LGES-OC5-PtoP-Welder/Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunComponentWeld.cs

using Aurora.Api;
using AuroraCellTracker;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WeldingCommon.Sequences;
using WeldingCommon;
using AuroraLaserScanner;
using WeldingCommon.Settings;
using WeldingCommon.Utils;
using AuroraLaser;
using AuroraOCT;
using AuroraPLC;
using AuroraIO;
using VisionCommon;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using Aurora.Api.Manager;
using AuroraLBAD;
using CoreUnit.Control.UserControl.Canvas;
using Matrox.MatroxImagingLibrary;
using WeldingCommon.Vision.WeldingObjectGenerator;
using OpenCvSharp;
using System.Diagnostics;
using ILSOS_PrismaticRD_PTOP.Models;
using Aurora;
using DB.Recipe;
using System.Runtime.Remoting.Contexts;
using System.IO;
using System.Text.RegularExpressions;
using System.Threading;
using OpenCvSharp.Dnn;
using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
using DB;
using System.Configuration;
using System.Runtime.InteropServices.ComTypes;
using System.Windows.Media.Imaging;
using OpenCvSharp.WpfExtensions;
using System.Windows;
using Aurora.View;
using System.Drawing;
using System.Collections.ObjectModel;
using WeldingCommon.Views;
using WeldingCommon.Data;
using Hermes;
using System.CodeDom.Compiler;
using static Aurora.Api.SequenceBuilder;
using WeldingCommon.Devices;
using static ILSOS_PrismaticRD_PTOP.Device.PLCControllerPTOP;
using System.Windows.Forms.VisualStyles;
using static AuroraIO.Vendor.PAIX.PAIXIO;
using WeldingCommon.Alarm;
using ILSOS_PrismaticRD_PTOP.Device;

namespace ILSOS_PrismaticRD_PTOP.Sequences
{
    class SeqAutoRunComponentWeld
    {
        static readonly Logger Log = new Logger("SeqAutoRunPrismatic");

        const string SEQ_ENTER = "SEQ_ENTER";   // inputParam 으로 받자.
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";  // Check Init Condition
        const string SEQ_GET_PLC_WELD_READY_REQ_ON = "Get PLC Weld Ready Request On"; // PLC 용접 준비 요청 수신
        const string SEQ_CHECK_CELL_INFO_RECEIVE = "Check Cell Info Receive"; // 셀 정보 수신 확인
        const string SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ = "Get Sequence Result (ReceiveCellInfo Seq)";
        const string SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ = "Process (ReceiveCellInfo Seq)";
        const string SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ = "Set Sequence Param (ReceiveCellInfo Seq)";
        const string SEQ_SET_PC_WELD_READY_ACK_ON_WITH_CELL = "Set PC Weld Ready Ack On With Cell"; // 셀과 함께 PC 용접 준비 확인
        const string SEQ_MEASURE_CELL_POSITION = "Measure Cell Position"; // 셀 위치 측정
        const string SEQ_SET_MIL_MODEL_FINDER_SEQ = "Set MIL Model Finder Seq"; // MIL 모델 찾기 시퀀스 설정
        const string SEQ_DO_ID_MIL_MODEL_FINDER_SEQ = "Process (MIL Model Finder Seq)"; // MIL 모델 찾기 시퀀스 처리
        const string SEQ_GET_MIL_MODEL_FINDER_SEQ = "Get MIL Model Finder Seq"; // MIL 모델 찾기 시퀀스 가져오기
        const string SEQ_GENERATE_WELDING_OBJECT = "Generate Welding Object"; // 용접 객체 생성
        const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "Set Params Upload Welding List Seq"; // 용접 리스트 업로드 파라미터 설정
        const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "Process (Upload Welding List Seq)"; // 용접 리스트 업로드 시퀀스 처리
        const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "Get Result Upload Welding List Seq"; // 용접 리스트 업로드 결과 가져오기
        const string SEQ_GET_PLC_WELD_READY_REQ_OFF = "Get PLC Weld Ready Request Off"; // PLC 용접 준비 요청 종료
        const string SEQ_SET_PC_WELD_READY_ACK_OFF = "Set PC Weld Ready Ack Off"; // PC 용접 준비 확인 종료
        const string SEQ_WAIT_WELDING_START = "Wait Welding Start"; // 용접 시작 대기
        const string SEQ_EXECUTE_WELDING = "Execute Welding"; // 용접 실행
        const string SEQ_CHECK_VISION_COMPENSION_USE = "Check Vision Compensation Use"; // 비전 보상 사용 확인
        const string SEQ_CHECK_PLC_WELDING_COMPLETE = "Check Rewelding Request"; // 재용접 요청 확인
        const string SEQ_SET_PC_WELD_COMPLETE_ON = "Set PC Weld Complete On"; // PC 용접 완료 설정
        const string SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_END = "Set PC Weld Complete Off With End"; // 종료와 함께 PC 용접 완료 설정
        const string SEQ_GET_PLC_WELD_COMPLETE_ACK_OFF = "Set PLC Weld Complete Ack Off"; // PLC 용접 완료 확인 종료
        const string SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_RETRY = "Set PC Weld Complete Off With Retry"; // 재시도와 함께 PC 용접 완료 설정
        const string SEQ_SET_PC_PAGE_CHANGE_COMPLETE_ON = "Set PC Page Change Complete On"; // PC 페이지 변경 완료 설정
        const string SEQ_GET_PLC_PAGE_REQ_OFF = "Get PLC Page Request Off"; // PLC 페이지 요청 종료
        const string SEQ_SET_PC_PAGE_CHANGE_COMPLETE_OFF = "Set PC Page Change Complete Off"; // PC 페이지 변경 완료 종료
        const string SEQ_SAVE_RESULT_DATA = "Save Result Data"; // 결과 데이터 저장
        const string SEQ_COMPLETE = "SEQ_COMPLETE";         // 완료

        static class ContextKey
        {
            public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqAutoRunPrismatic";
            public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqAutoRunPrismatic";
        }

        const int PLC_TIMEOUT = 60;        // sec, Timeout은 시퀀스 정지가 아니라 타임아웃 시간마다 로그만 남기도록 한다

        #region 변수 정의
        // 디바이스 정의
        private Scanner _Scanner;
        private Laser _Laser;
        private PLCControllerPTOP _PLC;

        // 비전 정의
        private MIL_ID _GrabImage = MIL.M_NULL;

        // 시스템 및 용접 파라미터 정의
        private SystemParameter _SystemParameter;

        private SeqAutoRunPrismatic_InitParam _InitParam;

        // 생산 데이터 정의
        private uint _TodayProduct;
        private uint _TotalProduct;

        private DateTime _WeldStartTime;
        private DateTime _WeldEndTime;
        private TimeSpan _WeldSpanTime;

        private string _LotId = "N/A";
        private string _CellId = "N/A";

        const int timeoutSeconds = 10;

        #endregion

        public SequenceBuilder Builder()
        {
            var sb = new SequenceBuilder(1000, true);
            ////var sb = new SequenceBuilder(1000, false);        // With log

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기

            ////// PLC_WELD_READY_REQ ON Check & Cell Load
            sb.AddAction(SEQ_GET_PLC_WELD_READY_REQ_ON, GetPlcWeldReadyReqOn);
            sb.AddDecision(SEQ_CHECK_CELL_INFO_RECEIVE, CheckCellInfoReceive);
            sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo());
            sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult);

            ////// PC_WELD_READY_ACK ON & PLC_WELD_READY_REQ OFF Check & Use Model Finder
            sb.AddAction(SEQ_SET_PC_WELD_READY_ACK_ON_WITH_CELL, SetPcWeldReadyAckOnWithCell);
            sb.AddAction(SEQ_GET_PLC_WELD_READY_REQ_OFF, GetPlcWeldReadyReqOff);
            sb.AddDecision(SEQ_CHECK_VISION_COMPENSION_USE, CheckVisionCompensationUse);
            sb.AddAction(SEQ_MEASURE_CELL_POSITION, MeasureCellPosition);
            sb.AddAction(SEQ_SET_MIL_MODEL_FINDER_SEQ, SetMilModelFinder_SeqParams);
            ///* 반드시 변경 필요함. FlyingVision은 아님. *///
            sb.AddSubsequence(SEQ_DO_ID_MIL_MODEL_FINDER_SEQ, SequenceManager.GetSeqBuilder_SeqScoutFlyingVision());
            sb.AddAction(SEQ_GET_MIL_MODEL_FINDER_SEQ, GetMilModelFinder_SeqResult);
            sb.AddAction(SEQ_GENERATE_WELDING_OBJECT, GenerateWeldingObject);

            ////// PC_WELD_READY_ACK OFF & Weld Start / Complete
            sb.AddAction(SEQ_SET_PC_WELD_READY_ACK_OFF, SetPcWeldReadyAckOff);
            sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
            sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
            sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
            sb.AddAction(SEQ_WAIT_WELDING_START, WaitWeldingStart);
            sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);


            /////// Check Welding Retry Request
            sb.AddAction(SEQ_SET_PC_WELD_COMPLETE_ON, SetPcWeldCompleteOn);
            sb.AddDecision(SEQ_CHECK_PLC_WELDING_COMPLETE, SeqCheckPlcWeldingComplete);
            sb.AddAction(SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_END, SetPcWeldCompleteOffWithEnd);
            sb.AddAction(SEQ_GET_PLC_WELD_COMPLETE_ACK_OFF, GetPlcWeldCompleteAckOff);
            sb.AddAction(SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_RETRY, SetPcWeldCompleteOffWithRetry);
            sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_COMPLETE_ON, SetPcPageChangeCompleteOn);
            sb.AddAction(SEQ_GET_PLC_PAGE_REQ_OFF, GetPlcPageReqOff);
            sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_COMPLETE_OFF, SetPcPageChangeCompleteOff);
            sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData);      // 해당 공정의 정보를 기록 함.
            sb.AddAction(SEQ_COMPLETE, Complete);


            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
                    > sb[SEQ_GET_PLC_WELD_READY_REQ_ON] > sb[SEQ_CHECK_CELL_INFO_RECEIVE]
                    > sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ]
                    > sb[SEQ_SET_PC_WELD_READY_ACK_ON_WITH_CELL] > sb[SEQ_GET_PLC_WELD_READY_REQ_OFF]
                    > sb[SEQ_CHECK_VISION_COMPENSION_USE] > sb[SEQ_MEASURE_CELL_POSITION]
                    > sb[SEQ_SET_MIL_MODEL_FINDER_SEQ] > sb[SEQ_DO_ID_MIL_MODEL_FINDER_SEQ] > sb[SEQ_GET_MIL_MODEL_FINDER_SEQ] > sb[SEQ_GENERATE_WELDING_OBJECT]
                    > sb[SEQ_SET_PC_WELD_READY_ACK_OFF] > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
                    > sb[SEQ_WAIT_WELDING_START] > sb[SEQ_EXECUTE_WELDING]
                    > sb[SEQ_SET_PC_WELD_COMPLETE_ON] > sb[SEQ_CHECK_PLC_WELDING_COMPLETE]
                    > sb[SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_END] > sb[SEQ_GET_PLC_WELD_COMPLETE_ACK_OFF] > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_COMPLETE]);

            // SEQ_CHECK_INIT_CONDITION
            sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);

            // SEQ_CHECK_CELL_INFO_RECEIVE
            sb.Flows(sb[SEQ_CHECK_CELL_INFO_RECEIVE] > sb[SEQ_SET_PC_WELD_READY_ACK_ON_WITH_CELL]);

            // SEQ_CHECK_VISION_COMPENSION_USE
            sb.Flows(sb[SEQ_CHECK_VISION_COMPENSION_USE] > sb[SEQ_SET_PC_WELD_READY_ACK_OFF]);

            // SEQ_CHECK_PLC_WELDING_COMPLETE
            sb.Flows(sb[SEQ_CHECK_PLC_WELDING_COMPLETE] > sb[SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_RETRY]
                > sb[SEQ_SET_PC_PAGE_CHANGE_COMPLETE_ON] > sb[SEQ_GET_PLC_PAGE_REQ_OFF] > sb[SEQ_SET_PC_PAGE_CHANGE_COMPLETE_OFF]
                > sb[SEQ_CHECK_VISION_COMPENSION_USE]);

            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            //sb.Draw("SeqAutoRunComponentWeld.pdf");

            return sb;
        }

        #region 시퀸스 함수
        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqAutoRunPrismatic Start");

            _InitParam = param.Param as SeqAutoRunPrismatic_InitParam;
            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);

            InitDev(context);
            if (!CheckDeviceReady(context))
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
                Log.E("The devices are not active.");
                return null;
            }

            if (InitSequenceVariable(context) == false)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
                return null;
            }

            return SequenceAction.Ok();
        }

        private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (!CheckCondition(context))
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition);
                Log.E("Condition is not in state to start sequence.");
                context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
                return SEQ_COMPLETE;
            }

            var startTime = DateTime.Now;
            context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
            return SEQ_SAVE_RESULT_DATA;
        }

        private SequenceActionResult GetPlcWeldReadyReqOn(SequenceContext context, string id, SequenceActionResult param)
        {
            // while context가 적절한지 고민이 됨.
            while (!context.Stopped)
            {
                if (_PLC.ReadBit(eBitInput.PLC_WELD_READY_REQ).data){
                    Log.I(string.Format("PLC Weld Ready Request ON"));
                    break;
                }
            }
            return SequenceAction.Ok();
        }

        private string CheckCellInfoReceive(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (_SystemParameter.SequenceType == eSequenceType.CellCenterOffset)
            {
                Log.I(string.Format("Check Cell Info Receive"));
                return SEQ_CHECK_CELL_INFO_RECEIVE;
            }
            else
            {
                Log.I(string.Format("Pass Cell Info Receive"));
                return SEQ_SET_PC_WELD_READY_ACK_ON_WITH_CELL;
            }
        }

        private SequenceActionResult SetReceiveCellInfo_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam()
            {
            };
            return SequenceAction.Ok(seqParams);
        }

        private SequenceActionResult GetReceiveCellInfo_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            var resultOutParam = param.Param as SeqReceiveCellInfo_OutParam;
            if (resultOutParam.Success == false)
            {
                return null;
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetPcWeldReadyAckOnWithCell(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_WELD_READY_ACK, true);
            // Cell ID를 PLC에 적어줄지 고민해볼 것.

            Log.I(string.Format("Set PC Weld Ready Ack On With Cell"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult GetPlcWeldReadyReqOff(SequenceContext context, string id, SequenceActionResult param)
        {
            // Retry에 대해서 어떤 부분이 좋을지 고민됨.. while(!context.Stopped) or RetryUntilSuccess
            Func<bool> plcResponse = () => _PLC.ReadBit(eBitInput.PLC_WELD_READY_REQ).data;

            var res = context.RetryUntilSuccess(plcResponse, timeoutSeconds * 1000);
            if (res == E2.TIMEOUT)
            {
                Log.FuncE("Get PLC Weld Ready Request OFF Timeout !");
                return null;
            }
            else Log.I(string.Format("Get PLC Weld Ready Request Complete"));

            return SequenceAction.Ok();
        }

        private string CheckVisionCompensationUse(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            if (_SystemParameter.SequenceType == eSequenceType.CellCenterOffset)
            {
                Log.I(string.Format("Use Vision Compensation"));
                return SEQ_MEASURE_CELL_POSITION;
            }
            else
            {
                Log.I(string.Format("Unuse Vision Compensation"));
                return SEQ_SET_PC_WELD_READY_ACK_OFF;
            }
        }
        private SequenceActionResult MeasureCellPosition(SequenceContext context, string id, SequenceActionResult param)
        {
            double ScannerPosX = 0, ScannerPosY = 0;
            // 처음 객체 기반의 중앙 기반
            FindFirstObjectCenter(out ScannerPosX, out ScannerPosY);
            Log.I(string.Format($"Move Scanner - ScannerPosX : {ScannerPosX},ScannerPosY : {ScannerPosY} "));
            _Scanner.JumpAbs(ScannerPosX, ScannerPosY);

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetMilModelFinder_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            throw new NotImplementedException();
        }

        private SequenceActionResult GetMilModelFinder_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            throw new NotImplementedException();
        }

        private SequenceActionResult GenerateWeldingObject(SequenceContext context, string id, SequenceActionResult param)
        {
            throw new NotImplementedException();
        }

        private SequenceActionResult SetPcWeldReadyAckOff(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_WELD_READY_ACK, false);
            Log.I(string.Format("Set PC Weld Ready Ack Off"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
        {
            _WeldStartTime = DateTime.Now;
            Status.GetProcessingWeldingData().WeldingStartTime = _WeldStartTime;

            throw new NotImplementedException();
        }

        private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
        {
            throw new NotImplementedException();
        }

        private SequenceActionResult WaitWeldingStart(SequenceContext context, string id, SequenceActionResult param)
        {
            throw new NotImplementedException();
        }

        private SequenceActionResult ExecuteWelding(SequenceContext context, string id, SequenceActionResult param)
        {
            _WeldEndTime = DateTime.Now;
            _WeldSpanTime = _WeldEndTime.Subtract(_WeldStartTime);
            UpdateProductCount(context);
            UpdateProductInfoForView();

            throw new NotImplementedException();
        }

        private SequenceActionResult SetPcWeldCompleteOn(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE, true);
            Log.I(string.Format("Set PC Weld Complete On"));

            return SequenceAction.Ok();
        }

        private string SeqCheckPlcWeldingComplete(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
        {
            // Retry에 대해서 어떤 부분이 좋을지 고민됨.. while(!context.Stopped) or RetryUntilSuccess
            Func<bool> plcResponse = () => _PLC.ReadBit(eBitInput.PLC_WELD_COMPLETE_ACK).data
                                        || _PLC.ReadBit(eBitInput.PLC_PAGE_CHANGE_REQ).data;

            var res = context.RetryUntilSuccess(plcResponse, timeoutSeconds * 1000);
            if (res == E2.TIMEOUT)
            {
                Log.FuncE("Get PLC Welding Complete or Page Change Request Timeout !");
                return null;
            }
            else
            {
                if (_PLC.ReadBit(eBitInput.PLC_WELD_COMPLETE_ACK).data)
                {
                    Log.I(string.Format("Get PLC Weld Complete Ack On"));
                    return SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_END;
                }
                else if (_PLC.ReadBit(eBitInput.PLC_PAGE_CHANGE_REQ).data)
                {
                    Log.I(string.Format("Get PLC Page Change Request On"));
                    return SEQ_SET_PC_WELD_COMPLETE_OFF_WITH_RETRY;
                }
                else
                {
                    Log.I(string.Format("Unexpected Situation."));
                    return null;
                }
            }
        }

        private SequenceActionResult SetPcWeldCompleteOffWithEnd(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE, false);
            Log.I(string.Format("Set PC Weld Complete Off For End"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult GetPlcWeldCompleteAckOff(SequenceContext context, string id, SequenceActionResult param)
        {
            // Retry에 대해서 어떤 부분이 좋을지 고민됨.. while(!context.Stopped) or RetryUntilSuccess
            Func<bool> plcResponse = () => !_PLC.ReadBit(eBitInput.PLC_WELD_COMPLETE_ACK).data;

            var res = context.RetryUntilSuccess(plcResponse, timeoutSeconds * 1000);
            if (res == E2.TIMEOUT)
            {
                Log.FuncE("Get PLC Welding Complete ACK Off Timeout !");
                return null;
            }
            else
            {
                Log.I(string.Format("Get PLC Weld Complete Ack Off"));
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetPcWeldCompleteOffWithRetry(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE, false);
            Log.I(string.Format("Set PC Weld Complete On For Retry"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetPcPageChangeCompleteOn(SequenceContext context, string id, SequenceActionResult param)
        {
            short pageNo = _PLC.ReadWord(eWordInput.PLC_PAGE_NO).data;
            ChangeRecipes(pageNo);
            _PLC.WriteBit(eBitOutput.PC_PAGE_CHANGE_COMPLETE, true);
            Log.I(string.Format("Set PC Page Change Complete On"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult GetPlcPageReqOff(SequenceContext context, string id, SequenceActionResult param)
        {
            // Retry에 대해서 어떤 부분이 좋을지 고민됨.. while(!context.Stopped) or RetryUntilSuccess
            Func<bool> plcResponse = () => !_PLC.ReadBit(eBitInput.PLC_PAGE_CHANGE_REQ).data;

            var res = context.RetryUntilSuccess(plcResponse, timeoutSeconds * 1000);
            if (res == E2.TIMEOUT)
            {
                Log.FuncE("Get PLC Page Change Request Off Timeout !");
                return null;
            }
            else
            {
                Log.I(string.Format("Get PLC Page Change Request Off"));
            }

            return SequenceAction.Ok();
        }

        private SequenceActionResult SetPcPageChangeCompleteOff(SequenceContext context, string id, SequenceActionResult param)
        {
            _PLC.WriteBit(eBitOutput.PC_PAGE_CHANGE_COMPLETE, false);
            Log.I(string.Format("Set PC Page Change Complete Off"));

            return SequenceAction.Ok();
        }

        private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
        {
            context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
            return SequenceAction.Ok();
        }

        private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
        {
            RestoreDeviceStatus();

            context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
            SeqAutoRunPrismatic_OutParam result = new SeqAutoRunPrismatic_OutParam() { Success = seqResult };

            if (seqResult == false)
            {
                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_ResultFailed);
            }
            Status.SetWorkingPosition(eWorkingPosition.DONE);

            return SequenceAction.Ok(result);
        }
        #endregion

        #region 구동 함수
        private bool InitSequenceVariable(SequenceContext context)
        {
            // TODO: [장비구현필요] Initialize Variable 추가


            return true;
        }

        private void InitDev(SequenceContext context)
        {
            //Device Init
            _Scanner = context.GetLaserScanner();
            _Laser = context.GetLaser();
            _PLC = context.GetPLC() as PLCControllerPTOP;
        }

        private bool CheckDeviceReady(SequenceContext context)
        {
            List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.Laser };
            bool isAllDeviceActivated = true;
            foreach (string item in deviceListToCheck)
            {
                if (!context.Devices[item].IsActivated)
                {
                    isAllDeviceActivated = isAllDeviceActivated && false;
                }
            }

            return isAllDeviceActivated;
        }

        private bool CheckCondition(SequenceContext context)
        {
            if (CheckCondition_Interlock())
            {
                if (InitializeDeviceStatus(context))
                {
                    return true;
                }
            }
            return false;
        }

        private bool CheckCondition_Interlock()
        {
            // PLC, Data, IO 등 Interlock checking

            return true;
        }

        private bool InitializeDeviceStatus(SequenceContext context)
        {

            return true;
        }

        private void FindFirstObjectCenter(out double x, out double y)
        {
            // 구현 필요
            x = 0; y = 0;
        }

        private void ChangeRecipes(short pageNo)
        {

        }
        #endregion

        private bool RestoreDeviceStatus()
        {

            return true;
        }

        private void OnForceError(SequenceContext arg1, string arg2)
        {
            OnSeqActionStop();

            Log.I("SequenceAction Ok : OnForceError");
        }

        private void OnStopped(SequenceContext obj)
        {
            OnSeqActionStop();

            Log.I("SequenceAction Ok : OnStopped");
        }

        private void OnSeqActionStop()
        {

        }
        private void UpdateProductCount(SequenceContext context)
        {
            //SystemParameter의 Today, Total Product Count를 어디선간 Reset을 해줘야 함..추가해주고 주석 제거하자
            _TodayProduct = _SystemParameter.TodayProductCount;
            _TotalProduct = _SystemParameter.TotalProductCount;
            if (_TodayProduct < uint.MaxValue)
            {
                _TodayProduct++;
            }
            if (_TotalProduct < uint.MaxValue)
            {
                _TotalProduct++;
            }
            _SystemParameter.TodayProductCount = _TodayProduct;
            _SystemParameter.TotalProductCount = _TotalProduct;

            //Systemparameter Save
            context.Settings.Save(CommonSettingIds.SystemParameter, _SystemParameter, "SeqAutoRunLHS_New");
        }

        private void UpdateProductInfoForView()
        {
            Status.GetProcessingWeldingData().TotalProduct = _TotalProduct;
            Status.GetProcessingWeldingData().TodayProduct = _TodayProduct;

            Status.GetProcessingWeldingData().WeldingStartTime = _WeldStartTime;
            Status.GetProcessingWeldingData().WeldingEndTime = _WeldEndTime;
            Status.GetProcessingWeldingData().WeldingSpanTimeMilliseconds = _WeldSpanTime.TotalMilliseconds.ToString();

            Status.GetProcessingWeldingData().LotId = _LotId;
            Status.GetProcessingWeldingData().CellId = _CellId;
        }
    }


}