364 lines
12 KiB
C#
364 lines
12 KiB
C#
using Aurora;
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using Aurora.Api;
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using Aurora.Api.Manager;
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using Aurora.View;
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using AuroraLaser;
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using AuroraLaserScanner;
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using HarfBuzzSharp;
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using Microsoft.Office.Interop.Excel;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Input;
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using System.Windows.Threading;
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namespace WeldingCommon.Views
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{
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public enum eAxisType
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{
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AXIS_X,
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AXIS_Y
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}
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public enum eJogDirection
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{
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MINUS,
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PLUS
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}
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public enum eMotionMode
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{
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ABS,
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REL
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};
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public class UCScannerMotionViewModel : NotifyPropertyChangedBase
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{
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private readonly Logger Log = new Logger("UCScannerMotionViewModel");
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public ICommand CMD_VisibleChanged { get; }
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public ICommand CMD_SpeedChanged { get; }
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public ICommand CMD_MotionModeChanged { get; }
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public ICommand CMD_JogMove { get; }
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public ICommand CMD_CommandPosMove { get; }
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private readonly IAuroraEnvironment _Aurora;
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private readonly Scanner _Scanner;
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private readonly Laser _Laser;
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private readonly ScannerConfig _ScannerConfig;
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private double _ScannerXPos;
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public double ScannerXPos { get => _ScannerXPos; set => SetProperty(ref _ScannerXPos, value); }
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private double _ScannerYPos;
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public double ScannerYPos { get => _ScannerYPos; set => SetProperty(ref _ScannerYPos, value); }
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private bool _IsScannerBusy;
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public bool IsScannerBusy { get => _IsScannerBusy; set => SetProperty(ref _IsScannerBusy, value); }
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private double _StepValue;
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public double StepValue { get => _StepValue; set => SetProperty(ref _StepValue, value); }
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private double _CommandPosX;
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public double CommandPosX { get => _CommandPosX; set => SetProperty(ref _CommandPosX, value); }
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private double _CommandPosY;
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public double CommandPosY { get => _CommandPosY; set => SetProperty(ref _CommandPosY, value); }
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private double _CommandPosLimitMinX;
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public double CommandPosLimitMinX { get => _CommandPosLimitMinX; set => SetProperty(ref _CommandPosLimitMinX, value); }
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private double _CommandPosLimitMaxX;
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public double CommandPosLimitMaxX { get => _CommandPosLimitMaxX; set => SetProperty(ref _CommandPosLimitMaxX, value); }
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private double _CommandPosLimitMinY;
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public double CommandPosLimitMinY { get => _CommandPosLimitMinY; set => SetProperty(ref _CommandPosLimitMinY, value); }
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private double _CommandPosLimitMaxY;
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public double CommandPosLimitMaxY { get => _CommandPosLimitMaxY; set => SetProperty(ref _CommandPosLimitMaxY, value); }
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private double _VelocityRate;
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private eMotionMode _MotionMode;
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private readonly DispatcherTimer _MonitorTimer;
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// PAM, RUW 처럼 2개 이상의 scanner 를 사용하는 경우가 있어, scannerId 를 받는 형태로 생성
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public UCScannerMotionViewModel(IAuroraEnvironment aurora, string scannerId)
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{
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_Aurora = aurora;
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_Scanner = _Aurora.DeviceManager[scannerId] as Scanner;
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_Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
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_ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
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InitVariable();
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CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
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CMD_SpeedChanged = new DelegateCommand(PerformCmdSpeedChanged);
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CMD_MotionModeChanged = new DelegateCommand(PerformCmdMotionModeChanged);
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CMD_JogMove = new DelegateCommand(PerformCmdJogMove);
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CMD_CommandPosMove = new DelegateCommand(PerformCmdCommandPosMove);
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_MonitorTimer = new DispatcherTimer();
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_MonitorTimer.Tick += OnMonitoring;
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_MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);
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}
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private void InitVariable()
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{
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_VelocityRate = 1;
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_MotionMode = eMotionMode.ABS;
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}
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private void VisibleChanged(object obj)
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{
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bool visible = (bool)obj;
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if (visible) {
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Init_XYLimitPos();
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_MonitorTimer.Start();
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} else {
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_MonitorTimer.Stop();
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}
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}
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private void Init_XYLimitPos()
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{
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// TODO: Limit 값을 Min, Max 로 따로 Setting 입력값으로 가져와야 할 수도 있음. 우선 현상태 유지
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CommandPosLimitMinX = -1 * _ScannerConfig.ScanXSize / 2;
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CommandPosLimitMaxX = _ScannerConfig.ScanXSize / 2;
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CommandPosLimitMinY = -1 * _ScannerConfig.ScanYSize / 2;
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CommandPosLimitMaxY = _ScannerConfig.ScanYSize / 2;
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//CommandPosXLimit = string.Format($"{-1 * _ScannerConfig.ScanXSize / 2} ~ {_ScannerConfig.ScanXSize / 2}");
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//CommandPosYLimit = string.Format($"{-1 * _ScannerConfig.ScanYSize / 2} ~ {_ScannerConfig.ScanYSize / 2}");
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}
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private void OnMonitoring(object sender, EventArgs e)
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{
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double xPos, yPos;
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if (_Scanner != null && _Scanner.IsActivated) {
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_Scanner.GetXYPos(out xPos, out yPos);
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ScannerXPos = xPos;
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ScannerYPos = yPos;
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IsScannerBusy = _Scanner.GetBusyStatus();
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} else {
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ScannerXPos = 0;
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ScannerYPos = 0;
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IsScannerBusy = false;
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}
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}
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private void PerformCmdSpeedChanged(object commandParameter)
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{
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switch ((string)commandParameter) {
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case "Low": {
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_VelocityRate = 0.5;
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}
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break;
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case "Mid": {
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_VelocityRate = 1;
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}
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break;
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case "High": {
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_VelocityRate = 1.5;
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}
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break;
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}
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}
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private void PerformCmdMotionModeChanged(object commandParameter)
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{
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switch ((string)commandParameter) {
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case "ABS": {
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_MotionMode = eMotionMode.ABS;
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}
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break;
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case "REL": {
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_MotionMode = eMotionMode.REL;
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}
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break;
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}
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}
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private void PerformCmdJogMove(object commandParameter)
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{
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// TODO: Left, Right, Up, Down 은 장비 Scanner 의 방향에 따라 달라질 수 있다
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// 양산중에는 동작 하면 안됨
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var MainSequence = _Aurora.SequenceEntry[CommonSequenceIds.SeqAutoRun].RunState;
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if(MainSequence == SequenceRunState.Running)
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return;
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switch ((string)commandParameter) {
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case "Left": {
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MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.MINUS);
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}
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break;
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case "Right": {
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MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.PLUS);
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}
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break;
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case "Up": {
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MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.PLUS);
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}
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break;
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case "Down": {
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MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.MINUS);
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}
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break;
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case "Home": {
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MoveJogHome();
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}
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break;
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}
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}
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private void MoveJogXYPos(eAxisType axisType, eJogDirection direction)
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{
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double xPos = 0.0;
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double yPos = 0.0;
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switch (axisType) {
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case eAxisType.AXIS_X: {
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if (direction == eJogDirection.MINUS) {
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xPos = StepValue * -1;
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yPos = 0;
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} else if (direction == eJogDirection.PLUS) {
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xPos = StepValue;
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yPos = 0;
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}
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}
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break;
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case eAxisType.AXIS_Y: {
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if (direction == eJogDirection.MINUS) {
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xPos = 0;
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yPos = StepValue * -1;
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} else if (direction == eJogDirection.PLUS) {
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xPos = 0;
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yPos = StepValue;
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}
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}
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break;
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default:
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break;
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}
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// 현재 Curruent Pos 기준으로, 입력방향으로 입력값이 Limit 를 넘어 서는지 확인 (Rel 임)
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if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos)) {
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Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
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return;
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}
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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_Scanner.JumpRel(xPos, yPos);
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//Jump 후 Speed 원복
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private void MoveJogHome()
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{
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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_Scanner.JumpAbs(0, 0);
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//Jump 후 Speed 원복
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private void PerformCmdCommandPosMove(object commandParameter)
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{
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switch ((string)commandParameter) {
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case "X": {
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MoveCommandXYPos(eAxisType.AXIS_X);
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}
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break;
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case "Y": {
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MoveCommandXYPos(eAxisType.AXIS_Y);
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}
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break;
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}
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}
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private void MoveCommandXYPos(eAxisType axisType)
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{
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double xPos = 0.0;
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double yPos = 0.0;
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switch (axisType) {
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case eAxisType.AXIS_X: {
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xPos = CommandPosX;
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if (_MotionMode == eMotionMode.ABS) {
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yPos = _Scanner.GetCommandPosY();
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} else {
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yPos = 0.0;
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}
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}
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break;
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case eAxisType.AXIS_Y: {
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if (_MotionMode == eMotionMode.ABS) {
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xPos = _Scanner.GetCommandPosX();
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} else {
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xPos = 0.0;
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}
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yPos = CommandPosY;
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}
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break;
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default:
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break;
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}
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// 현재 Curruent Pos 기준으로, 입력방향으로 입력값이 Limit 를 넘어 서는지 확인
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if (_MotionMode == eMotionMode.ABS) {
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if (CheckOverLimitPos(xPos, yPos)) {
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Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
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return;
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}
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} else {
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if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos)) {
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Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
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return;
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}
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}
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double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
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_Scanner.SetJumpSpeedCtrl(finalVelocity);
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if (_MotionMode == eMotionMode.ABS) {
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_Scanner.JumpAbs(xPos, yPos);
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} else {
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_Scanner.JumpRel(xPos, yPos);
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}
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//Jump 후 Speed 원복
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_Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
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}
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private bool CheckOverLimitPos(double calcPosX, double calcPosY)
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{
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if (calcPosX < CommandPosLimitMinX || calcPosX > CommandPosLimitMaxX) {
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return true;
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} else if (calcPosY < CommandPosLimitMinY || calcPosY > CommandPosLimitMaxY) {
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return true;
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}
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return false;
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}
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}
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}
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