552 lines
23 KiB
C#
552 lines
23 KiB
C#
using Aurora.Api;
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using Aurora.Api.Services;
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using AuroraIO;
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using AuroraLaserScanner;
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using AuroraLBAD;
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using AuroraLBAD.Services;
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using AuroraOCT;
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using CoreUnit.Control.UserControl.Canvas;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using DB;
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using Hermes;
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using Matrox.MatroxImagingLibrary;
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using OpenCvSharp.Dnn;
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using System;
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using System.Collections.Generic;
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using System.Configuration;
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using System.Diagnostics;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using VisionCommon;
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using WeldingCommon.Alarm;
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using WeldingCommon.Data;
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using WeldingCommon.Settings;
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using WeldingCommon.Utils;
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using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
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using static AuroraIO.Vendor.PAIX.PAIXIO;
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namespace WeldingCommon.Sequences
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{
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public class SeqTeachingRun
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{
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static readonly Logger Log = new Logger("SeqTeachingRun");
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const string SEQ_ENTER = "[SeqTeachingRun] SEQ_ENTER"; // inputParam 으로 받자.
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const string SEQ_CHECK_INIT_CONDITION = "[SeqTeachingRun] Check Init Condition"; // Check Init Condition
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const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Set Sequence Param (UploadWeldingList Seq)";
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const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Process (UploadWeldingList Seq)";
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const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqTeachingRun] Get Sequence Result (UploadWeldingList Seq)";
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const string SEQ_SET_BLOW_ON = "[SeqTeachingRun] Set Blow On";
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const string SEQ_STREAM_LBAD_BEFORE_WELDLINES = "[SeqTeachingRun] StreamLBAD Before Weldlines";
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const string SEQ_EXECUTE_WELDLINES = "[SeqTeachingRun] Execute WeldLines";
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const string SEQ_SET_BLOW_OFF = "[SeqTeachingRun] Set Blow Off";
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const string SEQ_STREAM_LBAD_AFTER_WELDLINES = "[SeqTeachingRun] StreamLBAD After Weldlines";
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const string SEQ_SAVE_RESULT_DATA = "[SeqTeachingRun] Save Result Data";
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const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqTeachingRun] Write Completion PLC Bit";
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const string SEQ_COMPLETE = "[SeqTeachingRun] SEQ_COMPLETE"; // 완료
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static class ContextKey
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{
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public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqTeachingRun";
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public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqTeachingRun";
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}
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private SeqTeachingRun_InitParam _InitParam;
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private Scanner _Scanner;
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private OCT _OCT;
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private IODevice _IO;
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private StreamLBADClient _StreamLBADClient;
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private SystemParameter _SystemParameter;
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private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
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private eListNo _WeldingScannerListNo;
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private List<IDrawObject> _SelectedObjectList;
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private static TimeSpan _WeldingSpanTime; //TeacingRun 시퀀스에서 용접 소요시간
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public SequenceBuilder Builder()
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{
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var sb = new SequenceBuilder(1000, true);
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////var sb = new SequenceBuilder(1000, false); // With log
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sb.AddAction(SEQ_ENTER, Sequence_Enter);
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sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
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sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
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sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
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sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
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sb.AddAction(SEQ_SET_BLOW_ON, SetBlowOn);
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sb.AddAction(SEQ_STREAM_LBAD_BEFORE_WELDLINES, StreamLBADBeforeWeldlines);
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sb.AddAction(SEQ_EXECUTE_WELDLINES, ExecuteWeldLines);
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sb.AddAction(SEQ_SET_BLOW_OFF, SetBlowOff);
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sb.AddAction(SEQ_STREAM_LBAD_AFTER_WELDLINES, StreamLBADAfterWeldlines);
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sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함.
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sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write
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sb.AddAction(SEQ_COMPLETE, Complete);
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sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
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> sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
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> sb[SEQ_SET_BLOW_ON] > sb[SEQ_STREAM_LBAD_BEFORE_WELDLINES] > sb[SEQ_EXECUTE_WELDLINES]
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> sb[SEQ_SET_BLOW_OFF] > sb[SEQ_STREAM_LBAD_AFTER_WELDLINES]
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> sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
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sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);
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sb.OnStopped(OnStopped);
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sb.OnForceError(OnForceError);
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//sb.Draw("SeqTeachingRun.pdf");
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return sb;
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}
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private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("SeqTeachingRun Start");
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_InitParam = param.Param as SeqTeachingRun_InitParam;
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_SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
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InitDev(context);
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if (!CheckDeviceReady(context)) { //Check Device
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_DeviceNotReady);
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Log.E("The devices are not active.");
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return null;
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}
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if (InitSequenceVariable(context) == false) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_InitVariableError);
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return null;
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}
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return SequenceAction.Ok();
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}
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private bool InitSequenceVariable(SequenceContext context)
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{
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var mainPage = CommonHelper.GetMainPage();
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_ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
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_WeldingScannerListNo = eListNo.LIST1;
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if (_InitParam.IsObjectSelectAll) {
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_SelectedObjectList = _ScannerCanvasUserCtrl.Model.ActiveLayer.Objects;
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} else {
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_SelectedObjectList = _ScannerCanvasUserCtrl.Canvas.Model.SelectedObjects;
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}
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//Status.GetProcessingWeldingData().WeldingScannerListNo = _WeldingScannerListNo;
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//Status.GetProcessingWeldingData().SelectedDrawObjectList = _SelectedObjectList;
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return true;
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}
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private void InitDev(SequenceContext context)
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{
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//Device Init
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_Scanner = context.GetLaserScanner();
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_OCT = context.GetOCT();
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_IO = context.GetIOUnit();
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if (_InitParam.UseStream) {
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_StreamLBADClient = context.GetLBADClient();
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}
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// @geprecated 각형배터리에서 문제 생겨서 추가한 코드임
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// Scanner를 다시 초기화해주면 시간이 오래걸린다.. 굳이 수동용접시 마다 해줄 필요가 없음
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//if (E1.OK != _scanner._scannerObj.Open())
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//{
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// Log.E("Scanner open Error");
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// return SequenceAction.Error();
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//}
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//if (E1.OK != _scanner._scannerObj.Initialize(_scanner.Config))
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//{
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// Log.E("Scanner Initialize Error");
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// return SequenceAction.Error();
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//}
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}
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private bool CheckDeviceReady(SequenceContext context)
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{
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List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, /*CommonDeviceIds.OCT, */CommonDeviceIds.IODevice };
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if (_InitParam.UseStream) {
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deviceListToCheck.Add(CommonServiceIds.StreamLBADClient);
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}
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bool isAllDeviceActivated = true;
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foreach (string item in deviceListToCheck) {
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if (!context.Devices[item].IsActivated) {
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isAllDeviceActivated = isAllDeviceActivated && false;
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}
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}
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return isAllDeviceActivated;
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}
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private bool CheckCondition()
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{
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if (CheckCondition_Interlock()) {
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if (InitializeDeviceStatus()) {
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return true;
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}
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}
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return false;
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}
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private bool CheckCondition_Interlock()
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{
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// PLC, Data, IO 등 Interlock checking
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return true;
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}
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private bool InitializeDeviceStatus()
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{
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//Vision Correction File 선택
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//_scanner._scannerObj.SelectCorrectionTable(1);
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_Scanner.SelectCorrectionTable(2);
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if (_InitParam.UseStream) {
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if (InitializeStream() == false) {
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Log.E("Fail Initialize Stream");
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return false;
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}
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}
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return true;
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}
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private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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if (!CheckCondition()) {
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AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_CheckInitCondition);
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Log.E("Condition is not in state to start sequence.");
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context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
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return SEQ_COMPLETE;
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}
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var startTime = DateTime.Now;
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context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
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Log.D("TeachingRun Sequence CheckInitCondition");
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return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
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}
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private bool InitializeStream()
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{
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// TODO: 이거는 원래 source 에 없었는데, 언제 반영 되었는지 확인 필요. 그리고 맞는 방법으로 되었는지 확인 필요함.
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// TODO: 우선은 주석 처리 해 둠. 2025.03.05
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// TODO: StreamLBADClient 의 생성자에 해당 Message 가 있음. 이걸 좀 바꿔야 함. 생성할때 보내는 것이 맞는지 명시적으로 보내는것이 맞는지.
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//// CELL ID와 LOT ID는 CellTacker로부터 받은 정보를 LBAD측으로 용접 전 줘야함, Reply는 로그만 남기자
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_CELL_ID, new StreamStringParser(), new StreamNumberParser<int>());
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_LOT_ID, new StreamStringParser(), new StreamNumberParser<int>());
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////LBAD측이랑 통신하기 전 항상 ReadyStauts에 대한 Request하고 LBAD에서는 Ready가 되있으면 Reply를 한다..
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_READY_STATUS, new StreamNumberParser<int>(), new StreamNumberParser<int>());
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_WELDING_TRIGGER, new StreamNumberParser<int>(), new StreamNumberParser<int>());
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_WELDING_STOP, new StreamNumberParser<int>(), new StreamNumberParser<int>());
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////용접 완료 후 LBAD측에 JudgeComplete를 요청한뒤 JudgeFlag를 회신 받는다
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_JUDGEMENT_COMPLETE, new StreamNumberParser<int>(), new StreamNumberParser<int>());
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_CELL_ID, new StreamStringParser(), new StreamNumberParser<int>());
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//_StreamLBADClient.AddParser(StreamMessageNames.MESSAGE_PC_LBAD_LOT_ID, new StreamStringParser(), new StreamNumberParser<int>());
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return true;
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}
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private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
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{
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// TeachingRun 에서는 CellMeasureCenterOffset 사용하지 않음. 0 으로 넘기자
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SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
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NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
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IncludeListStartEnd = true,
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CellMeasureCenterOffsetX = 0.0,
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CellMeasureCenterOffsetY = 0.0,
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SelectedDrawObjectList = _SelectedObjectList,
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WeldingScannerListNo = _WeldingScannerListNo,
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};
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return SequenceAction.Ok(seqParams);
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}
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private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
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{
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var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
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if (resultOutParam.Success == false) {
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return null;
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetBlowOn(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_InitParam.UseBlow == false) {
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return SequenceAction.Ok();
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}
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int intervalTime = _InitParam.IntervalTimeBlowOn;
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_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), true);
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_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingOpticAirKnifeSol), true);
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Thread.Sleep(intervalTime);
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Log.D(string.Format($"[TeachingRun] Blow ON Complete"));
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return SequenceAction.Ok();
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}
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private SequenceActionResult StreamLBADBeforeWeldlines(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_InitParam.UseStream == false) {
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return SequenceAction.Ok();
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}
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if (!_StreamLBADClient.CheckReadyStatus()) {
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return null;
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}
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if (!_StreamLBADClient.SendCellID(1)) {
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return null;
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}
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if (!_StreamLBADClient.SendLotID(2)) {
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return null;
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}
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if (!_StreamLBADClient.SetWeldTriggerOn()) {
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return null;
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult StreamLBADAfterWeldlines(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_InitParam.UseStream == false) {
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return SequenceAction.Ok();
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}
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//Welding Stop On
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if (!_StreamLBADClient.SendWeldingStop()) {
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return null;
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}
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//JudgeFlag에 따라서 시퀀스 결정
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var judgeFlag = _StreamLBADClient.CheckJudgeComplete();
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if (judgeFlag == StreamLBADClient.eJudgeFlag.NO_RESPONSE) {
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return null;
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult ExecuteWeldLines(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.D(string.Format($"[TeachingRun] Welding Start"));
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DateTime weldingTime = DateTime.Now;
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_Scanner.ExecuteList(_WeldingScannerListNo);
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_Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
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double dExecuteListTime = _Scanner.GetTime();
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Log.I(string.Format($"[TeachingRun] ExecuteList Time : {dExecuteListTime * 1000} msec"));
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//Welding Stop On
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if (_InitParam.UseStream) {
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if (!_StreamLBADClient.SendWeldingStop()) {
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return null;
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}
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}
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// OCT File Fomrat Record Test
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//SaveOCTFileFormat();
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// File Format Record Test
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weldingTime = DateTime.Now;
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//SaveScannerRecordFileForamt();
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] SaveScannerRecordFileForamt Time : {_WeldingSpanTime.TotalMilliseconds}"));
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weldingTime = DateTime.Now;
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_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
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//용접 완료 후 CorrectionFile Vision으로 원복
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_Scanner.SelectCorrectionTable(1);
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] Change SelectCorrectionTable Time : {_WeldingSpanTime.TotalMilliseconds}"));
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return SequenceAction.Ok();
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}
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private void SaveScannerRecordFileForamt()
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{
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_Scanner.SaveRecord("Normal");
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}
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private void SaveOCTFileFormat()
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{
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// TODO: ian0513.kim, DataPath 옮겨야 함.
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var DefaultPath = ConfigurationManager.AppSettings.Get("DATA_PATH");
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string fullPath = Path.Combine(DefaultPath, "_device", "_scanner", "Record");
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string coordinateFolderpath = fullPath + string.Format("\\Coordinate");
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string metaDataFolderpath = fullPath + string.Format("\\Metadata");
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if (Directory.Exists(coordinateFolderpath) == false) {
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Directory.CreateDirectory(coordinateFolderpath);
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}
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if (Directory.Exists(metaDataFolderpath) == false) {
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Directory.CreateDirectory(metaDataFolderpath);
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}
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List<string> MetaDataWeldName = new List<string>(_SelectedObjectList.Count);
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List<string> MetaDataWeldType = new List<string>(_SelectedObjectList.Count);
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List<int> MetaDataWeldCoordinateID = new List<int>(_SelectedObjectList.Count);
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int iCoordinateID = 0;
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for (int i = 0; i < _SelectedObjectList.Count; i++) {
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if (_SelectedObjectList.ElementAt(i).Type == "Dot") {
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MetaDataWeldCoordinateID.Add(0);
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} else {
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MetaDataWeldCoordinateID.Add(++iCoordinateID);
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}
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MetaDataWeldName.Add(_SelectedObjectList.ElementAt(i).Type + (i + 1));
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MetaDataWeldType.Add(_SelectedObjectList.ElementAt(i).Type);
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//MetaDataWeldCoordinateID.Add(m_selectedObjects.ElementAt(i).No + 1)
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}
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_Scanner.SaveRecord("CoordinateFile", true, MetaDataWeldCoordinateID, iCoordinateID);
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_OCT.SaveMetaData(MetaDataWeldName, MetaDataWeldType, MetaDataWeldCoordinateID);
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string coordinateFilepath = _Scanner.GetLatestFile(coordinateFolderpath);
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string metaDataFilepath = _Scanner.GetLatestFile(metaDataFolderpath);
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|
|
|
_Scanner.SaveRecordZip(coordinateFilepath, metaDataFilepath);
|
|
|
|
MetaDataWeldName.Clear();
|
|
MetaDataWeldType.Clear();
|
|
MetaDataWeldCoordinateID.Clear();
|
|
}
|
|
|
|
private SequenceActionResult SetBlowOff(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
if (_InitParam.UseBlow == false) {
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
int intervalTime = _InitParam.IntervalTimeBlowOff;
|
|
Thread.Sleep(intervalTime);
|
|
|
|
_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), false);
|
|
_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingOpticAirKnifeSol), false);
|
|
|
|
Log.D(string.Format($"[TeachingRun] Blow OFF Complete"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
// 결과 Data 를 업데이트 함.
|
|
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult WriteCompletionPLCBit(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
// 완료 비트 write 하는 Node 추가 필요. format 유지, SeqScoutNormal 없음
|
|
|
|
Log.D("TeachingRun Sequence WriteCompletionPLCBit");
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
RestoreDeviceStatus();
|
|
Log.I("TeachingRun Complete");
|
|
|
|
context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
|
|
SeqTeachingRun_OutParam result = new SeqTeachingRun_OutParam() { Success = seqResult };
|
|
|
|
if (seqResult == false) {
|
|
AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_ResultFailed);
|
|
}
|
|
|
|
Log.D("TeachingRun Sequence Complete");
|
|
return SequenceAction.Ok(result);
|
|
}
|
|
|
|
private bool RestoreDeviceStatus()
|
|
{
|
|
return true;
|
|
}
|
|
|
|
private void OnForceError(SequenceContext arg1, string arg2)
|
|
{
|
|
//List 실행 종료
|
|
_Scanner.StopExecution();
|
|
|
|
//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
|
|
|
|
//Scanner 원점 복귀
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
|
|
Log.I("SequenceAction Ok : OnForceError");
|
|
}
|
|
|
|
private void OnStopped(SequenceContext obj)
|
|
{
|
|
//List 실행 종료
|
|
_Scanner.StopExecution();
|
|
|
|
//Anlog 출력 0으로 변경, efunctiontype을 command로 변경해주면 list가 아니라 직접 변경됨
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
|
|
|
|
//Scanner 원점 복귀
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
|
|
Log.I("SequenceAction Ok : OnStopped");
|
|
}
|
|
|
|
}
|
|
|
|
// TODO: UseStream 으로 TeachingRun 을 할 필요가 있을까?? 확인 필요
|
|
public class SeqTeachingRun_InitParam : InitParam
|
|
{
|
|
public bool IsUseExternalObjects { get; set; }
|
|
public List<CoreUnit.Control.UserControl.Canvas.IDrawObject> ExternalObjects { get; set; }
|
|
public bool IsObjectSelectAll { get; set; } // All == true, Selected Object == false
|
|
public bool UseStream { get; set; }
|
|
public bool UseBlow { get; set; }
|
|
public int IntervalTimeBlowOn { get; set; }
|
|
public int IntervalTimeBlowOff { get; set; }
|
|
public bool NeedSetLaserTiming { get; set; } // For SubSequence, SeqUploadWeldingList
|
|
public double CellCenterOffsetX { get; set; } = 0;
|
|
public double CellCenterOffsetY { get; set; } = 0;
|
|
}
|
|
|
|
public class SeqTeachingRun_OutParam : OutParam
|
|
{
|
|
|
|
}
|
|
} |