LGES-OC5-PtoP-Welder/AuroraVision/VisionSequence/Camera/GrabSeq.cs

using Aurora.Api;
using VisionLight;
using VisionCommon;
using Hermes;
using System;
using System.Collections.Generic;
using System.Reactive.Linq;
using VisionSequence.Pattern;
using Aurora.View;

namespace VisionSequence.Camera {
    /// <summary>
    /// 카메라 그랩 시퀀스 파라미터
    /// </summary>
    public class GrabSeqParams : GrabFindProcSeqParams {
        /// <summary>
        /// 그랩 시퀀스 파라미터 생성자
        /// </summary>
        /// <param name="fovInfo">FOV 키 정보</param>
        /// <param name="patternInfo">패턴 정보</param>
        /// <param name="displayType">메인 화면 타입</param>
        /// <param name="seqMode">매뉴얼 시퀀스 플래그</param>
        public GrabSeqParams(
            FovInfo fovInfo,
            PatternInfo patternInfo,
            eDisplayType displayType = eDisplayType.Main_1,
            eSeqMode seqMode = eSeqMode.Auto) : base(fovInfo, patternInfo, displayType, seqMode) {
        }
    }

    /// <summary>
    /// 카메라 그랩 시퀀스
    /// </summary>
    public class GrabSeq : SubSeqBase, IDisposable {
        private readonly Logger LOG = new Logger("GrabSeq");
        private GrabSeqParams _Params;
        private FovRecipe _FovRecipe;
        private CamConfig _CamConfig;
        private CameraAgentBase _CameraAgent;
        private ICameraDisplay _CameraDisplay;
        private object _GrabImage = null;

        #region Sequence Id
        private const string SEQ_ID_INIT = "INIT";
        private const string SEQ_ID_CHECK_GRAB_DONE = "CHECK_GRAB_DONE";
        private const string SEQ_ID_LIGHT = "LIGHT";
        private const string SEQ_ID_LIGHT_NG = "LIGHT_NG";
        private const string SEQ_ID_GRAB = "GRAB";
        private const string SEQ_ID_GRAB_NG = "GRAB_NG";
        private const string SEQ_ID_SET_IMAGE_IN_OTHER_DISPLAY = "SET_IMAGE_IN_OTHER_DISPLAY";
        private const string SEQ_ID_SEQ_COMPLETE = "SEQ_COMPLETE";
        #endregion

        /// <summary>
        /// 생성자
        /// </summary>
        public GrabSeq() {
        }

        private void SetActions(SequenceBuilder sb) {
            sb.AddAction(SEQ_ID_INIT, Init);
            sb.AddDecision(SEQ_ID_CHECK_GRAB_DONE, CheckGrabDone);
            sb.AddDecision(SEQ_ID_LIGHT, SetLight);
            sb.AddAction(SEQ_ID_LIGHT_NG, LightNG);
            sb.AddDecision(SEQ_ID_GRAB, Grab);
            sb.AddAction(SEQ_ID_GRAB_NG, GrabNG);
            sb.AddAction(SEQ_ID_SET_IMAGE_IN_OTHER_DISPLAY, SetImageInOtherDisplay);
            sb.AddAction(SEQ_ID_SEQ_COMPLETE, SeqComplete);
        }

        public override SequenceBuilder Builder(string seqName) {
            SequenceBuilder sb = new SequenceBuilder(1000);
            SetActions(sb);
            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            sb.Flows(
                  sb.Init
                > sb[SEQ_ID_INIT]
                > sb[SEQ_ID_CHECK_GRAB_DONE]
                > sb[SEQ_ID_LIGHT]
                > sb[SEQ_ID_GRAB]
                > sb[SEQ_ID_SET_IMAGE_IN_OTHER_DISPLAY]
                > sb[SEQ_ID_SEQ_COMPLETE]
                > sb.Final
                );
            sb.Flows(
                  sb[SEQ_ID_LIGHT]
                > sb[SEQ_ID_LIGHT_NG]
                > sb.ForceError
                );
            sb.Flows(
                  sb[SEQ_ID_GRAB]
                > sb[SEQ_ID_GRAB_NG]
                > sb.ForceError
                );
            sb.Flows(
                  sb[SEQ_ID_CHECK_GRAB_DONE]
                > sb[SEQ_ID_SEQ_COMPLETE]
                );

#if SEQ_DRAW
            sb.Draw($"{GetType().Name}.pdf");
#endif

            return sb;
        }

        private SequenceActionResult Init(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            if (param.Param != null) {
                _Params = param.Param as GrabSeqParams;
            }
            else {
                LOG.E($"_Params is null.");
                return null;
            }

            _FovRecipe = VisionRecipeManager.GetFovRecipe(_Params.FovInfo);
            _CameraDisplay = CameraDisplayManager.GetDisplay(_Params.FovInfo, _Params.DisplayType);

            SetCameraAgent();
            SetCamConfig();

            return SequenceAction.Ok();
        }

        private void SetCameraAgent() {
            _CameraAgent = CameraAgentManager.GetCameraAgent(_Params.FovInfo);
        }

        private void SetCamConfig() {
            var camRecipe = VisionRecipeManager.GetCamRecipe(_Params.FovInfo);
            _CamConfig = VisionEnv.AuroraEnv.DeviceManager.GetDeviceConfig(camRecipe.CamId.ToString()) as CamConfig;
        }

        // 사용하는 곳에서 그랩 버퍼 할당, 디바이스에서는 복사본 전달
        private void InitGrabImageBuffer() {
            _GrabImage = GrabFindSeqUtil.GetProcGrabImage(_Params.FovInfo, _Params.PatternInfo.LightInfo);
        }

        private string CheckGrabDone(
            SequenceContext context,
            string id,
            ICollection<string> branches,
            SequenceActionResult param) {

            // IsGrabDone 체크 후, GetGrabImage를 수행해야 한다.
            var isGrabDone = GrabFindSeqUtil.IsProcGrabDone(_Params.FovInfo, _Params.PatternInfo.LightInfo);
            InitGrabImageBuffer();

            if (_Params.SeqMode == eSeqMode.Manual || !isGrabDone) {
                return SEQ_ID_LIGHT;
            }

            _GrabImage = GrabFindSeqUtil.GetProcGrabImage(_Params.FovInfo, _Params.PatternInfo.LightInfo);
            SetGrabImage(context, _GrabImage);

            return SEQ_ID_SEQ_COMPLETE;
        }

        #region Set Params
        private string SetLight(
            SequenceContext context,
            string id,
            ICollection<string> branches,
            SequenceActionResult param) {

            int chCnt = _Params.PatternInfo.LightInfo.LightParams.Count;
            if (chCnt == 0) {
                string errMsg = "The count of PatternInfo.LightInfo.LightParams is zero.";
                PrintErrorLogAndShowErrorToast(LOG, errMsg);

                return SEQ_ID_LIGHT_NG;
            }

            eLightResult res = LightHub.Instance.SetLevels(_Params.PatternInfo.LightInfo.LightParams);
            if (res == eLightResult.NG) {
                string errMsg = "Failed to set light levels.";
                PrintErrorLogAndShowErrorToast(LOG, errMsg);

                return SEQ_ID_LIGHT_NG;
            }

            return SEQ_ID_GRAB;
        }

        private SequenceActionResult LightNG(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            LOG.FuncE("Light NG!!");
            EquipAdapter.Instance.VisionAlarm.SetAlarm(eVisionAlarmCode.LIGHT_SET_ERROR);

            return SequenceAction.Error(E1.GENERIC, null);
        }

        private string Grab(
            SequenceContext context,
            string id,
            ICollection<string> branches,
            SequenceActionResult param) {

            _CameraDisplay.SetVisibility();
            if (_GrabImage == null) {
                return SEQ_ID_GRAB_NG;
            }

            int result = E1.GENERIC;
            bool isProcExtTrig = false;     // 공정 중 외부 트리거 여부

            if (_Params.SeqMode == eSeqMode.Auto) {
                if (_CamConfig.TriggerMode.IsExternal) {
                    isProcExtTrig = true;
                }
            }

            if (isProcExtTrig) {
                result = _CameraAgent.GetGrabImageFromBuffer(_CameraDisplay, ref _GrabImage);   // 공정 중 외부(버퍼)에서 트리거 발생
                var camDev = _CameraAgent.GetDevice();
                camDev.SetHookCompletedByExtTrig(false);
            }
            else {
                result = _CameraAgent.GrabSync(_CameraDisplay, ref _GrabImage);                 // 그 외 경우 Aurora에서 트리거 발생
            }

            if (result != E1.OK) {
                SetGrabImage(context, null);
                return SEQ_ID_GRAB_NG;
            }
            else {
                SetGrabImage(context, _GrabImage);
                return SEQ_ID_SET_IMAGE_IN_OTHER_DISPLAY;
            }
        }

        private void SetGrabImage(SequenceContext context, object grabImage) {
            GrabFindSeqUtil.SetProcGrabImage(_Params.FovInfo, _Params.PatternInfo.LightInfo, grabImage);
            context.PutValue(string.Format(VisionContextKeys.CNTXT_KEY_GRAB_IMAGE, _Params.FovInfo.GetKey()), grabImage);
        }

        private SequenceActionResult GrabNG(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            LOG.FuncE("Grab NG!!");
            EquipAdapter.Instance.VisionAlarm.SetAlarm(eVisionAlarmCode.CAMERA_GRAB_ERROR);

            return SequenceAction.Error(E1.GENERIC, null);
        }

        /// <summary>
        /// 같은 카메라에 대한 다른 메인 디스플레이 군에도 이미지를 Set해준다.
        /// </summary>
        private SequenceActionResult SetImageInOtherDisplay(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            int result = E1.GENERIC;
            if (_GrabImage != null && CamCommon.IsMainType(_Params.DisplayType)) {
                foreach (var mainUiRecipe in _FovRecipe.MainUiRecipes) {
                    if (mainUiRecipe.MainDisplayType != _Params.DisplayType && mainUiRecipe.FovUiPos != eFovUiPos.None) {
                        var cameraDisplay = CameraDisplayManager.GetDisplay(_Params.FovInfo, mainUiRecipe.MainDisplayType);
                        result = cameraDisplay.SetImage(_GrabImage);
                        if (!result.Equals(E1.OK)) {
                            return SequenceAction.Error();
                        }
                    }
                }
            }
            return SequenceAction.Ok();
        }
        #endregion

        private SequenceActionResult SeqComplete(
            SequenceContext context,
            string id,
            SequenceActionResult param) {

            var grabImage = context.GetValue<object>(string.Format(VisionContextKeys.CNTXT_KEY_GRAB_IMAGE, _Params.FovInfo.GetKey()));
            if (grabImage == null) {
                LOG.FuncE($"[{_Params.FovInfo.SubSysName}][{_FovRecipe.FovName}] grabImage is null.");
                return SequenceAction.Error(E1.ARGUMENT, grabImage);
            }

            return SequenceAction.Ok(grabImage);
        }

        void OnStopped(
            SequenceContext context) {
            LOG.I($"{context.SequenceId} - STOP Handler");
            HandleAbnormalFinish(context);
        }

        void OnForceError(
            SequenceContext context, string id) {
            LOG.E($"{context.SequenceId} - FORCE ERROR Handler");
            HandleAbnormalFinish(context);
        }

        void HandleAbnormalFinish(
            SequenceContext context) {
        }

        /// <summary>
        /// 이미지 버퍼 명시적 메모리 해제
        /// </summary>
        public void Dispose() {
            IpAdapter.Instance.IpEnvironment.FreeImage(_GrabImage);
        }
    }
}