LGES-OC5-PtoP-Welder/AuroraDevices/AuroraLaser/Coherent/Compact/LaserCompact.cs

using Aurora;
using Aurora.Api;
using Hermes;
using MathNet.Numerics.Distributions;
using System;
using System.Collections.Generic;
using System.Threading;
using System.Windows;

namespace AuroraLaser.Coherent
{
    // Compact 시리즈가 아닌, Coherent 사 제품을 공통으로 묶을 수 있을까?
    public class LaserCompact : Device
    {
        protected readonly Logger Log;

        private ILaserCompact _laser;                       // 공통 인터페이스
        public LaserCompactMiniConfig _rawConfig;

        protected bool _isSimulBySetting;
        protected const Int16 FAIL = -1;
        public int Index { get; set; }

        //----- For Simul
        double _powerPerc;
        Random _randomInt;
        Normal _randomValue;
        const double magForGaussian = 5.0;
        //===========================

        #region 생성자
        public LaserCompact(string deviceId, bool isSimulBySetting = false, int laserIndex = 0)
        {
            DeviceId = deviceId;
            CommType = CommunicationType.Serial;
            Type = DeviceType.Laser;
            _isSimulBySetting = isSimulBySetting;

            Index = laserIndex;
            Log = new Logger("Compact_" + deviceId);
        }
        #endregion

        #region 활성화/비활성화
        protected override int DoActivate(IDeviceConfig config)
        {
            _rawConfig = config as LaserCompactMiniConfig;
            IsSimul = _rawConfig.IsSimul || _isSimulBySetting;

            _laser = new CompactMini(DeviceId, IsSimul);
            var result = _laser.Connect(_rawConfig);
            if (IsSimul == false) {
                if (result == E1.OK) {  // 통신 연결 성공
                    if (_laser.NeedConfigSave) {  // 시리얼넘버의 최초 write 발생 시, config 저장 필요
                        Application.Current.AuroraEnv().DeviceManager.SaveDeviceConfig(DeviceId);  // Config 저장
                        // SN 가 변경되었다는 이벤트 publish
                        EventPublisher.Publish(new EventMessage("LaserCompactMini", LaserEvent.EVENT_ID_SerialNumberUpdate));

                        // reset
                        _laser.NeedConfigSave = false;
                        Log.I($"Serial number ({_rawConfig.SerialNumber}) is saved");
                    }

                    Log.I($"Activated Laser : {DeviceId}");
                } else { Log.E($"Activate Laser : {DeviceId} Fail"); }
            } else {    // 시뮬
                _randomInt = new Random();
                _randomValue = new Normal(0.0, 0.1);
            }

            return result;
        }

        protected override int DoDeactivate()
        {
            Log.I($"Deactivate Laser : {DeviceId}");

            if (IsSimul == false) return _laser.Disconnect();
            else return E1.OK;
        }
        #endregion

        #region 통신 상태
        public int Reconnect()
        {
            if (Monitor.TryEnter(_alarmLockReconnectObj) && (IsCommError || !_laser.IsConnected())) {
                if (_laser.Reconnect() == E1.OK) {
                    ClearAlarm(CreateEigenAlarmCode(99));
                    ClearAlarm(CreateEigenAlarmCode(98));
                    return E1.OK;
                }
                return E1.NETWORK;
            }
            return E1.NETWORK;
        }

        public bool IsConnected()
        {
            if (!IsActivated) {
                return false;
            }

            IsCommError = !_laser.IsConnected();
            return IsCommError == false;
        }

        // 알람용인데, 흠 전체적인 그림을 봐야겠는데....
        public bool IsNetworkError()
        {
            if (_laser == null) {
                Log.E($"{DeviceId} is null");
                return true;
            } else {
                IsCommError = _laser.IsNetworkError || !_laser.IsConnected();
                if (IsCommError) {
                    if (!_laser.IsConnected()) {
                        AddAlarm(CreateEigenAlarmCode(98));     // Eigen 단어가 어색한데....장치니까 Device 는 어떨까?
                    } else {
                        AddAlarm(CreateEigenAlarmCode(99));
                    }
                }
                return IsCommError;
            }
        }
        #endregion


        // 이 구조체들이 공용화가 어디까지 될까?? Compact 시리즈 모델이 추가되면 수정여부 재검토
        public STRUCT_STATUS_REGISTER GetLaserStatusInfo()
        {
            return _laser.GetLaserStatusInfo();
        }

        public STRUCT_LASER_MODE_REGISTER GetLaserModeInfo()
        {
            return _laser.GetLaserModeInfo();
        }

        public STRUCT_ERROR_REGISTER GetLaserErrMsgInfo()
        {
            return _laser.GetLaserErrMsgInfo();
        }

        #region 레이저 관련, 통신 R/W API 포함
        public bool IsLaserError()
        {
            bool result = _laser.IsLaserError;
            if (result) {
                var statusInfo = GetLaserStatusInfo();
                if (statusInfo.bErrorStatus) { AddAlarm(CreateEigenAlarmCode(10)); }
                if (statusInfo.bFatalError) { AddAlarm(CreateEigenAlarmCode(11)); }
            }
            return result;
        }

        public void ErrorReset()
        {
            _laser.ErrorReset();
            ClearAlarm(new int[2] { CreateEigenAlarmCode(10), CreateEigenAlarmCode(11) });
        }

        public int SetOutputPower(double powerPerc)
        {
            _powerPerc = powerPerc;
            if (IsSimul == false) {
                return _laser.SetOutputPower(powerPerc) ? E1.OK : FAIL;
            }

            return E1.OK;
        }

        #region Power calibration
        public int LoadLaserCalibrationData()
        {
            // Aurora Config Json reload
            Application.Current.AuroraEnv().DeviceManager.LoadDeviceConfig(DeviceId);
            _laser.LoadLaserCalibrationData();
            return E1.OK;
        }

        public List<(double perc, double watt)> GetPowerCalData()
        {
            return _laser?.GetPowerCalData();
        }
        public double Watt2Power(double watt)
        {
            return _laser.Watt2Power(watt);
        }

        public double Watt2Power(double watt, eModelType calibType)
        {
            return _laser.Watt2Power(watt, calibType);
        }

        // 오직 시뮬에서만 필요
        public double Power2Watt(double dPowerPerc)
        {
            if (IsSimul) {
                return _laser.Power2Watt(dPowerPerc);
            } else {
                Log.W("Only for Sim mode");
                return 0.0;
            }
        }
        public void SetLaserPowerCalibMethod(string powerCalibMethod)
        {
            _laser?.SetLaserPowerCalibMethod(powerCalibMethod);
        }

        public string GetLaserPowerCalibMethod()
        {
            return _laser?.GetLaserPowerCalibMethod();
        }
        #endregion

        public void Update()
        {
            if (!IsActivated) return;

            if (IsSimul == false) {
                _laser.Update();
            } else {    // 시뮬
                // 1. 레이저 Internal Set Power 업데이트
                int iPow = (int)(Math.Round(_powerPerc, 1) * 10);    // [0, 1000]
                var l_compactMiniRegister = (_laser as CompactMini).m_Register;
                l_compactMiniRegister.m_stStatus_Regster.PowerValue = iPow + (int)(Math.Round(_randomValue.Sample() * magForGaussian, 1) * 10.0);  // 가우시안 노이즈 추가

                // 2. 온도 시뮬레이션
                l_compactMiniRegister.m_stStatus_Regster.Temp = _randomInt.Next(0, 51); // [0, 50]
            }
        }
        #endregion

        #region Alarm
        private const int _alarmPrefix = 32;            // TYPE 값 기준으로 하는게 어떨까?
        private object _alarmObject = new object();
        private readonly object _alarmLockReconnectObj = new object();

        public override void ClearAlarms()
        {
            if (IsActivated) {
                lock (_alarmObject) {
                    var list = GetAlarmList().ToArray();
                    foreach (var alarmCode in list) {
                        switch (alarmCode % 100) {
                            case 10:
                            case 11:
                                ErrorReset();
                                break;
                            case 98:
                            case 99:
                                Reconnect();
                                break;
                            default:
                                ClearAlarm(alarmCode);
                                break;
                        }
                    }
                }
            } else {
                base.ClearAlarms();
            }
        }

        private int CreateEigenAlarmCode(int alarmCode)
        {
            return _alarmPrefix * 1000 + Index * 100 + alarmCode;
        }
        #endregion
    }
}