436 lines
19 KiB
C#
436 lines
19 KiB
C#
using Aurora;
|
|
using Aurora.Api;
|
|
using AuroraLaser;
|
|
using AuroraLaser.Trumpf;
|
|
using CoreUnit.Control.UserControl.Canvas;
|
|
using CoreUnit.Scanner.UserControl.ScannerCanvas;
|
|
using Hermes;
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Numerics;
|
|
using System.Text;
|
|
using System.Threading;
|
|
using System.Threading.Tasks;
|
|
using System.Windows.Controls.Primitives;
|
|
using WeldingCommon;
|
|
using WeldingCommon.Devices;
|
|
using WeldingCommon.Sequences;
|
|
using WeldingCommon.Settings;
|
|
using static WeldingCommon.Devices.PLCController;
|
|
|
|
namespace ILSOS_PrismaticScanner.Sequences
|
|
{
|
|
public class SeqWaitWeldOrChangePage
|
|
{
|
|
static readonly Logger Log = new Logger("SeqWaitWeldOrChangePage");
|
|
|
|
const string SEQ_ENTER = "[SeqWaitWeldOrChangePage] SEQ_ENTER";
|
|
const string SEQ_CHECK_WELD_OR_PAGE_CHANGE = "[SeqWaitWeldOrChangePage] Check Init Condition"; // Check Weld Request or Page Change Request
|
|
const string SEQ_GET_PLC_PAGE_CHANGE_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request On"; // PLC Page Change Request ON
|
|
const string SEQ_SET_PC_PAGE_CHANGE_ACK_ON = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack On"; // PC Page Change Reqeust ACK ON
|
|
const string SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request Off"; // PLC Page Change Request OFF
|
|
const string SEQ_SET_PC_PAGE_CHANGE_ACK_OFF = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack Off"; // PC Page Change Reqeust OFF
|
|
const string SEQ_GET_PLC_WELD_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Weld Request On"; // PLC Weld Request ON
|
|
const string SEQ_COMPLETE = "[SeqWaitWeldOrChangePage] SEQ_COMPLETE"; // 완료
|
|
|
|
private PLCController _PLC;
|
|
|
|
// 레이저 상태 변화
|
|
private Laser _Laser;
|
|
private ILaser _LaserDevice;
|
|
private LaserTruFiber _LaserTruFiber;
|
|
private LaserPowerCalParam _LaserPowerCalParam;
|
|
private static DataModel Models { get; set; }
|
|
private static List<IDrawObject> _UnpackDrawObject;
|
|
|
|
private SeqWaitWeldOrChangePage_InitParam _InitParam;
|
|
private SeqWaitWeldOrChangePage_OutParam _OutParam;
|
|
|
|
private static short _PLCPageNo = 1;
|
|
|
|
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_WELD_OR_PAGE_CHANGE, CheckInitCondition); //분기
|
|
|
|
// Page Change Request
|
|
sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_ON, GetPLCPageChangeRequestOn);
|
|
sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_ON, SetPCPageChangeRequestACKOn);
|
|
sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF, GetPLCPageChangeRequestOff);
|
|
sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_OFF, SetPCPageChangeRequestACKOff);
|
|
|
|
// Weld Reqeust
|
|
// Weld Request I/F는 없어도 됨. 왜냐하면, PLC에서 Busy 신호만 보기 때문임.
|
|
sb.AddAction(SEQ_GET_PLC_WELD_REQ_ON, GetPLCWeldRequestOn);
|
|
|
|
sb.AddAction(SEQ_COMPLETE, Complete);
|
|
|
|
|
|
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_WELD_OR_PAGE_CHANGE]
|
|
> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_ON] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_ON]
|
|
> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_OFF]
|
|
> sb[SEQ_CHECK_WELD_OR_PAGE_CHANGE]);
|
|
|
|
sb.Flows(sb[SEQ_CHECK_WELD_OR_PAGE_CHANGE]
|
|
> sb[SEQ_GET_PLC_WELD_REQ_ON]
|
|
> sb[SEQ_COMPLETE]
|
|
> sb.Final);
|
|
|
|
sb.OnForceError(OnForceError);
|
|
|
|
sb.OnStopped(OnStopped);
|
|
|
|
//sb.Draw("SeqWaitWeldOrPageChange.pdf");
|
|
|
|
return sb;
|
|
}
|
|
|
|
private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("SeqWaitWledORPageChange Start");
|
|
|
|
InitDev(context);
|
|
if (!CheckDeviceReady(context)) {
|
|
Log.E("The devices are not active.");
|
|
return null;
|
|
}
|
|
|
|
if (InitSequenceVariable(context) == false) {
|
|
return null;
|
|
}
|
|
_InitParam = param.Param as SeqWaitWeldOrChangePage_InitParam;
|
|
|
|
if (_InitParam.NeedPageNo)
|
|
_PLCPageNo = _InitParam.CurrentPageNo;
|
|
else
|
|
_PLCPageNo = 1;
|
|
|
|
// 레이저 Word 값을 위함
|
|
Models = _InitParam.Models;
|
|
|
|
_Laser = context.GetLaser();
|
|
_Laser.GetLaserDevice(ref _LaserDevice);
|
|
_LaserTruFiber = _LaserDevice as LaserTruFiber;
|
|
|
|
_LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함
|
|
//laserPowerCalParam 초기화(CSV 파일 불러오기)
|
|
_LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
|
|
{
|
|
var ret = context.RetryUntilSuccess(CheckRequest, int.MaxValue, interval: 10); // 최대 596시간동안 대기
|
|
if (ret == E2.TIMEOUT)
|
|
{
|
|
Log.E("대기 시간 초과로 시퀀스 정지");
|
|
return null;
|
|
}
|
|
else if (ret == E2.CANCELLED)
|
|
{
|
|
Log.E("시퀀스 정지 요청에 의한 CheckRequest 취소");
|
|
return null;
|
|
}
|
|
|
|
if (pageChangeRequestBit == true) // Page Change Request
|
|
return SEQ_GET_PLC_PAGE_CHANGE_REQ_ON;
|
|
else if (weldRequestBit == true) // Weld Request
|
|
return SEQ_GET_PLC_WELD_REQ_ON;
|
|
else
|
|
{
|
|
Log.E($"NULL ERROR IN Interface >> pageChangeRequestBit({pageChangeRequestBit} >> weldRequestBit{weldRequestBit}");
|
|
return null;
|
|
}
|
|
}
|
|
|
|
private SequenceActionResult GetPLCPageChangeRequestOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
var res = context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
if(res == E2.TIMEOUT) {
|
|
Log.FuncE("Get PLC Page Change Request On Timeout !");
|
|
return null;
|
|
}
|
|
Log.W(string.Format("PLC Page Change Request On"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult SetPCPageChangeRequestACKOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
if (_InitParam.NeedPageNo) {
|
|
Thread.Sleep(100);
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
|
|
Log.D($"When PageChangeReq is ON;{_PLCPageNo}");
|
|
|
|
|
|
#region Tact Time 절감을 위한 페이지 체인지 인터페이스 중 Program No 변경
|
|
// Unpack 관련 함수
|
|
_UnpackDrawObject?.Clear();
|
|
_UnpackDrawObject = new List<IDrawObject>();
|
|
|
|
if (Models.Layers.Count() > _PLCPageNo - 1) UnpackRecipes(Models.Layers[_PLCPageNo - 1].Objects);
|
|
else
|
|
{
|
|
Log.E($"[Page Change Req] Page No is not proper;{Models.Layers.Count()};{_PLCPageNo}");
|
|
return null;
|
|
}
|
|
|
|
int paramIndex = 0;
|
|
|
|
if (_UnpackDrawObject.Count > 0)
|
|
{
|
|
paramIndex = _UnpackDrawObject[0].ScannerParamID - 1;
|
|
}
|
|
else
|
|
{
|
|
paramIndex = 0;
|
|
Log.E("[Page Change Req] Draw Objects is zero");
|
|
}
|
|
|
|
_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
|
|
_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
|
|
_CenterRingRatio = 0;
|
|
|
|
if (_CenterBeamPower == 0 && _RingBeamPower == 0)
|
|
_CenterRingRatio = 100;
|
|
else
|
|
_CenterRingRatio = (int)Math.Round((double)(100 * _CenterBeamPower) / (double)(_CenterBeamPower + _RingBeamPower), 0); // Discrete 한 값이라서 Ring은 오차 발생
|
|
|
|
if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP)
|
|
{
|
|
_CenterBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_CenterBeamPower, (uint)LaserPowerCalParam.beamMode.Center);
|
|
_RingBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_RingBeamPower, (uint)LaserPowerCalParam.beamMode.Ring);
|
|
}
|
|
// Ready 상태 변경 확인(Complete 상태에서 Laser Ready로 변환되기까지 시간이 걸림)
|
|
// 여기서는 왜 IW03과 Center를 비교하는 것인지.... 아직 값을 써주지 않았으므로 레이저 출사 가능 여부만 확인하면 되지 않을까.
|
|
var res = context.RetryUntilSuccess(_Laser.GetLaserReady, _InitParam.TimeoutSec * 1000, 1);
|
|
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReady"));
|
|
return null;
|
|
}
|
|
Log.D(string.Format($"[Page Change Req] Laser Program Ready OK"));
|
|
|
|
// Laser Program Parameters 설정(Laser Ready 상태는 용접 직전에 확인)
|
|
List<(int, int, bool)> datas = new List<(int, int, bool)>();
|
|
datas.Add((csWriteNodeNo.IW03, _CenterBeamPower, true));
|
|
datas.Add((csWriteNodeNo.IW04, _RingBeamPower, true));
|
|
datas.Add((csWriteNodeNo.IW05, _CenterRingRatio, true));
|
|
|
|
// 업데이트 될 경우, 프로그램 전환을 위한 프로그램 종료 시퀸스 진행됨.
|
|
if (_LaserTruFiber.UpdatesDatasIfChanged(datas))
|
|
{
|
|
|
|
// 프로그램이 종료 될 때까지 대기.
|
|
res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramCompleted, _InitParam.TimeoutSec * 1000, 10);
|
|
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.E(string.Format($"[Page Change Req] Laser Program Completed Timeout When Parameter Changes"));
|
|
return null;
|
|
}
|
|
Log.D(string.Format($"[Page Change Req] Laser Program Completed OK When Data Updated"));
|
|
}
|
|
|
|
// 만일 프로그램이 정상적으로 종료 및 변경 원할 경우, 레이저 스레드에서 Ready 상태로 만들어주고 있을 것임.
|
|
// Ready 상태 변경 확인
|
|
res = context.RetryUntilSuccess(() => LaserReadyResponse(), _InitParam.TimeoutSec * 1000, 1);
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReadyResponse"));
|
|
return null;
|
|
}
|
|
Log.D(string.Format($"[Page Change Req] Laser Program Ready OK When ReadyResponse"));
|
|
#endregion
|
|
}
|
|
|
|
_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, true);
|
|
|
|
Log.W(string.Format("Set PC Page Change Request ACK On"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
#region 레이저 값 변경을 위함
|
|
private int _CenterBeamPower;
|
|
private int _RingBeamPower;
|
|
private int _CenterRingRatio;
|
|
private static void UnpackRecipes(List<IDrawObject> recipes)
|
|
{
|
|
// Recipe를 재귀적으로 탐색해서 List로 재구성하는 함수
|
|
if (recipes == null)
|
|
return;
|
|
|
|
for (int i = 0; i < recipes.Count; i++)
|
|
{
|
|
if (recipes[i] is Group)
|
|
{
|
|
Group subGroup = recipes[i] as Group;
|
|
List<IDrawObject> subrecipes = subGroup.SubObjects as List<IDrawObject>;
|
|
UnpackRecipes(subrecipes);
|
|
}
|
|
else
|
|
{
|
|
_UnpackDrawObject.Add(recipes[i]);
|
|
}
|
|
}
|
|
}
|
|
private bool LaserReadyResponse()
|
|
{
|
|
if (ApplicationExt.IsSimulation)
|
|
return true;
|
|
|
|
// Ready 상태를 확인하기 위해서는 프로그램 파라메터가 최신 상태인지, Ready 상태인지 둘 다 확인해야 한다.
|
|
return Convert.ToInt32(_LaserTruFiber.GetWriteInputWord(csWriteNodeNo.IW03)) == _CenterBeamPower
|
|
&& Convert.ToInt32(_LaserTruFiber.GetWriteInputWord(csWriteNodeNo.IW04)) == _RingBeamPower
|
|
&& Convert.ToInt32(_LaserTruFiber.GetWriteInputWord(csWriteNodeNo.IW05)) == _CenterRingRatio
|
|
//&& _LaserTruFiber.GetProgramNo() == _BeforeProgramNo
|
|
&& _LaserTruFiber.GetLaserReady();
|
|
}
|
|
#endregion
|
|
|
|
private SequenceActionResult GetPLCPageChangeRequestOff(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
//// 계속 페이지를 저장해줄 필요는 없음.
|
|
//var res = context.RetryUntilSuccess(UpdatePLCPageWord, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
var res = context.RetryUntilSuccess(() => !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
|
|
if (res == E2.TIMEOUT) {
|
|
Log.FuncE(string.Format("Get PLC Page Change Request OFF Timeout ! : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
|
|
return null;
|
|
} else Log.W(string.Format("Get PLC Page Change Request OFF Complete : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult SetPCPageChangeRequestACKOff(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
if (_InitParam.NeedPageNo) {
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
// PLC와 Request ON 시점에서 써주기로 하였으므로, 여기서는 굳이 써주지 않음.(확인용)
|
|
//_PLC.WriteWord(_InitParam.SetPageNoAddress, (short)_PLCPageNo, AuroraPLC.PLCBase.ePLCDevice.D);
|
|
Log.D($"When PageChangeReq is OFF;{_PLCPageNo}");
|
|
}
|
|
|
|
_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, false);
|
|
Log.W(string.Format("Set PC Page Change Request ACK Off"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
static DateTime WeldReqTime;
|
|
private SequenceActionResult GetPLCWeldRequestOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
WeldReqTime = DateTime.Now;
|
|
|
|
context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_WELD_READY_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
|
|
Log.W(string.Format("Get PLC Weld Request On"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
|
|
SeqWaitWeldOrChangePage_OutParam result = new SeqWaitWeldOrChangePage_OutParam() {PLCPageNo = (short)_PLCPageNo, Success = true, _WeldReqTime = WeldReqTime };
|
|
|
|
Log.D("CheckWeldingComplete Sequence Complete");
|
|
|
|
return SequenceAction.Ok(result);
|
|
}
|
|
|
|
private void OnStopped(SequenceContext context)
|
|
{
|
|
Log.W("SequenceAction Ok : OnStopped");
|
|
}
|
|
|
|
private void OnForceError(SequenceContext context, string arg2)
|
|
{
|
|
Log.W("SequenceAction Ok : OnForceError");
|
|
}
|
|
private bool UpdatePLCPageWord()
|
|
{
|
|
if (_InitParam.NeedPageNo) {
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
|
|
}
|
|
return !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
|
|
}
|
|
static private bool pageChangeRequestBit = false;
|
|
static private bool weldRequestBit = false;
|
|
private bool CheckRequest()
|
|
{
|
|
pageChangeRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
|
|
weldRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_WELD_READY_REQ).data;
|
|
return (pageChangeRequestBit || weldRequestBit);
|
|
}
|
|
|
|
#region Device 및 상태 확인 함수 (시퀸스 공용)
|
|
private bool InitSequenceVariable(SequenceContext context)
|
|
{
|
|
// TODO: [장비구현필요] Initialize Variable 추가
|
|
return true;
|
|
}
|
|
|
|
private void InitDev(SequenceContext context)
|
|
{
|
|
//Device Init
|
|
_PLC = context.GetPLC();
|
|
}
|
|
|
|
private bool CheckDeviceReady(SequenceContext context)
|
|
{
|
|
List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.PLCDevice };
|
|
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 InitializeDeviceStatus(SequenceContext context)
|
|
{
|
|
// format 유지, ReceiveCellInfo 없음
|
|
return true;
|
|
}
|
|
|
|
private bool CheckCondition_Interlock()
|
|
{
|
|
// PLC, Data, IO 등 Interlock checking
|
|
|
|
return true;
|
|
}
|
|
#endregion
|
|
}
|
|
|
|
public class SeqWaitWeldOrChangePage_InitParam : InitParam
|
|
{
|
|
public short CurrentPageNo { get; set; }
|
|
public bool NeedPageNo { get; set; }
|
|
public DataModel Models { get; set; }
|
|
public int TimeoutSec { get; set; }
|
|
}
|
|
public class SeqWaitWeldOrChangePage_OutParam : OutParam
|
|
{
|
|
public bool IsComplete { get; set; }
|
|
public short PLCPageNo { get; set; }
|
|
public DateTime _WeldReqTime { get; set; }
|
|
}
|
|
}
|