : {_ScannerSaveLogTime.TotalMilliseconds}"));
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var PartialTactTime = DateTime.Now.Subtract(_partialWeldingStartTime);
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Log.D(string.Format($"[TactTime] Complete Partial Component Weld : {PartialTactTime.TotalMilliseconds}"));
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_ScannerCanvasUserCtrl.TimeLabelUpdate(_MeasurementSpanTime.TotalMilliseconds, PartialTactTime.TotalMilliseconds);
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetMotion(SequenceContext context, string id, SequenceActionResult param)
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{
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// 메뉴얼 화면에서 셋팅이 필요해보임
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_ACS.SetMOTFParams(0, 0, 0, 0, 0);
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return SequenceAction.Ok();
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}
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private SequenceActionResult StartMotion(SequenceContext context, string id, SequenceActionResult param)
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{
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_ACS.MOTFStart();
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// 모션 동작시키고 바로 확인하면 그냥 빠져나올 것 같음
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var res = context.Wait(1000, 100);
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if (res == E2.TIMEOUT) ;
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else if (res == E2.CANCELLED) { Log.E("[MOTF] Motion CANCELLED"); return null; }
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res = context.RetryUntilSuccess(() => _ACS.CheckMOTFComp(), 1000 * 20, 100, true);
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if (res == E2.TIMEOUT) { Log.E("[MOTF] Motion TIMEOUT"); return null; }
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else if (res == E2.CANCELLED) { Log.E("[MOTF] Motion CANCELLED"); return null; }
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return SequenceAction.Ok();
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}
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private SequenceActionResult EndWelding(SequenceContext context, string id, SequenceActionResult param)
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{
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_Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
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Log.I("ExecuteList Complete");
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_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);
|
|
|
|
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 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 void SaveScannerRecordFileForamt()
|
|
{
|
|
if (_Scanner.Config.UseRecordSignal)
|
|
{
|
|
DateTime startTime = DateTime.Now;
|
|
_Scanner.SaveStackRecord("Normal");
|
|
_ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
|
|
}
|
|
}
|
|
|
|
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);
|
|
|
|
//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);
|
|
|
|
//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 : OnStopped");
|
|
}
|
|
}
|
|
|
|
// TODO: UseStream 으로 TeachingRun 을 할 필요가 있을까?? 확인 필요
|
|
public class SeqAutoRunPrismaticScanner_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 SeqAutoRunPrismaticScanner_OutParam : OutParam
|
|
{
|
|
|
|
}
|
|
}
|