831 lines
25 KiB
C#
831 lines
25 KiB
C#
using Aurora.Api;
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using Aurora.Api.Devices;
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using AuroraLaserScanner.Utils;
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using Hermes;
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using System;
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using System.Collections.Generic;
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using System.Configuration;
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using System.IO;
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using System.IO.Compression;
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using System.Linq;
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using System.Net.NetworkInformation;
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using System.Runtime.Remoting.Contexts;
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using System.Text;
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using System.Threading;
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//using System.Windows.Shapes;
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namespace AuroraLaserScanner
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{
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public partial class Scanner : Device
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{
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Logger Log = new Logger("Scanner");
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public ScannerConfig Config { get; set; }
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//public ScannerObj _scannerObj { get; set; }
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private ScannerObj _scannerObj { get; set; }
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public Scanner(string deviceId)
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{
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CommType = CommunicationType.Etc;
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}
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protected override int DoActivate(IDeviceConfig config)
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{
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if (IsActivated) {
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return E1.OK;
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}
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Config = config as ScannerConfig;
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if (IsSimul) {
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_scannerObj = new ScannerSimul();
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return E1.OK;
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}
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if (Config.Type == eRTCType.RTC5) {
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_scannerObj = new ScannerRTC5();
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} else if (Config.Type == eRTCType.RTC6) {
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_scannerObj = new ScannerRTC6();
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} else {
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_scannerObj = new ScannerSimul();
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}
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if (_scannerObj == null) {
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Log.E(string.Format("ScannerObj is Null"));
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return E1.ARGUMENT;
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}
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if (string.IsNullOrEmpty(Config.CorrectionFile) || string.IsNullOrEmpty(Config.ProgramFile) || string.IsNullOrEmpty(Config.LaserCorrectionFile)) {
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Log.E(string.Format("File Path is Empty"));
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return E1.ARGUMENT;
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}
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if (!File.Exists(Config.CorrectionFile) || !File.Exists(Config.LaserCorrectionFile)) {
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Log.E(string.Format("File is not exist"));
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return E1.ARGUMENT;
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}
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var errorCode = _scannerObj.Initialize(Config);
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if (errorCode != E1.OK) {
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Log.E(string.Format($"Initialize Error : {errorCode}"));
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return E1.ARGUMENT;
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}
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return E1.OK;
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}
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protected override int DoDeactivate()
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{
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if (!IsSimul) {
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_scannerObj?.Close();
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}
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return E1.OK;
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}
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#region ScannerObj
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public void EnableLaser()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.EnableLaser();
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}
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public bool GetModulationMode()
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{
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if (!IsActivated)
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{
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return false;
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}
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return _scannerObj.GetModulationMode();
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}
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public void SetLaserPinOut(uint pins)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetLaserPinOut(pins);
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}
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public void GetXYPos(out double xPos, out double yPos)
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{
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if (!IsActivated) {
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xPos = 0;
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yPos = 0;
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return;
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}
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_scannerObj.GetXYPos(out xPos, out yPos);
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}
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public void ReadEncoder(out double encoder0_0, out double encoder1_0, out double encoder0_1, out double encoder1_1, bool rotateMode = false)
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{
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if (!IsActivated) {
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encoder0_0 = 0;
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encoder1_0 = 0;
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encoder0_1 = 0;
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encoder1_1 = 0;
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return;
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}
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_scannerObj.ReadEncoder(out encoder0_0, out encoder1_0, out encoder0_1, out encoder1_1, rotateMode);
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}
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public void GetEncoder(out double encoderX, out double encoderY, bool rotateMode = false)
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{
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if (!IsActivated) {
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encoderX = 0;
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encoderY = 0;
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return;
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}
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_scannerObj.GetEncoder(out encoderX, out encoderY, rotateMode);
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}
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public uint GetMarkingInfo()
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{
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if (!IsActivated || IsSimul) {
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return 0;
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}
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return _scannerObj.GetMarkingInfo();
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}
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public uint ReadStatus()
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{
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if (!IsActivated || IsSimul) {
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return 0;
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}
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return _scannerObj.ReadStatus();
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}
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public uint Open()
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{
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if (!IsActivated) {
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return 0;
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}
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return _scannerObj.Open();
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}
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public int Initialize(ScannerConfig config)
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{
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if (!IsActivated) {
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return E1.NETWORK;
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}
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return _scannerObj.Initialize(config);
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}
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public bool GetBusyStatus()
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{
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if (!IsActivated) {
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return false;
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}
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return _scannerObj.GetBusyStatus();
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}
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public void SetStartList(eListNo no)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetStartList(no);
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}
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public void SetLaserTiming(uint periodHz, uint laser1PulseWidthUs, uint laser2PulseWidthUs)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetLaserTiming(periodHz, laser1PulseWidthUs, laser2PulseWidthUs);
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}
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public void SetStandby(uint periodkHz, uint laserPulseWidthUs)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetStandby(periodkHz, laserPulseWidthUs);
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}
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public void LaserOnList(double interval)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.LaserOnList(interval);
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}
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public void WriteDA(uint portNo, float value/*0~100%*/, eFunctionType type = eFunctionType.COMMAND)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.WriteDA(portNo, value, type);
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}
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public void SetEndList()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetEndList();
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}
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public void ExecuteList(eListNo no)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ExecuteList(no);
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}
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public void AutoChange()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.AutoChange();
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}
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public uint LoadList(eListNo no)
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{
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if (!IsActivated) {
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return 0;
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}
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return _scannerObj.LoadList(no);
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}
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public void StopExecution()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.StopExecution();
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}
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public void LaserSignalOn()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.LaserSignalOn();
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}
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public void LaserSignalOff()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.LaserSignalOff();
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}
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public void InitFly2D(int offsetX = 0, int offsetY = 0)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.InitFly2D(offsetX, offsetY);
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}
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public void SimulateEncoder(uint EncoderNo)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SimulateEncoder(EncoderNo);
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}
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public void SetControlMode(uint mode)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetControlMode(mode);
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}
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public void SetRotateCenter(double posX, double posY, eFunctionType type = eFunctionType.COMMAND)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetRotateCenter(posX, posY, type);
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}
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public void SetFlyRotate(double encoderResolution)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetFlyRotate(encoderResolution);
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}
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public void Fly_Return(double x, double y)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.Fly_Return(x, y);
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}
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public void SetJumpSpeedCtrl(double speed)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetJumpSpeedCtrl(speed);
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}
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public void SetJumpSpeed(double speed)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetJumpSpeed(speed);
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}
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public void JumpAbs(double x, double y, eFunctionType type = eFunctionType.COMMAND)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.JumpAbs(x, y, type);
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}
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public void JumpRel(double x, double y, eFunctionType type = eFunctionType.COMMAND)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.JumpRel(x, y, type);
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}
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public void SelectCorrectionTable(int no)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SelectCorrectionTable(no);
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}
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public double GetTime()
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{
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if (!IsActivated) {
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return 0;
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}
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return _scannerObj.GetTime();
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}
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public void SetFlyX(double encoderResolution)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetFlyX(encoderResolution);
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}
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public void SetFlyX(double encoderResolution, double diameter)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetFlyX(encoderResolution, diameter);
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}
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public void WaitForEncoderX(double position)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.WaitForEncoderX(position);
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}
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public void WaitForEncoderRotateRange(double minRotateX, double maxRotateX, double minRotateY, double maxRotateY)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.WaitForEncoderRotateRange(minRotateX, maxRotateX, minRotateY, maxRotateY);
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}
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public void WaitForEncoderRotateX(double angle)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.WaitForEncoderRotateX(angle);
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}
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public void SetScannerDelay(uint jumpDelay, uint markDelay, uint arcDelay)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetScannerDelay(jumpDelay, markDelay, arcDelay);
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}
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public void SetLaserPinOutList(uint pins)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetLaserPinOutList(pins);
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}
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public void LongDelay(uint delay)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.LongDelay(delay);
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}
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public void SetTrigger(uint period/*㎲*/, eRecordSignal signal1, eRecordSignal signal2, eRecordSignal signal3, eRecordSignal signal4)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetTrigger(period, signal1, signal2, signal3, signal4);
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}
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public void SetMarkSpeed(double speed)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetMarkSpeed(speed);
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}
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public void SetLaesrDelay(int laserOnDelay, uint laserOffDelay)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetLaesrDelay(laserOnDelay, laserOffDelay);
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}
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public void MarkAbs(double x, double y)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.MarkAbs(x, y);
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}
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public void StoreEncoder(uint pos)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.StoreEncoder(pos);
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}
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public void SaveAndRestartTimer()
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SaveAndRestartTimer();
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}
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public void SetWobbelDirection(int dX, int dY)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetWobbelDirection(dX, dY);
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}
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public void SetWobbelMode(bool wobbelEnable, double transversal, double longitudinal, double frequency, int shape)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetWobbelMode(wobbelEnable, transversal, longitudinal, frequency, shape);
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}
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public void SetWobbelVector(double tansversal, double longitudinal, uint period, float power)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetWobbelVector(tansversal, longitudinal, period, power);
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}
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public void ParaJumpAbs(double x, double y, float power)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ParaJumpAbs(x, y, power);
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}
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public void ParaJumpRel(double x, double y, float power)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ParaJumpRel(x, y, power);
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}
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public void SetVectorControl(uint portNo, uint value)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetVectorControl(portNo, value);
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}
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public void ParaMarkAbs(double x, double y, float power)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ParaMarkAbs(x, y, power);
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}
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public void ParaMarkRel(double x, double y, float power)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ParaMarkRel(x, y, power);
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}
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public void ArcAbs(double x, double y, double angle)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.ArcAbs(x, y, angle);
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}
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public uint GetLastError()
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{
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if (!IsActivated) {
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return 0;
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}
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return _scannerObj.GetLastError();
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}
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#endregion
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public uint GetListSpace()
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{
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if (!IsActivated) {
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return 0;
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}
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return _scannerObj.GetListSpace();
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}
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public void SetConfigList(uint mem1, uint mem2)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.SetConfigList(mem1, mem2);
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}
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public double GetCommandPosX()
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{
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return _scannerObj.CommandPosX;
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}
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public double GetCommandPosY()
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{
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return _scannerObj.CommandPosY;
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}
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public void WaitForListTaskCompleted(int timeOut, SequenceContext context = null)
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{
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if (!IsActivated) {
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return;
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}
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_scannerObj.WaitForListTaskCompleted(timeOut, context);
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}
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public void SaveRecord(string filePath)
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{
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//ILSOSConfig로 파일 경로 수정
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uint busy, pos = 0;
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int changeLaserStatus = 0, CoordinateIdindex = 0;
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_scannerObj.Measurement_status(out busy, out pos);
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if (pos > 1048576) {
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return;
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}
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int[] data1 = new int[pos];
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int[] data2 = new int[pos];
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int[] data3 = new int[pos];
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int[] data4 = new int[pos];
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_scannerObj.GetWaveForm(1, pos, out data1);
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_scannerObj.GetWaveForm(2, pos, out data2);
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_scannerObj.GetWaveForm(3, pos, out data3);
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_scannerObj.GetWaveForm(4, pos, out data4);
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System.Data.DataTable dataTable = new System.Data.DataTable();
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|
|
dataTable.Columns.Add(new System.Data.DataColumn("No.", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType1.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType2.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType3.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType4.ToString(), typeof(int)));
|
|
|
|
for (int i = 0; i < data1.Length; i++) {
|
|
System.Data.DataRow row = dataTable.NewRow();
|
|
int iRowCount = dataTable.Rows.Count;
|
|
object[] rowArray = new object[5];
|
|
|
|
rowArray[0] = iRowCount + 1;
|
|
rowArray[1] = data1[i];
|
|
rowArray[2] = data2[i];
|
|
rowArray[3] = data3[i];
|
|
rowArray[4] = data4[i];
|
|
|
|
row.ItemArray = rowArray;
|
|
dataTable.Rows.Add(row);
|
|
}
|
|
//var DefaultPath = ConfigurationManager.AppSettings.Get("DATA_PATH");
|
|
//string fullPath = System.IO.Path.Combine(DefaultPath, "_device", "_scanner", "Record");
|
|
//string fileName = fullPath + string.Format("\\{0}_{1}.csv", filePath, DateTime.Now.ToString("yyyyMMdd_HHmmss.fff"));
|
|
CSVUtils.ExportToCSV(filePath, dataTable);
|
|
|
|
}
|
|
public void SaveRecord(string filePath, bool isRecordLDD, List<int> MetaDataWeldCoordinateID, int iCoordinateID)
|
|
{
|
|
//ILSOSConfig로 파일 경로 수정
|
|
uint busy, pos = 0;
|
|
int changeLaserStatus = 0, CoordinateIdindex = 0;
|
|
|
|
_scannerObj.Measurement_status(out busy, out pos);
|
|
if (pos > 1048576) {
|
|
return;
|
|
}
|
|
|
|
int[] data1 = new int[pos];
|
|
int[] data2 = new int[pos];
|
|
int[] data3 = new int[pos];
|
|
int[] data4 = new int[pos];
|
|
_scannerObj.GetWaveForm(1, pos, out data1);
|
|
_scannerObj.GetWaveForm(2, pos, out data2);
|
|
_scannerObj.GetWaveForm(3, pos, out data3);
|
|
_scannerObj.GetWaveForm(4, pos, out data4);
|
|
|
|
System.Data.DataTable dataTable = new System.Data.DataTable();
|
|
|
|
if (isRecordLDD) {
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Sequence ID", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Weld ID", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Laser State(ON:1/OFF:0)", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Transition Offset(s)", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Part X(mm)", typeof(double)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Part Y(mm)", typeof(double)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Head X(mm)", typeof(double)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn("Head Y(mm)", typeof(double)));
|
|
|
|
for (int i = 0; i < data1.Length; i++) {
|
|
if (data3[i] == 0) {
|
|
changeLaserStatus = data3[i];
|
|
continue;
|
|
} else if ((changeLaserStatus != data3[i]) && data3[i] == 1) {
|
|
changeLaserStatus = data3[i];
|
|
CoordinateIdindex++;
|
|
}
|
|
//else if (changelaserstatus != data3[i])
|
|
//{
|
|
// changelaserstatus = data3[i];
|
|
//}
|
|
|
|
System.Data.DataRow row = dataTable.NewRow();
|
|
int iRowCount = dataTable.Rows.Count;
|
|
object[] rowArray = new object[8];
|
|
|
|
//int m_sequenceID = 1;
|
|
//int m_sequenceID = MetaDataWeldCoordinateID.Count;
|
|
int m_sequenceID = iCoordinateID;
|
|
|
|
//Recipe 객체 변경될때 m_weldID 값 변경 필요
|
|
int m_weldID = MetaDataWeldCoordinateID[CoordinateIdindex - 1];
|
|
|
|
int m_transitionOffset = 0;
|
|
|
|
rowArray[0] = m_sequenceID;
|
|
rowArray[1] = m_weldID;
|
|
rowArray[2] = data3[i]; //Laser State
|
|
rowArray[3] = m_transitionOffset;
|
|
rowArray[4] = Math.Round(Convert.ToDouble(data1[i]) / Config.ScaleXYFactor, 4);
|
|
rowArray[5] = Math.Round(Convert.ToDouble(data2[i]) / Config.ScaleXYFactor, 4);
|
|
rowArray[6] = Math.Round(Convert.ToDouble(data1[i]) / Config.ScaleXYFactor, 4);
|
|
rowArray[7] = Math.Round(Convert.ToDouble(data2[i]) / Config.ScaleXYFactor, 4);
|
|
|
|
row.ItemArray = rowArray;
|
|
dataTable.Rows.Add(row);
|
|
}
|
|
|
|
CSVUtils.ExportToLDDFileCSV(filePath, dataTable);
|
|
|
|
} else {
|
|
dataTable.Columns.Add(new System.Data.DataColumn("No.", typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType1.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType2.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType3.ToString(), typeof(int)));
|
|
dataTable.Columns.Add(new System.Data.DataColumn(Config.RecordSignalType4.ToString(), typeof(int)));
|
|
|
|
for (int i = 0; i < data1.Length; i++) {
|
|
System.Data.DataRow row = dataTable.NewRow();
|
|
int iRowCount = dataTable.Rows.Count;
|
|
object[] rowArray = new object[5];
|
|
|
|
rowArray[0] = iRowCount + 1;
|
|
rowArray[1] = data1[i];
|
|
rowArray[2] = data2[i];
|
|
rowArray[3] = data3[i];
|
|
rowArray[4] = data4[i];
|
|
|
|
row.ItemArray = rowArray;
|
|
dataTable.Rows.Add(row);
|
|
}
|
|
CSVUtils.ExportToCSV(filePath, dataTable);
|
|
}
|
|
|
|
#region RTC6 보드 Pulse Counting
|
|
//int[] laserOnArray = null;
|
|
|
|
//for (int i = 0; i < 4; i++)
|
|
//{
|
|
// if (Config.RecordSignalType1.ToString() == "LaserON")
|
|
// {
|
|
// laserOnArray = data1;
|
|
// }
|
|
// else if (Config.RecordSignalType2.ToString() == "LaserON")
|
|
// {
|
|
// laserOnArray = data2;
|
|
// }
|
|
// else if (Config.RecordSignalType3.ToString() == "LaserON")
|
|
// {
|
|
// laserOnArray = data3;
|
|
// }
|
|
// else if (Config.RecordSignalType3.ToString() == "LaserON")
|
|
// {
|
|
// laserOnArray = data4;
|
|
// }
|
|
// else
|
|
// {
|
|
// return -1;
|
|
// }
|
|
//}
|
|
|
|
//int pulseCount = 0;
|
|
|
|
//for (int i = 0; i < laserOnArray.Length - 1; i++)
|
|
//{
|
|
// if (laserOnArray[i] == 0 && laserOnArray[i + 1] == 1)
|
|
// {
|
|
// pulseCount++;
|
|
// }
|
|
//}
|
|
//Log.I(string.Format($"Record LaserON Pulse Count : {pulseCount}"));
|
|
|
|
//return pulseCount;
|
|
#endregion
|
|
}
|
|
|
|
public void SaveRecordZip(string zipFilePath, string metaDataFilePath, string coordinateFilePath)
|
|
{
|
|
try {
|
|
using (FileStream zipToOpen = new FileStream(zipFilePath, FileMode.Create)) {
|
|
using (ZipArchive archive = new ZipArchive(zipToOpen, ZipArchiveMode.Create)) {
|
|
// XML 파일 추가
|
|
AddFileToZip(archive, metaDataFilePath);
|
|
// CSV 파일 추가
|
|
AddFileToZip(archive, coordinateFilePath);
|
|
|
|
}
|
|
}
|
|
|
|
// ZIP 파일의 확장자 변경
|
|
string newZipFilePath = Path.ChangeExtension(zipFilePath, ".gpi");
|
|
File.Move(zipFilePath, newZipFilePath);
|
|
} catch (Exception ex) {
|
|
Log.E(string.Format(ex.Message));
|
|
}
|
|
|
|
}
|
|
private void AddFileToZip(ZipArchive archive, string filePath)
|
|
{
|
|
string entryName = Path.GetFileName(filePath);
|
|
ZipArchiveEntry entry = archive.CreateEntry(entryName);
|
|
|
|
using (Stream entryStream = entry.Open())
|
|
using (FileStream fileStream = new FileStream(filePath, FileMode.Open, FileAccess.Read)) {
|
|
fileStream.CopyTo(entryStream);
|
|
}
|
|
}
|
|
public string GetLatestFile(string folderPath)
|
|
{
|
|
var directoryInfo = new DirectoryInfo(folderPath);
|
|
var latestFile = directoryInfo.GetFiles()
|
|
.OrderByDescending(f => f.LastWriteTime)
|
|
.FirstOrDefault();
|
|
|
|
if (latestFile == null) {
|
|
throw new FileNotFoundException("No files found in the specified directory.");
|
|
}
|
|
|
|
return latestFile.FullName;
|
|
}
|
|
}
|
|
}
|