LGES-2170-ACW_CCW-Welder/WeldingComponents/WeldingCommon/Process/Gun/SequenceManagerForMainWelder.cs

using Aurora;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WeldingCommon.Devices;
using WeldingCommon;
using Aurora.Api;
using WeldingCommon.Sequences;
using WeldingCommon.Sequences;
using WeldingCommon.Sequences.SubSequence.StageA;
using System.Threading;
using System.Diagnostics; // Process.Start

namespace WeldingCommon.Process
{
    // 비동기 시퀀스를 사용하기 때문에... 클래스 객체가 여러개 필요함
    public class SequenceManagerForMainWelder
    {
        private static SequenceManagerForMainWelder _Instance;
        public static SequenceManagerForMainWelder Instance {
            get {
                if (_Instance is null) {
                    _Instance = new SequenceManagerForMainWelder();
                }
                return _Instance;
            }
        }

        private IAuroraEnvironment _env;

        //public SeqTeachingPosMove TeachingPosSequenceA { get; private set; }
        //public SeqTeachingPosMove TeachingPosSequenceB { get; private set; }

        //public SeqAutoRunPrismaticGun MainSequence { get; private set; }
        //public SeqLoadCell LoadCellSequence { get; private set; }
        //public SeqLoadCell LoadCellSequenceB { get; private set; }
        //public SeqWeldingCell WeldingCellSequenceA{ get; private set; }
        //public SeqWeldingCell WeldingCellSequenceB{ get; private set; }
        //public SeqUnloadCell UnloadingCellSequenceA { get; private set; }
        //public SeqUnloadCell UnloadingCellSequenceB { get; private set; }

        //public SeqAutoRunPrismaticGunType MainSequenceTest { get; private set; }


        public void Init(IAuroraEnvironment env)
        {
            _env = env;
            //TeachingPosSequenceA = new SeqTeachingPosMove();
            //TeachingPosSequenceB = new SeqTeachingPosMove();

            //MainSequence = new SeqAutoRunPrismaticGun();
            //LoadCellSequence = new SeqLoadCell();
            //LoadCellSequenceB = new SeqLoadCell();
            //WeldingCellSequenceA = new SeqWeldingCell();
            //WeldingCellSequenceB = new SeqWeldingCell();
            //UnloadingCellSequenceA = new SeqUnloadCell();
            //UnloadingCellSequenceB = new SeqUnloadCell();

            //MainSequenceTest = new SeqAutoRunPrismaticGunType();
        }

        public void RegisterSequence(IAuroraEnvironment aurora, SequenceRegister register)
        {
            //register(SequenceIds.TargetMoveSequenceStageA, SeqTargetPosMoveStageA.Builder());
            //register(SequenceIds.TargetMoveSequenceStageB, SeqTargetPosMoveStageB.Builder());

            // Main Sequence는 하나만 사용
            register(CommonSequenceIds.TeachingMoveSequenceStageA, SeqTeachingPosMoveStageA.Builder());
            //register(SequenceIds.TeachingMoveSequenceStageB, SeqTeachingPosMoveStageB.Builder());

            //Process Sequence
            //register(SequenceIds.SeqAutoRunPrismaticGunStageA, SeqAutoRunPrismaticGunStageA.Builder());
            //register(SequenceIds.SeqAutoRunPrismaticGunStageB, SeqAutoRunPrismaticGunStageB.Builder());

            //register(SequenceIds.SeqLoadCellStageA, SeqLoadCellStageA.Builder());
            //register(SequenceIds.SeqLoadCellStageB, SeqLoadCellStageB.Builder());

            register(CommonSequenceIds.SeqWeldingCellStageA, SeqWeldingCellStageA.Builder());
            //register(SequenceIds.SeqWeldingCellStageB, SeqWeldingCellStageB.Builder());

            //register(SequenceIds.SeqUnloadCellStageA, SeqUnloadCellStageA.Builder());
            //register(SequenceIds.SeqUnloadCellStageB, SeqUnloadCellStageB.Builder());

            //register(SequenceIds.PLCRequest, SeqAutoStart.Builder());


            //Monitoring
            //register(CommonSequenceIds.AlarmMonitor, SeqAlarmMonitor.Builder());
            //register(SequenceIds.StatusMonitor, SeqStatusMonitor.Builder());
            //register(CommonSequenceIds.PLCMonitor, PLCMonitor.Builder());

            // Manual or Maint
            register(CommonSequenceIds.OneShot, SeqOneShot.Builder());
            register(CommonSequenceIds.SplitLine, SeqSplitLine.Builder());
            register(CommonSequenceIds.MotorInit, SeqMotorInit.Builder());
        }

        public bool CanExcuteLaserSequence()
        {
            if (_env.SequenceEntry[CommonSequenceIds.OneShot].RunState != SequenceRunState.Idle)
                return false;
            else if (_env.SequenceEntry[CommonSequenceIds.SplitLine].RunState != SequenceRunState.Idle)
                return false;
            else if (_env.SequenceEntry[CommonSequenceIds.SeqWeldingCellStageA].RunState != SequenceRunState.Idle)
                return false;

            return true;
        }

        public bool Terminate()
        {
            //_env.SequenceEntry[CommonSequenceIds.AlarmMonitor].Stop();
            //_env.SequenceEntry[SequenceIds.StatusMonitor].Stop();
            //_env.SequenceEntry[CommonSequenceIds.PLCMonitor].Stop();

            Thread.Sleep(200);
            return true;
        }
    }
}