LGES-2170-ACW_CCW-Welder/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs

// WeldingCommon/Devices/ACS/ScannerACS.cs
using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Util.HislogPlus;
using AuroraACS;
using ACS.SPiiPlusNET;
using Hermes;
using System.Windows;
using WeldingCommon.Device.ACS;
using WeldingCommon.Settings;

namespace WeldingCommon.Devices.ACS
{
    public interface IScannerACS
    {
        bool IsActivated();

        // 홈
        bool AllAxisHomeStart();
        bool AllAxisHomeStop();
        bool CheckAllAxisHome();

        // MOTF
        bool MOTFStart();
        bool MOTFStop();
        bool CheckMOTFComp();

        // 레이저
        bool SetLaserIOUse(bool on);
        bool IsLaserOn();

        // 알람
        bool ResetAlarm();
        void AllAxisServoOff();
    }

    public partial class ScannerACS : ACSDevice, IScannerACS
    {
        // TODO: Scanner용 Setting ID 확정 후 교체
        private ACSDeviceSetting _setting;
        private ACSMotor MotorStageX; // AxisX2 = Scanner Stage X

        public MotionVariable _motorVariable;

        public bool HasHeavyAlarm { get; private set; }
        public bool HasLightAlarm { get; private set; }
        public int[] HaveAlarmCodes { get => _HaveAlarmCodes; }
        private int[] _HaveAlarmCodes = new int[11];

        public ScannerACS(bool isSimulation, bool useTerminateUMD = false)
            : base(isSimulation, useTerminateUMD)
        {
            _motorVariable = new MotionVariable();
        }

        protected override int DoActivate(IDeviceConfig config)
        {
            if (base.DoActivate(config) != E1.OK)
                return E2.ABORTED;

            var env = Application.Current.AuroraEnv();

            // TODO: Scanner용 SettingIds 확정 후 교체
            // _setting = env.SettingEntry[ScannerSettingIds.ACS] as ACSDeviceSetting;

            // Stage X 모터 취득 (null-safe)
            // TODO: 이정인 선임 변수 맵 수신 후 축 번호 검증
            try { MotorStageX = env.DeviceManager[CommonDeviceIds.AxisX2] as ACSMotor; }
            catch { MotorStageX = null; }

            SetMonitoringService(UpdateACSParam, 50);
            StartMonitoringService();

            return E1.OK;
        }

        private void UpdateACSParam()
        {
            // Stage X 상태 갱신
            if (MotorStageX != null)
            {
                _motorVariable.X2AxisPosition = MotorStageX.GetActualPos();
                _motorVariable.X2InPosition = MotorStageX.IsInpos();
                _motorVariable.X2AxisVelocity = MotorStageX.GetFeedbackVelocity();
                _motorVariable.X2AxisAcceleration = MotorStageX.GetAcceleration();
                _motorVariable.IsHome = MotorStageX.GetServoStatus() == 1;
            }

            // 알람 상태 갱신
            HasHeavyAlarm = ReadVariableInt(HeavyAlarm) == 1;
            HasLightAlarm = ReadVariableInt(LightAlarm) == 1;
            ReadVariableIntArrRef(AlarmCodes, ref _HaveAlarmCodes,
                                  ProgramBuffer.ACSC_NONE, 0, 10);
        }

        protected override int DoDeactivate()
        {
            StopMonitoringService();
            return base.DoDeactivate();
        }

        // ── 홈 ───────────────────────────────────────────
        bool IScannerACS.AllAxisHomeStart()
        {
            if (RunBuffer((ProgramBuffer)eBuffer.All_Axis_Home))
            {
                Log.D("AllAxisHomeStart >> Complete");
                return true;
            }
            Log.D("AllAxisHomeStart >> Fail");
            return false;
        }

        bool IScannerACS.AllAxisHomeStop()
        {
            StopBuffer((ProgramBuffer)eBuffer.All_Axis_Home);
            Log.D("AllAxisHomeStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckAllAxisHome()
            => ReadVariableInt(iAllAxisHomeComplete) > 0;

        // ── MOTF ─────────────────────────────────────────
        // TODO: 이정인 선임 변수 맵 수신 후 버퍼 번호 및 변수명 교체
        bool IScannerACS.MOTFStart()
        {
            if (IsSimul) return true;
            if (RunBuffer((ProgramBuffer)eBuffer.MOTF_Start))
            {
                Log.I("MOTFStart >> Complete");
                return true;
            }
            Log.D("MOTFStart >> Fail");
            return false;
        }

        bool IScannerACS.MOTFStop()
        {
            StopBuffer((ProgramBuffer)eBuffer.MOTF_Start);
            Log.D("MOTFStop >> Complete");
            return true;
        }

        bool IScannerACS.CheckMOTFComp()
        {
            if (IsSimul) return true;
            return ReadVariableInt(iMOTFComplete) > 0;
        }

        // ── 레이저 ───────────────────────────────────────
        bool IScannerACS.SetLaserIOUse(bool on)
        {
            if (WriteRealVariable(iLaserUse, on ? 1 : 0))
            {
                Log.D($"SetLaserIOUse {on} >> Complete");
                return true;
            }
            Log.D("SetLaserIOUse >> Fail");
            return false;
        }

        bool IScannerACS.IsLaserOn()
        {
            if (!IsActivated || !IsConnected) return false;
            return ReadVariableInt(IsLaserOn) > 0;
        }

        // ── 알람 ─────────────────────────────────────────
        bool IScannerACS.ResetAlarm()
        {
            TerminalCommand("FCLEAR ALL");
            return WriteVariableInt(AlarmReset, 1);
        }

        void IScannerACS.AllAxisServoOff()
        {
            if (!IsActivated || !IsConnected) return;
            SetMotorDisableAll();
        }

        bool IScannerACS.IsActivated() => IsActivated;
    }
}