372 lines
14 KiB
C#
372 lines
14 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; // 26.04.06 NDY 추가
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using AuroraLaser;
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using AuroraLaserScanner;
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using AuroraMotionBoard.Ajin;
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using HarfBuzzSharp;
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using Microsoft.Office.Interop.Excel;
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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.Tasks;
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using System.Windows.Input;
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using System.Windows.Threading;
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namespace WeldingCommon.Views
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{
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public enum eAxisType
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{
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AXIS_X,
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AXIS_Y
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}
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public enum eJogDirection
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{
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MINUS,
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PLUS
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}
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public enum eMotionMode
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{
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ABS,
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REL
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};
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public class UCScannerMotionViewModel : NotifyPropertyChangedBase
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{
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private readonly Logger Log = new Logger("UCScannerMotionViewModel");
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public ICommand CMD_VisibleChanged { get; }
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public ICommand CMD_SpeedChanged { get; }
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public ICommand CMD_MotionModeChanged { get; }
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public ICommand CMD_JogMove { get; }
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public ICommand CMD_CommandPosMove { get; }
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private readonly IAuroraEnvironment _Aurora;
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private readonly Scanner _Scanner;
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private readonly Laser _Laser;
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private readonly ScannerConfig _ScannerConfig;
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private double _ScannerXPos;
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public double ScannerXPos { get => _ScannerXPos; set => SetProperty(ref _ScannerXPos, value); }
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private double _ScannerYPos;
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public double ScannerYPos { get => _ScannerYPos; set => SetProperty(ref _ScannerYPos, value); }
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private bool _IsScannerBusy;
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public bool IsScannerBusy { get => _IsScannerBusy; set => SetProperty(ref _IsScannerBusy, value); }
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private double _StepValue;
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public double StepValue { get => _StepValue; set => SetProperty(ref _StepValue, value); }
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private double _CommandPosX;
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public double CommandPosX { get => _CommandPosX; set => SetProperty(ref _CommandPosX, value); }
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private double _CommandPosY;
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public double CommandPosY { get => _CommandPosY; set => SetProperty(ref _CommandPosY, value); }
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private double _CommandPosLimitMinX;
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public double CommandPosLimitMinX { get => _CommandPosLimitMinX; set => SetProperty(ref _CommandPosLimitMinX, value); }
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private double _CommandPosLimitMaxX;
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public double CommandPosLimitMaxX { get => _CommandPosLimitMaxX; set => SetProperty(ref _CommandPosLimitMaxX, value); }
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private double _CommandPosLimitMinY;
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public double CommandPosLimitMinY { get => _CommandPosLimitMinY; set => SetProperty(ref _CommandPosLimitMinY, value); }
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private double _CommandPosLimitMaxY;
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public double CommandPosLimitMaxY { get => _CommandPosLimitMaxY; set => SetProperty(ref _CommandPosLimitMaxY, value); }
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private double _VelocityRate;
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private eMotionMode _MotionMode;
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private readonly DispatcherTimer _MonitorTimer;
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// 26.04.06 NDY Stage X 관련 필드 추가 ==================
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private ACSMotor _MotorX;
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private ACSMotor _MotorZ;
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private double _StageXPos;
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public double StageXPos { get => _StageXPos; set => SetProperty(ref _StageXPos, value); }
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private double _StageZPos;
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public double StageZPos { get => _StageZPos; set => SetProperty(ref _StageZPos, value); }
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private bool _IsStageXActivated;
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public bool IsStageXActivated { get => _IsStageXActivated; set => SetProperty(ref _IsStageXActivated, value); }
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private bool _IsStageZActivated;
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public bool IsStageZActivated { get => _IsStageZActivated; set => SetProperty(ref _IsStageZActivated, value); }
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// ========================================================
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// PAM, RUW 처럼 2개 이상의 scanner 를 사용하는 경우가 있어, scannerId 를 받는 형태로 생성
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public UCScannerMotionViewModel(IAuroraEnvironment aurora, string scannerId)
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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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_ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
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// 26.04.06 NDY Stage X 모터 연결 추가 ===============
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try { _MotorX = _Aurora.DeviceManager["AxisX2"] as ACSMotor; }
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catch { _MotorX = null; }
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try { _MotorZ = _Aurora.DeviceManager["AxisZ"] as ACSMotor; }
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catch { _MotorZ = null; }
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// ====================================================
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InitVariable();
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CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
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CMD_SpeedChanged = new DelegateCommand(PerformCmdSpeedChanged);
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CMD_MotionModeChanged = new DelegateCommand(PerformCmdMotionModeChanged);
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CMD_JogMove = new DelegateCommand(PerformCmdJogMove);
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CMD_CommandPosMove = new DelegateCommand(PerformCmdCommandPosMove);
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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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_VelocityRate = 1;
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_MotionMode = eMotionMode.ABS;
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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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{
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Init_XYLimitPos();
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_MonitorTimer.Start();
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}
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else
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{
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_MonitorTimer.Stop();
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}
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}
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private void Init_XYLimitPos()
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{
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CommandPosLimitMinX = -1 * _ScannerConfig.ScanXSize / 2;
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CommandPosLimitMaxX = _ScannerConfig.ScanXSize / 2;
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CommandPosLimitMinY = -1 * _ScannerConfig.ScanYSize / 2;
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CommandPosLimitMaxY = _ScannerConfig.ScanYSize / 2;
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}
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private void OnMonitoring(object sender, EventArgs e)
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{
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// 기존 Scanner 모니터링
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double xPos, yPos;
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if (_Scanner != null && _Scanner.IsActivated)
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{
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_Scanner.GetXYPos(out xPos, out yPos);
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ScannerXPos = xPos;
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ScannerYPos = yPos;
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IsScannerBusy = _Scanner.GetBusyStatus();
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}
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else
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{
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ScannerXPos = 0;
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ScannerYPos = 0;
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IsScannerBusy = false;
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}
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// 26.04.06 NDY Stage X 모니터링 추가 ================
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if (_MotorX != null && _MotorX.IsActivated)
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{
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StageXPos = _MotorX.GetActualPos();
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IsStageXActivated = true;
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}
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else
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{
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IsStageXActivated = false;
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}
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if (_MotorZ != null && _MotorZ.IsActivated)
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{
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StageZPos = _MotorZ.GetActualPos();
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IsStageZActivated = true;
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}
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else
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{
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IsStageZActivated = false;
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}
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// ====================================================
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}
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private void PerformCmdSpeedChanged(object commandParameter)
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{
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switch ((string)commandParameter)
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{
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case "Low": _VelocityRate = 0.5; break;
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case "Mid": _VelocityRate = 1; break;
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case "High": _VelocityRate = 1.5; break;
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}
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}
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private void PerformCmdMotionModeChanged(object commandParameter)
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{
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switch ((string)commandParameter)
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{
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case "ABS": _MotionMode = eMotionMode.ABS; break;
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case "REL": _MotionMode = eMotionMode.REL; break;
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}
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}
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private void PerformCmdJogMove(object commandParameter)
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{
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var MainSequence = _Aurora.SequenceEntry[CommonSequenceIds.SeqAutoRun].RunState;
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if (MainSequence == SequenceRunState.Running)
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return;
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switch ((string)commandParameter)
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{
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case "Left": MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.MINUS); break;
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case "Right": MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.PLUS); break;
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case "Up": MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.PLUS); break;
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case "Down": MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.MINUS); break;
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case "Home": MoveJogHome(); break;
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// 26.04.06 NDY Stage X 버튼 추가 =================
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case "Stage_X_Left": MoveStageX(eJogDirection.MINUS); break;
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case "Stage_X_Right": MoveStageX(eJogDirection.PLUS); break;
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case "Stage_Z_Left": MoveStageZ(eJogDirection.MINUS); break;
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case "Stage_Z_Right": MoveStageZ(eJogDirection.PLUS); break;
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// =================================================
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}
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}
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// 26.04.06 NDY Stage X 이동 메서드 추가 ==================
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private void MoveStageX(eJogDirection direction)
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{
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if (_MotorX == null || !_MotorX.IsActivated) return;
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// 이미지 기준 방향 반전 적용
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double step = direction == eJogDirection.PLUS ? -StepValue : +StepValue;
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Log.I($"Stage X Move : {step}mm");
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_MotorX.SetTargetPos(step, TargetPosType.REL);
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_MotorX.SetVelocityImm(_MotorX.GetJogSpeed(AuroraACS.Speed.L) * _VelocityRate);
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_MotorX.Move();
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}
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private void MoveStageZ(eJogDirection direction)
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{
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if (_MotorZ == null || !_MotorZ.IsActivated) return;
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// 이미지 기준 방향 반전 적용
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double step = direction == eJogDirection.PLUS ? -StepValue : +StepValue;
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Log.I($"Stage Z Move : {step}mm");
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_MotorZ.SetTargetPos(step, TargetPosType.REL);
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_MotorZ.SetVelocityImm(_MotorZ.GetJogSpeed(AuroraACS.Speed.L) * _VelocityRate);
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_MotorZ.Move();
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}
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// =========================================================
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private void MoveJogXYPos(eAxisType axisType, eJogDirection direction)
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{
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double xPos = 0.0;
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double yPos = 0.0;
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switch (axisType)
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{
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case eAxisType.AXIS_X:
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{
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if (direction == eJogDirection.MINUS) { xPos = StepValue * -1; yPos = 0; }
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else if (direction == eJogDirection.PLUS) { xPos = StepValue; yPos = 0; }
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}
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break;
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case eAxisType.AXIS_Y:
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{
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if (direction == eJogDirection.MINUS) { xPos = 0; yPos = StepValue * -1; }
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else if (direction == eJogDirection.PLUS) { xPos = 0; yPos = StepValue; }
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}
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break;
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}
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if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos))
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{
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Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
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return;
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}
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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_Scanner.JumpRel(xPos, yPos);
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private void MoveJogHome()
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{
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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_Scanner.JumpAbs(0, 0);
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private void PerformCmdCommandPosMove(object commandParameter)
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{
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switch ((string)commandParameter)
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{
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case "X": MoveCommandXYPos(eAxisType.AXIS_X); break;
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case "Y": MoveCommandXYPos(eAxisType.AXIS_Y); break;
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}
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}
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private void MoveCommandXYPos(eAxisType axisType)
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{
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double xPos = 0.0;
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double yPos = 0.0;
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switch (axisType)
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{
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case eAxisType.AXIS_X:
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{
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xPos = CommandPosX;
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yPos = _MotionMode == eMotionMode.ABS ? _Scanner.GetCommandPosY() : 0.0;
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}
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break;
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case eAxisType.AXIS_Y:
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{
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xPos = _MotionMode == eMotionMode.ABS ? _Scanner.GetCommandPosX() : 0.0;
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yPos = CommandPosY;
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}
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break;
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}
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if (_MotionMode == eMotionMode.ABS)
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{
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if (CheckOverLimitPos(xPos, yPos))
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{
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Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
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return;
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}
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}
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else
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{
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if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos))
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{
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Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
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return;
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}
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}
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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if (_MotionMode == eMotionMode.ABS)
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_Scanner.JumpAbs(xPos, yPos);
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else
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_Scanner.JumpRel(xPos, yPos);
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private bool CheckOverLimitPos(double calcPosX, double calcPosY)
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{
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if (calcPosX < CommandPosLimitMinX || calcPosX > CommandPosLimitMaxX) return true;
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if (calcPosY < CommandPosLimitMinY || calcPosY > CommandPosLimitMaxY) return true;
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return false;
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}
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}
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} |