534 lines
20 KiB
C#
534 lines
20 KiB
C#
using Aurora.Api;
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using Aurora.Api.Devices;
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using VisionCommon;
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using VisionAligner;
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using VisionCalibrator;
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using VisionSequence.Pattern;
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using VisionSequence.Inspector;
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using Hermes;
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using System.Collections.Generic;
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using System.Linq;
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using VisionInspector;
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using VisionCommonUI;
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using VisionCommonUI.Resources;
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namespace VisionSequence.Aligner {
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/// <summary>
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/// C1_FN_MV 얼라인 시퀀스 파라미터
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/// </summary>
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public class AlignSeqParams_C1_FN_MV : SeqParamsBase {
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/// <summary>얼라인 키 정보</summary>
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public AlignInfo AlignInfo { get; set; }
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/// <summary>FOV별로 이동시킬 절대위치</summary>
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public Dictionary<eFovId, Position> FovPositions { get; set; }
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/// <summary>메인 화면 타입</summary>
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public eDisplayType DisplayType { get; set; }
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/// <summary>
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/// C1_FN_MV 얼라인 시퀀스 파라미터를 얻어온다.
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/// </summary>
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/// <param name="alignInfo">얼라인 키 정보</param>
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/// <param name="fovPositions">FOV별로 이동시킬 절대위치. null일 경우, 자동으로 Adapter에 정의된 티칭위치로 이동</param>
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/// <param name="displayType">메인 화면 타입</param>
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/// <param name="seqMode">시퀀스 모드</param>
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public AlignSeqParams_C1_FN_MV(
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AlignInfo alignInfo,
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Dictionary<eFovId, Position> fovPositions = null,
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eDisplayType displayType = eDisplayType.Main_1,
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eSeqMode seqMode = eSeqMode.Auto) : base(seqMode) {
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this.AlignInfo = alignInfo;
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this.FovPositions = fovPositions;
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this.DisplayType = displayType;
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}
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}
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/// <summary>
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/// CAM 1대 / FOV N개 (2 <= N <= 4) / 포지션 이동 (O) / 2 Point Align / 2 MeasurePatterns to 2 ReferencePatterns
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/// </summary>
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public class AlignSeq_C1_FN_MV : SubSeqBase {
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private const int MEASURE_MAX_CNT = 2; // 얼라인을 수행하기 위해 찾아야 하는 패턴의 수
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private readonly Logger LOG = new Logger(typeof(AlignSeq_C1_FN_MV).Name);
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private AlignSeqParams_C1_FN_MV _Params;
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private AlignRecipe _AlignRecipe;
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private SubSysInfo _SubSysInfo;
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private VisionAligner.Aligner _Aligner;
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private Calibrator _Calibrator;
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private PatternAgentBase _PatternAgent;
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private Dictionary<eFovId, FovInfo> _FovInfos = new Dictionary<eFovId, FovInfo>();
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private Dictionary<eFovId, BaseResult> _MeasureResults = new Dictionary<eFovId, BaseResult>();
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private Dictionary<eFovId, BaseResult> _ReferenceResults = new Dictionary<eFovId, BaseResult>();
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private eFovId _CurFovId = eFovId.Fov1;
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private string _SeqName;
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private int _FovNum = 0;
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private bool _IsForceOk = false;
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#region Sequence Id
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private const string SEQ_ID_INIT = "INIT";
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private const string SEQ_ID_CLEAR = "CLEAR";
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private const string SEQ_ID_FORK = "FORK";
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private const string SEQ_ID_MOVE_FOV_POS = "MOVE_FOV_POS";
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private const string SEQ_ID_SET_FIND_MEASURE_SEQ_PARAMS = "SET_FIND_MEASURE_SEQ_PARAMS";
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private const string SEQ_ID_FIND_MEASURE_SEQ = "FIND_MEASURE_SEQ";
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private const string SEQ_ID_CHECK_MEASURE_FOUND = "CHECK_MEASURE_FOUND";
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private const string SEQ_ID_MARK_NG = "MARK_NG";
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private const string SEQ_ID_SET_MEASURE = "SET_MEASURE";
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private const string SEQ_ID_CHECK_MEASURE_FINISHED = "CHECK_MEASURE_FINISHED";
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private const string SEQ_ID_SET_REFERENCE = "SET_REFERENCE";
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private const string SEQ_ID_JOIN = "JOIN";
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private const string SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_ENABLED = "CHECK_PATTERN_DISTANCE_INSP_ENABLED";
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private const string SEQ_ID_SET_PATTERN_DISTANCE_INSP_SEQ_PARAMS = "SET_PATTERN_DISTANCE_INSP_SEQ_PARAMS";
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private const string SEQ_ID_PATTERN_DISTANCE_INSP_SEQ = "PATTERN_DISTANCE_INSP_SEQ";
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private const string SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_STATUS = "CHECK_PATTERN_DISTANCE_INSP";
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private const string SEQ_ID_DISTANCE_NG = "DISTANCE_NG";
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private const string SEQ_ID_ALIGN = "ALIGN";
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private const string SEQ_ID_SEQ_COMPLETE = "SEQ_COMPLETE";
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#endregion
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/// <summary>
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/// 생성자
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/// </summary>
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public AlignSeq_C1_FN_MV() {
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}
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private void SetActions(SequenceBuilder sb) {
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SequenceBuilder grabFindProcSeqBuilder = SubSeqManager.CreateSubSeqBuilder(new GrabFindProcSeq(), typeof(GrabFindProcSeq).Name);
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SequenceBuilder patternDistanceInspSeqBuilder = SubSeqManager.CreateSubSeqBuilder(new InspSeq_PatternDistance(), typeof(InspSeq_PatternDistance).Name);
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sb.AddAction(SEQ_ID_INIT, Init);
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sb.AddAction(SEQ_ID_CLEAR, Clear);
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sb.AddFork(SEQ_ID_FORK);
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sb.AddAction(SEQ_ID_MOVE_FOV_POS, MoveFovPos);
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sb.AddAction(SEQ_ID_SET_FIND_MEASURE_SEQ_PARAMS, SetFindMeasureSeqParams);
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sb.AddSubsequence(SEQ_ID_FIND_MEASURE_SEQ, grabFindProcSeqBuilder);
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sb.AddDecision(SEQ_ID_CHECK_MEASURE_FOUND, CheckFound);
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sb.AddAction(SEQ_ID_MARK_NG, MarkNG);
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sb.AddAction(SEQ_ID_SET_MEASURE, SetMeasure);
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sb.AddDecision(SEQ_ID_CHECK_MEASURE_FINISHED, CheckMeasureFinished);
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sb.AddAction(SEQ_ID_SET_REFERENCE, SetReference);
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sb.AddJoin(SEQ_ID_JOIN);
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// 패턴 거리 검사
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sb.AddDecision(SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_ENABLED, CheckPatternDistanceInspEnabled);
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sb.AddAction(SEQ_ID_SET_PATTERN_DISTANCE_INSP_SEQ_PARAMS, SetPatternDistanceInspSeqParams);
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sb.AddSubsequence(SEQ_ID_PATTERN_DISTANCE_INSP_SEQ, patternDistanceInspSeqBuilder);
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sb.AddDecision(SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_STATUS, CheckPatternDistanceInspStatus);
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sb.AddAction(SEQ_ID_DISTANCE_NG, DistanceNG);
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sb.AddAction(SEQ_ID_ALIGN, Align);
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sb.AddAction(SEQ_ID_SEQ_COMPLETE, SeqComplete);
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}
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public override SequenceBuilder Builder(string seqName) {
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_SeqName = seqName;
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SequenceBuilder sb = new SequenceBuilder(1000);
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SetActions(sb);
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sb.OnStopped(OnStopped);
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sb.OnForceError(OnForceError);
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sb.Flows(
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sb.Init
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> sb[SEQ_ID_INIT]
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> sb[SEQ_ID_CLEAR]
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> sb[SEQ_ID_FORK]
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> sb[SEQ_ID_SET_FIND_MEASURE_SEQ_PARAMS]
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> sb[SEQ_ID_FIND_MEASURE_SEQ]
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> sb[SEQ_ID_CHECK_MEASURE_FOUND]
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> sb[SEQ_ID_SET_MEASURE]
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> sb[SEQ_ID_CHECK_MEASURE_FINISHED]
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> sb[SEQ_ID_JOIN]
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> sb[SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_ENABLED] // 패턴 거리 검사
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> sb[SEQ_ID_SET_PATTERN_DISTANCE_INSP_SEQ_PARAMS]
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> sb[SEQ_ID_PATTERN_DISTANCE_INSP_SEQ]
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> sb[SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_STATUS]
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> sb[SEQ_ID_ALIGN]
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> sb[SEQ_ID_SEQ_COMPLETE]
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);
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sb.Flows(
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sb[SEQ_ID_FORK]
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> sb[SEQ_ID_SET_REFERENCE]
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> sb[SEQ_ID_JOIN]
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);
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sb.Flows(
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sb[SEQ_ID_CHECK_MEASURE_FINISHED]
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> sb[SEQ_ID_MOVE_FOV_POS]
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);
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sb.Flows(
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sb[SEQ_ID_CHECK_MEASURE_FINISHED] // Measure Mark NG -> Finish Seq
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> sb[SEQ_ID_MARK_NG]
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);
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sb.Flows(
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sb[SEQ_ID_CHECK_MEASURE_FOUND] // Measure Mark NG -> Check Measure Finish
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> sb[SEQ_ID_CHECK_MEASURE_FINISHED]
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);
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sb.Flows(
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sb[SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_ENABLED] // Pattern Distance OK
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> sb[SEQ_ID_ALIGN]
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);
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sb.Flows(
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sb[SEQ_ID_CHECK_PATTERN_DISTANCE_INSP_STATUS] // Pattern Distance NG
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> sb[SEQ_ID_DISTANCE_NG]
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);
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sb.Flows(
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sb[SEQ_ID_MARK_NG]
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> sb[SEQ_ID_SEQ_COMPLETE]
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);
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sb.Flows(
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sb[SEQ_ID_DISTANCE_NG]
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> sb[SEQ_ID_SEQ_COMPLETE]
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);
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sb.Flows(
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sb[SEQ_ID_SEQ_COMPLETE]
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> sb.Final
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);
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#if SEQ_DRAW
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sb.Draw($"{GetType().Name}.pdf");
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#endif
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return sb;
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}
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private SequenceActionResult Init(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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if (param.Param != null) {
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_Params = param.Param as AlignSeqParams_C1_FN_MV;
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}
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else {
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LOG.E($"Param is null.");
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return null;
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}
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_IsForceOk = false;
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_AlignRecipe = VisionRecipeManager.GetAlignRecipe(_Params.AlignInfo);
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_SubSysInfo = _Params.AlignInfo.ToSubSysInfo();
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_PatternAgent = FovPatternAgentManager.GetAgent(_SubSysInfo);
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_Aligner = AlignAgentManager.GetAlignAgent(_Params.AlignInfo);
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SetFovInfos();
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_Calibrator = CalibratorManager.GetCalibrator(_FovInfos[eFovId.Fov1]);
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return SequenceAction.Ok();
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}
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private void SetFovInfos() {
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foreach (FovInfo fovInfo in VisionRecipeManager.GetFovInfos(_SubSysInfo)) {
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if (!_FovInfos.ContainsKey(fovInfo.FovId)) {
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_FovInfos.Add(fovInfo.FovId, fovInfo);
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}
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}
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_FovNum = ProcParams.GetFovNum(_AlignRecipe.ProcParams.ProcFovType);
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}
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private SequenceActionResult Clear(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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_CurFovId = eFovId.Fov1;
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_MeasureResults.Clear();
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_ReferenceResults.Clear();
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetFindMeasureSeqParams(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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var procPatternInfo = VisionRecipeManager.GetProcPatternInfo(_FovInfos[_CurFovId], _AlignRecipe.AlignId.ToString(), eProcPatternId.ProcPattern1);
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var fovRecipe = VisionRecipeManager.GetFovRecipe(_FovInfos[_CurFovId]);
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PatternIndex patternIndex = null;
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if (procPatternInfo.IsFovPattern) {
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_PatternAgent = FovPatternAgentManager.GetAgent(_SubSysInfo);
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patternIndex = new FovPatternIndex(_FovInfos[_CurFovId], fovRecipe.FovName, procPatternInfo.PatternId);
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}
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else {
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_PatternAgent = CamPatternAgentManager.GetAgent(fovRecipe.CamRecipe.CamId);
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patternIndex = new CamPatternIndex(fovRecipe.CamRecipe.CamId, procPatternInfo.PatternId);
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}
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PatternInfo patternInfo = _PatternAgent.GetPatternInfo(patternIndex);
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patternInfo.PatternName = procPatternInfo.PatternName;
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return SequenceAction.Ok(new GrabFindProcSeqParams(_FovInfos[_CurFovId], patternInfo, _Params.DisplayType, _Params.SeqMode));
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}
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private SequenceActionResult SetMeasure(
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SequenceContext context,
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string id,
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SequenceActionResult param) { // Param : PatternResult
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var patternResult = param.Param as PatternResult;
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var baseResults = patternResult.Results.ToList();
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_MeasureResults.Add(_CurFovId, baseResults[0]);
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return SequenceAction.Ok();
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}
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private string CheckMeasureFinished(
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SequenceContext context,
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string id,
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ICollection<string> branches,
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SequenceActionResult param) {
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if (_MeasureResults.Count == MEASURE_MAX_CNT) {
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return SEQ_ID_JOIN;
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}
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if (HasNextFov()) {
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if (IsPossibleToFindAll()) {
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IncreaseCurFovId();
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return SEQ_ID_MOVE_FOV_POS;
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}
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}
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return SEQ_ID_MARK_NG;
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}
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private bool HasNextFov() {
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return _CurFovId < _FovInfos.Keys.Max();
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}
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private bool IsPossibleToFindAll() {
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int lastFovIdx = (int)_FovInfos.Keys.Max();
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int curFovIdx = (int)_CurFovId;
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int possibleFoundCount = lastFovIdx - curFovIdx;
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int curFoundCount = _MeasureResults.Count;
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return MEASURE_MAX_CNT <= (possibleFoundCount + curFoundCount);
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}
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private SequenceActionResult SetReference(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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foreach (var fovInfoPair in _FovInfos) {
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eFovId fovId = fovInfoPair.Key;
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var refMaterialPos = VisionRecipeManager.GetRefPoint(_SubSysInfo, fovId);
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_ReferenceResults.Add(
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fovId,
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new BaseResult() { MaterialPosition = refMaterialPos.Clone() as StaticPoint });
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult MoveFovPos(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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if (EquipAdapter.Instance.EquipMode.IsSimulMode()) {
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return SequenceAction.Ok();
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}
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if(_CurFovId == eFovId.Fov1) {
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return SequenceAction.Ok();
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}
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int res = E1.GENERIC;
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if (_Params.FovPositions != null && _Params.FovPositions.ContainsKey(_CurFovId)) {
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// 파라미터로 넘겨받은 절대위치로 이동
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res = EquipAdapter.Instance.TeachingMotionManager.AbsMove(_FovInfos[_CurFovId], _Params.FovPositions[_CurFovId]);
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}
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else {
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// Adapter에 정의된 티칭위치로 이동
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res = EquipAdapter.Instance.TeachingMotionManager.MovePosition(_FovInfos[_CurFovId], ePositionType.Teaching);
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}
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if (res == E1.OK) {
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ApplyGrabDelay(_SubSysInfo);
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return SequenceAction.Ok();
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}
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else {
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return SequenceAction.Error(E2.ABORTED);
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}
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}
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private string CheckFound(
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SequenceContext context,
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string id,
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ICollection<string> branches,
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SequenceActionResult param) {
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var patternResult = param.Param as PatternResult;
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if (patternResult.Status != eFoundStatus.NotFound) {
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if (patternResult.Status == eFoundStatus.ForceOK) {
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_IsForceOk = true;
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}
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return SEQ_ID_SET_MEASURE;
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}
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return SEQ_ID_CHECK_MEASURE_FINISHED;
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}
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private SequenceActionResult MarkNG(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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context.PutValue<AlignResult>(
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string.Format(VisionContextKeys.CNTXT_KEY_ALIGN_RESULT, _Params.AlignInfo.GetKey()),
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new AlignResult() {
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AlignName = _AlignRecipe.AlignName,
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Status = AlignStatus.NOT_FOUND,
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AlignAlgorithm = _AlignRecipe.ProcParams.AlignAlgorithm,
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});
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return SequenceAction.Ok();
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}
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#region 패턴 간에 거리 검사
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private string CheckPatternDistanceInspEnabled(
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SequenceContext context,
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string id,
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ICollection<string> branches,
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SequenceActionResult param) {
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if (_AlignRecipe.InspParams.PatternDistanceParam.Enabled) {
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return SEQ_ID_SET_PATTERN_DISTANCE_INSP_SEQ_PARAMS;
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}
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else {
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return SEQ_ID_ALIGN;
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}
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}
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private SequenceActionResult SetPatternDistanceInspSeqParams(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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return SequenceAction.Ok(
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new InspSeqParams_PatternDistance(_Params.AlignInfo, _MeasureResults));
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}
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private string CheckPatternDistanceInspStatus(
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SequenceContext context,
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string id,
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ICollection<string> branches,
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SequenceActionResult param) { // Param : List<PatternDistanceResult>
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var patternDistanceResults = param.Param as List<PatternDistanceResult>;
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foreach (PatternDistanceResult result in patternDistanceResults) {
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if (result.InspStatus == InspStatus.NG) {
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return SEQ_ID_DISTANCE_NG;
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}
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}
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return SEQ_ID_ALIGN;
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}
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private SequenceActionResult DistanceNG(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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context.PutValue<AlignResult>(
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string.Format(VisionContextKeys.CNTXT_KEY_ALIGN_RESULT, _Params.AlignInfo.GetKey()),
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new AlignResult() {
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AlignName = _AlignRecipe.AlignName,
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Status = AlignStatus.DISTANCE_NG,
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AlignAlgorithm = _AlignRecipe.ProcParams.AlignAlgorithm,
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});
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return SequenceAction.Ok();
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}
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#endregion
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private SequenceActionResult Align(
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SequenceContext context,
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string id,
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SequenceActionResult param) {
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var meaPoints = new List<DoublePoint>();
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var refPoints = new List<DoublePoint>();
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_MeasureResults = _MeasureResults.OrderBy(obj => obj.Key).ToDictionary(obj => obj.Key, obj => obj.Value);
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foreach (var meaResultPair in _MeasureResults) {
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meaPoints.Add((meaResultPair.Value as BaseResult).MaterialPosition);
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foreach (var refResultPair in _ReferenceResults) {
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if (refResultPair.Key == meaResultPair.Key) {
|
|
refPoints.Add((refResultPair.Value as BaseResult).MaterialPosition);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
var flipY = (int)_Calibrator.GetFlipY();
|
|
var alignResult = _Aligner.Align(meaPoints, refPoints, flipY);
|
|
|
|
if (alignResult == null) {
|
|
return SequenceAction.Error();
|
|
}
|
|
else {
|
|
context.PutValue(string.Format(VisionContextKeys.CNTXT_KEY_ALIGN_RESULT, _Params.AlignInfo.GetKey()), alignResult);
|
|
}
|
|
|
|
return SequenceAction.Ok(alignResult);
|
|
}
|
|
|
|
private SequenceActionResult SeqComplete(
|
|
SequenceContext context,
|
|
string id,
|
|
SequenceActionResult param) {
|
|
|
|
AlignResult alignResult = context.GetValue<AlignResult>(string.Format(VisionContextKeys.CNTXT_KEY_ALIGN_RESULT, _Params.AlignInfo.GetKey()));
|
|
if (alignResult == null) {
|
|
return SequenceAction.Error();
|
|
}
|
|
alignResult.AlignName = _AlignRecipe.AlignName;
|
|
if (_IsForceOk && alignResult.Status == AlignStatus.OK) {
|
|
alignResult.Status = AlignStatus.F_OK;
|
|
}
|
|
|
|
if (_MeasureResults.Keys.Count > 0) {
|
|
context.PutValue(string.Format(VisionContextKeys.CNTXT_KEY_LAST_MEASURE_FOV_ID, _Params.AlignInfo.GetKey()), _MeasureResults.Keys.ToList().Max());
|
|
}
|
|
|
|
return SequenceAction.Ok(alignResult);
|
|
}
|
|
|
|
private void IncreaseCurFovId() {
|
|
_CurFovId++;
|
|
}
|
|
|
|
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) {
|
|
}
|
|
}
|
|
} |