505 lines
22 KiB
C#
505 lines
22 KiB
C#
using Aurora;
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using Aurora.Api;
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using Aurora.View;
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using AuroraLaser;
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using AuroraLaserScanner;
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using CoreUnit.Control.UserControl.Canvas;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Input;
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using System.Windows.Threading;
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using WeldingCommon.Models;
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using WeldingCommon.Sequences;
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using WeldingCommon.Settings;
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using WeldingCommon.Utils;
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namespace WeldingCommon.Views
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{
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public class UCScannerLaserControlViewModel : NotifyPropertyChangedBase
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{
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private readonly Logger Log = new Logger("UCScannerLaserControlViewModel");
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public ICommand CMD_VisibleChanged { get; }
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public ICommand CMD_LaserShotOnPercent { get; }
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public ICommand CMD_LaserShotOff { get; }
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public ICommand CMD_ActivateOnTheFly { get; }
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public ICommand CMD_DeactivateOnTheFly { get; }
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public ICommand CMD_ResetEncoderValue { get; }
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public ICommand CMD_SimulateEncoder { get; }
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public ICommand CMD_SimulateEncoderXY { get; }
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public ICommand CMD_LaserShotOnWatt { get; }
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private readonly IAuroraEnvironment _Aurora;
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private readonly LaserConfig _LaserConfig;
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private readonly Scanner _Scanner; // 스캐너
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private readonly Laser _Laser;
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private readonly ScannerConfig _ScannerConfig;
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private double _LaserPower1Percent;
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public double LaserPower1Percent { get => _LaserPower1Percent; set => SetProperty(ref _LaserPower1Percent, value); }
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private double _LaserPower2Percent;
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public double LaserPower2Percent { get => _LaserPower2Percent; set => SetProperty(ref _LaserPower2Percent, value); }
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private double _LaserPower1Watt;
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public double LaserPower1Watt { get => _LaserPower1Watt; set => SetProperty(ref _LaserPower1Watt, value); }
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private double _LaserPower2Watt;
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public double LaserPower2Watt { get => _LaserPower2Watt; set => SetProperty(ref _LaserPower2Watt, value); }
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private uint _LaserPeriod;
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public uint LaserPeriod { get => _LaserPeriod; set => SetProperty(ref _LaserPeriod, value); }
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private uint _LaserPulseWidth;
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public uint LaserPulseWidth { get => _LaserPulseWidth; set => SetProperty(ref _LaserPulseWidth, value); }
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private bool _IsUseLaserAutoOffChecked;
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public bool IsUseLaserAutoOffChecked { get => _IsUseLaserAutoOffChecked; set => SetProperty(ref _IsUseLaserAutoOffChecked, value); }
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private double _LaserOnTime;
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public double LaserOnTime { get => _LaserOnTime; set => SetProperty(ref _LaserOnTime, value); }
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// List1 or List2 를 Scanner 의 상태를 보고 check
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private string _BusyStatus;
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public string BusyStatus { get => _BusyStatus; set => SetProperty(ref _BusyStatus, value); }
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private int _ListInterationCount;
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public int ListInterationCount { get => _ListInterationCount; set => SetProperty(ref _ListInterationCount, value); }
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private double _RotateCenterX;
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public double RotateCenterX { get => _RotateCenterX; set => SetProperty(ref _RotateCenterX, value); }
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private double _RotateCenterY;
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public double RotateCenterY { get => _RotateCenterY; set => SetProperty(ref _RotateCenterY, value); }
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private double _EncoderResolution;
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public double EncoderResolution { get => _EncoderResolution; set => SetProperty(ref _EncoderResolution, value); }
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private double _EncoderValueAxisX;
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public double EncoderValueAxisX { get => _EncoderValueAxisX; set => SetProperty(ref _EncoderValueAxisX, value); }
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private double _EncoderValueAxisY;
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public double EncoderValueAxisY { get => _EncoderValueAxisY; set => SetProperty(ref _EncoderValueAxisY, value); }
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private double _EncoderValueRotate;
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public double EncoderValueRotate { get => _EncoderValueRotate; set => SetProperty(ref _EncoderValueRotate, value); }
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private double _EncoderValueVelocity;
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public double EncoderValueVelocity { get => _EncoderValueVelocity; set => SetProperty(ref _EncoderValueVelocity, value); }
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private bool _IsFieldOutX;
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public bool IsFieldOutX { get => _IsFieldOutX; set => SetProperty(ref _IsFieldOutX, value); }
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private bool _IsFieldOutY;
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public bool IsFieldOutY { get => _IsFieldOutY; set => SetProperty(ref _IsFieldOutY, value); }
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private bool _IsUseMarkingOnTheFly;
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public bool IsUseMarkingOnTheFly { get => _IsUseMarkingOnTheFly; set => SetProperty(ref _IsUseMarkingOnTheFly, value); }
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private int _BeforeBusyList = 0;
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private int _ListIterationCount = 0;
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private DateTime _LastEncRecordTime = DateTime.Now;
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private double _LastEncoderRecorded = 0;
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private bool _ToggleSimulateEncoder = false; // 왜 있는지는 모르겠음.
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private readonly DispatcherTimer _MonitorTimer;
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private ISequence _SeqTeachingRun;
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public UCScannerLaserControlViewModel(IAuroraEnvironment aurora, string scannerId, bool isUseMarkingOntheFly = false)
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{
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_Aurora = aurora;
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_Scanner = _Aurora.DeviceManager[scannerId] as Scanner;
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//_Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
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//_LaserConfig = _Aurora.DeviceManager.GetDeviceConfig(_Laser.DeviceId) as AuroraLaser.LaserConfig;
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_ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
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_SeqTeachingRun = _Aurora.SequenceEntry[CommonSequenceIds.SeqComponentTeachingRun];
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IsUseMarkingOnTheFly = isUseMarkingOntheFly;
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InitVariable();
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CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
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CMD_LaserShotOnPercent = new DelegateCommand(PerformCmdLaserShotOnPercent); //레이저 온 퍼센트 적용
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CMD_LaserShotOnWatt = new DelegateCommand(PerformCmdLaserShotOnWatt); // 레이저 온 와트 적용
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CMD_LaserShotOff = new DelegateCommand(PerformCmdLaserShotOff); //레이저 끄기
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CMD_ActivateOnTheFly = new DelegateCommand(PerformCmdActivateOnTheFly);
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CMD_DeactivateOnTheFly = new DelegateCommand(PerformCmdDeactivateOnTheFly);
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CMD_ResetEncoderValue = new DelegateCommand(PerformCmdResetEncoderValue);
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CMD_SimulateEncoder = new DelegateCommand(PerformCmdSimulateEncoder);
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CMD_SimulateEncoderXY = new DelegateCommand(PerformCmdSimulateEncoderXY);
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_MonitorTimer = new DispatcherTimer();
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_MonitorTimer.Tick += OnMonitoring;
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_MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);
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}
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private void InitVariable()
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{
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LaserPower1Percent = 10;
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LaserPower2Percent = 0;
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LaserPeriod = 1;
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LaserPulseWidth = 1000000;
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LaserPower1Watt = 300;
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LaserPower2Watt = 0;
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_LastEncRecordTime = DateTime.Now;
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IsUseLaserAutoOffChecked = true;
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}
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private void VisibleChanged(object obj)
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{
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bool visible = (bool)obj;
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if (visible) {
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//Init_XYLimitPos();
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_MonitorTimer.Start();
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} else {
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_MonitorTimer.Stop();
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}
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}
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private void OnMonitoring(object sender, EventArgs e)
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{
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if (_Scanner.IsActivated == false) {
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Log.D(string.Format("[OnMonitoring] Check Scanner device Connect. ScannerLaserControl view OnMonitoring Stop"));
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MessageUtil.ShowWarningToast(string.Format("Check Scanner device Connect."));
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_MonitorTimer.Stop();
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}
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double encoderX, encoderY;
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if (_ScannerConfig.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
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_Scanner.GetEncoder(out encoderX, out encoderY, false);
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} else {
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_Scanner.GetEncoder(out encoderX, out encoderY, true);
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}
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TimeSpan encRecordTimeSpan = DateTime.Now.Subtract(_LastEncRecordTime);
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_LastEncRecordTime = DateTime.Now;
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// CBW Test용 임시 수정
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//m_scannerUnit.GetEncoder(out encoderX, out encoderY, true);
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EncoderValueAxisX = encoderX;
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EncoderValueAxisY = encoderY;
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//m_scannerUnit.GetEncoder(out encoderX, out encoderY, true);
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//lbRotateEncoderValue.Text = (encoderX).ToString("f3");
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EncoderValueRotate = 0;
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EncoderValueVelocity = (encoderX - _LastEncoderRecorded) / (encRecordTimeSpan.TotalSeconds);
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_LastEncoderRecorded = encoderX;
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//// Field 초과 판단
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uint markingInfo = 0;
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markingInfo = _Scanner.GetMarkingInfo();
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// x 범위 초과
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if ((markingInfo & 0x0001) == 0x0001 || (markingInfo & 0x0002) == 0x0002) {
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IsFieldOutX = true;
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} else {
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IsFieldOutX = false;
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}
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// y 범위 초과
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if ((markingInfo & 0x0004) == 0x0004 || (markingInfo & 0x0008) == 0x0008) {
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IsFieldOutY = true;
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} else {
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IsFieldOutY = false;
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}
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// 상태 파악 및 반복성 확인.
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uint readStatus = _Scanner.ReadStatus();
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string busyStatus;
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uint IsList1Busy = readStatus & 16;
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uint IsList2Busy = readStatus & 32;
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if (IsList1Busy == 16) {
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busyStatus = "List1";
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if (_BeforeBusyList != 1) {
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_ListIterationCount++;
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}
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_BeforeBusyList = 1;
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} else if (IsList2Busy == 32) {
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busyStatus = "List2";
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if (_BeforeBusyList != 2) {
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_ListIterationCount++;
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}
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_BeforeBusyList = 2;
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} else {
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busyStatus = "N/A";
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}
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BusyStatus = busyStatus;
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ListInterationCount = _ListIterationCount;
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}
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private void PerformCmdLaserShotOnPercent(object obj)
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{
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if (IsUseLaserAutoOffChecked) {
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if (_Scanner.GetBusyStatus()) {
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MessageUtil.ShowWarningToast(string.Format("Laser, Scanner is busy."));
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return;
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}
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//if (!_Laser.GetLaserReady()) {
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// MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
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// return;
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//}
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if (_SeqTeachingRun.RunState == SequenceRunState.Running) {
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MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "Laser On"), Log);
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return;
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}
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var currentModelInfo = EquipmentSpecificModelUtil.GetCurrentRecipeEquipmentSpecificModel();
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if (currentModelInfo.equipmentSpecificModel == null) {
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MessageUtil.ShowWarningToast(string.Format("선택된 model 이 없습니다.", "Laser On"));
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return;
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}
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var intervalTimeBlowOn = 0;
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var intervalTimeBlowOff = 0;
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if (currentModelInfo.equipmentSpecificModel.UseBlow) {
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intervalTimeBlowOn = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOn;
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intervalTimeBlowOff = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOff;
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}
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// Object를 만들어
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var param = new SeqTeachingRun_InitParam() {
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IsUseExternalObjects = true,
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ExternalObjects = CreateDotForLaserOn(),
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//UseStream = _EquipmentInfo.UseStream,
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UseStream = currentModelInfo.equipmentSpecificModel.UseStream,
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UseBlow = currentModelInfo.equipmentSpecificModel.UseBlow,
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IntervalTimeBlowOn = intervalTimeBlowOn,
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IntervalTimeBlowOff = intervalTimeBlowOff,
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NeedSetLaserTiming = true,
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};
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_SeqTeachingRun.Start(param, OnCompleteMarkGrid);
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} else {
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LaserPowerCalParam powerCalParam = Status.AuroraEnv.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
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float powerVolt1 = 0, powerVolt2 = 0;
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powerCalParam.Initialize(powerCalParam.PowerCalibrationCenterBeamCSVFile, powerCalParam.PowerCalibrationRingBeamCSVFile);
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powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
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powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
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Thread.Sleep(50);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, powerVolt1, eFunctionType.COMMAND);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA2, powerVolt2, eFunctionType.COMMAND);
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_Scanner.SetLaserPulseCtrl(LaserPeriod * 1000, LaserPulseWidth);
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//_Scanner.SetLaserTiming(LaserPeriod * 1000, LaserPulseWidth, LaserPulseWidth);
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//_Scanner.SetStandby(LaserPeriod * 1000, LaserPulseWidth);
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_Scanner.LaserSignalOn();
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}
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}
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private void PerformCmdLaserShotOnWatt(object obj)
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{
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if (IsUseLaserAutoOffChecked) {
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if (_Scanner.GetBusyStatus()) {
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MessageUtil.ShowWarningToast(string.Format("Laser, Scanner is busy."));
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return;
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}
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//if (!_Laser.GetLaserReady()) {
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// MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
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// return;
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//}
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if (_SeqTeachingRun.RunState == SequenceRunState.Running) {
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MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "Laser On"), Log);
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return;
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}
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var currentModelInfo = EquipmentSpecificModelUtil.GetCurrentRecipeEquipmentSpecificModel();
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if (currentModelInfo.equipmentSpecificModel == null) {
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MessageUtil.ShowWarningToast(string.Format("선택된 model 이 없습니다.", "Laser On"));
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return;
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}
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var intervalTimeBlowOn = 0;
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var intervalTimeBlowOff = 0;
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if (currentModelInfo.equipmentSpecificModel.UseBlow) {
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intervalTimeBlowOn = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOn;
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intervalTimeBlowOff = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOff;
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}
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// Object를 만들어
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var param = new SeqTeachingRun_InitParam()
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{
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IsUseExternalObjects = true,
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ExternalObjects = CreateDotForLaserOn(),
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//UseStream = _EquipmentInfo.UseStream,
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UseStream = currentModelInfo.equipmentSpecificModel.UseStream,
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UseBlow = currentModelInfo.equipmentSpecificModel.UseBlow,
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IntervalTimeBlowOn = intervalTimeBlowOn,
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IntervalTimeBlowOff = intervalTimeBlowOff,
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NeedSetLaserTiming = true,
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};
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_SeqTeachingRun.Start(param, OnCompleteMarkGrid);
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} else {
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LaserPowerCalParam powerCalParam = Status.AuroraEnv.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
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float powerVolt1 = 0, powerVolt2 = 0;
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powerCalParam.Initialize(powerCalParam.PowerCalibrationCenterBeamCSVFile, powerCalParam.PowerCalibrationRingBeamCSVFile);
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powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
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powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
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Thread.Sleep(50);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, powerVolt1, eFunctionType.COMMAND);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA2, powerVolt2, eFunctionType.COMMAND);
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_Scanner.SetLaserPulseCtrl(LaserPeriod * 1000, LaserPulseWidth);
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//_Scanner.SetLaserTiming(LaserPeriod * 1000, LaserPulseWidth, LaserPulseWidth);
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//_Scanner.SetStandby(LaserPeriod * 1000, LaserPulseWidth);
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_Scanner.LaserSignalOn();
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}
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}
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private void OnCompleteMarkGrid(SequenceActionResult res)
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{
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if (res != null) {
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if (res.Param is SeqTeachingRun_OutParam result && result.Success == true) {
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MessageUtil.ShowSuccessToast(string.Format("Success SeqMarkGrid"));
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return;
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}
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}
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MessageUtil.ShowWarningToast(string.Format("Fail SeqMarkGrid"));
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}
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private void PerformCmdLaserShotOff(object obj)
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{
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if (IsUseLaserAutoOffChecked) {
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_Scanner.StopExecution();
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} else {
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_Scanner.LaserSignalOff();
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}
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_Scanner.SetStandby(10, 0);
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}
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private void PerformCmdResetEncoderValue(object obj)
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{
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try {
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_Scanner.InitFly2D();
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// CBW OTW 테스트를 위해 아래는 일단 주석처리
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//m_scannerUnit.SetFlyX(m_scannerUnit.ScannerUnitParamObj.MarkingOnTheFlyEncoderResolutionX);
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// list 반복 숫자 초기화
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_ListIterationCount = 0;
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} catch (Exception ex) {
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MessageUtil.ShowErrorToast(string.Format($"{ex.Message}"));
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}
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}
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private void PerformCmdActivateOnTheFly(object obj)
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{
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_Scanner.SetRotateCenter(RotateCenterX, RotateCenterY);
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// list 1
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_Scanner.SetStartList(eListNo.LIST1);
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_Scanner.SetFlyRotate(EncoderResolution);
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_Scanner.SetLaserTiming(10, 100, 100); // 아무거나
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_Scanner.SetStandby(10, 0); // 아무거나
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_Scanner.LaserOnList(LaserOnTime); // 1000이 1초
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_Scanner.SetEndList();
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// End - list1
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_Scanner.ExecuteList(eListNo.LIST1);
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}
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private void PerformCmdDeactivateOnTheFly(object obj)
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{
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_Scanner.SetStartList(eListNo.LIST1);
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_Scanner.Fly_Return(0, 0);
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_Scanner.SetEndList();
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_Scanner.ExecuteList(eListNo.LIST1);
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}
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private void PerformCmdSimulateEncoder(object obj)
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{
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if (_ToggleSimulateEncoder) {
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_Scanner.SimulateEncoder(0);
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_ToggleSimulateEncoder = false;
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} else {
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_ToggleSimulateEncoder = true;
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_Scanner.SimulateEncoder(1);
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}
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}
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private void PerformCmdSimulateEncoderXY(object obj)
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{
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if (_ToggleSimulateEncoder) {
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_Scanner.SimulateEncoder(0);
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_ToggleSimulateEncoder = false;
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} else {
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_ToggleSimulateEncoder = true;
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_Scanner.SimulateEncoder(3);
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}
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}
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private List<IDrawObject> CreateDotForLaserOn()
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{
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|
LaserPowerCalParam powerCalParam = Status.AuroraEnv.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
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ScannerParam param = new ScannerParam();
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param.LaserPower1 = (uint)(LaserPower1Percent / 100 * LaserPowerCalParam.MaxCenterPower);// = LaserPower1; // 변경 필요
|
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param.LaserPower2 = (uint)(LaserPower2Percent / 100 * LaserPowerCalParam.MaxRingPower);// = LaserPower1; // 변경 필요
|
|
|
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param.MarkSpeed = 200;
|
|
param.JumpSpeed = 1000;
|
|
param.SpotShotTime = LaserOnTime; // 변경 필요
|
|
param.LaserFrequency = 1000;
|
|
param.LaserPulseDuration = 1000;
|
|
param.MarkDelay = 200;
|
|
param.JumpDelay = 200;
|
|
param.PolygonDelay = 200;
|
|
ScannerCanvasUserCtrl.ScannerParams[127] = param;
|
|
|
|
Dot dot = new Dot();
|
|
_Scanner.GetXYPos(out double xPos, out double yPos);
|
|
dot.P1 = new UnitPoint(xPos, yPos);
|
|
dot.Enabled = true;
|
|
dot.Selected = true;
|
|
dot.ScannerParamNo = 127;
|
|
List<IDrawObject> drawObjects = new List<IDrawObject>();
|
|
drawObjects.Add(dot);
|
|
|
|
return drawObjects;
|
|
}
|
|
|
|
// 일단 이건 1 source 에서 가져옴. view 에서 주석처리 된 부분
|
|
//private void ApplyAnalogValue(object obj)
|
|
//{
|
|
// try {
|
|
// //DA1, DA2 Combobox 이벤트로 현재값을 AnalogVaule에 보여주고싶으나 해야될게많다..
|
|
// //일단 유저가 셋팅만 해서 쓰는 걸로하자..
|
|
// if (AnalogPortSelectedIndex == 0) {
|
|
// DA1PercentLaser = (float)AnalogValue;
|
|
// } else if (AnalogPortSelectedIndex == 1) {
|
|
// DA2PercentLaser = (float)AnalogValue;
|
|
// } else {
|
|
// MessageDialog.Show(Application.Current.MainWindow, "LaserManual", "Check AnalogPortIndex", MessageDialog.Type.Affirmative);
|
|
// }
|
|
// } catch (Exception ex) {
|
|
// Log.E(string.Format($"{ex.Message}"));
|
|
// }
|
|
//}
|
|
|
|
}
|
|
}
|