418 lines
19 KiB
C#
418 lines
19 KiB
C#
using Aurora.Api;
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using Hermes;
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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;
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using System.Threading.Tasks;
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namespace WeldingCommon.Devices
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{
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public class PLCMonitor
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{
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private static readonly Logger Log = new Logger("PLCMonitor");
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//private static readonly Logger EventLog = new Logger(eMsg_TYPE.PLC.ToString(), "Event");
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private const int SLEEP_TIME_MS = 50;
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private const int SLEEP_TIME_FOR_CLOSE_MS = 200;
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private const int SLEEP_TIME_FOR_RECONNECT_MS = 10000;
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private const string SEQ_INIT = "Init";
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private const string CHECK_ACTIVE = "Check PLC Activation";
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private const string MONITOR_NETWORK = "Monitor PLC Network status";
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private const string MONITOR_ALARM = "Monitor Alarm change";
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private const string MONITOR_SETTING = "Monitor Setting change";
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private const string RECONNECT_NETWORK = "Reconnect to PLC";
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private const string GO_CHECK_ACTIVE = "Go to check active";
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// ¸ð¾ÆÁÖ´Â ³ëµå
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private const string GO_MONITOR_NETWORK = "Go to monitor network";
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private const string PLC_IS_DEACTIVATING = "PLC is deactivating";
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private const string GO_RECONNECT_NETWORK = "Reconnect PLC Phase";
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private static PLCController _plc;
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const int TIME_OUT = 2000; // 2 [s]
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/*
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public enum eMainSeqStep
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{
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INIT,
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WORK,
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WAIT_MANUAL_SELECT,
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WAIT_MANUAL_SHOT_SELECT,
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VISION_WAIT,
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ACK_WAIT,
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FAIL,
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MAVIN_SEND_WAIT,
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MAVIN_SEND,
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MAVIN_RESULT_WAIT,
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}
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static eMainSeqStep Step_ALARM = new eMainSeqStep();
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static eMainSeqStep Step_SETTING = new eMainSeqStep();
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static Stopwatch swAlarm = new Stopwatch();
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static Stopwatch swSetting = new Stopwatch();
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*/
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//static ulong _latchForWriteBitUpdate;
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public static SequenceBuilder Builder()
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{
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SequenceBuilder sb = new SequenceBuilder(1000, true); // ¹«ÇÑ, ½ÃÄö½º Stop½Ã ÃÖ´ë ´ë±â½Ã°£.
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sb.AddAction(SEQ_INIT, Init);
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sb.AddDecision(CHECK_ACTIVE, CheckActive);
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sb.AddDecision(MONITOR_NETWORK, MonitorNetworkStatus);
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//-------------------- Setting/Alarm ·Î±ë ºÎºÐ
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sb.AddDecision(MONITOR_ALARM, MonitorPLCAlarmStatus);
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sb.AddDecision(MONITOR_SETTING, MonitorPLCSettingStatus);
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//==================================================
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sb.AddDecision(RECONNECT_NETWORK, ReconnectPLCNetwork);
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sb.AddDecision(GO_CHECK_ACTIVE, GoToCheckActive);
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// °æÀ¯¿ë ³ëµå (Ç÷οì Â÷Æ®¸¦ ÀÌ»Ú°Ô ¸¸µé±â À§ÇÑ ¸ñÀû)
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sb.AddAction(GO_MONITOR_NETWORK, GoToMonitorNetwork);
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sb.AddAction(PLC_IS_DEACTIVATING, PlcIsDeactivating);
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sb.AddAction(GO_RECONNECT_NETWORK, GoToReconnectNetwork);
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//===================================================
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//----------------------------------------------------
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//------ ½ºÄö½º Ç÷οì Â÷Æ®
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sb.Flows(sb.Init > sb[SEQ_INIT] > sb[CHECK_ACTIVE]);
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sb.Flows(sb[CHECK_ACTIVE] > sb[MONITOR_NETWORK]);
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sb.Flows(sb[CHECK_ACTIVE] > sb.Final); // Á¾·á
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//------------------- ÁÖ¿ä ·ÎÁ÷
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// ·çÇÁ
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sb.Flows(sb[MONITOR_NETWORK] > sb[MONITOR_ALARM] > sb[MONITOR_SETTING] > sb[GO_MONITOR_NETWORK] > sb[MONITOR_NETWORK]);
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//------ Åë½Å À翬°á ·çÆ®
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sb.Flows(sb[MONITOR_NETWORK] > sb[GO_RECONNECT_NETWORK]);
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sb.Flows(sb[MONITOR_ALARM] > sb[GO_RECONNECT_NETWORK]);
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sb.Flows(sb[MONITOR_SETTING] > sb[GO_RECONNECT_NETWORK]);
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// ·çÇÁ
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sb.Flows(sb[GO_RECONNECT_NETWORK] > sb[RECONNECT_NETWORK] > sb[GO_RECONNECT_NETWORK]);
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sb.Flows(sb[RECONNECT_NETWORK] > sb[GO_CHECK_ACTIVE]);
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//------ PLC ºñÈ°¼ºÈ ·çÆ®
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sb.Flows(sb[MONITOR_NETWORK] > sb[PLC_IS_DEACTIVATING]);
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sb.Flows(sb[MONITOR_ALARM] > sb[PLC_IS_DEACTIVATING]);
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sb.Flows(sb[MONITOR_SETTING] > sb[PLC_IS_DEACTIVATING]);
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sb.Flows(sb[PLC_IS_DEACTIVATING] > sb[GO_CHECK_ACTIVE] > sb[CHECK_ACTIVE]);
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//===================================================
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sb.OnStopped(OnStopped);
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sb.OnForceError(OnForceError);
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//sb.Draw("PLCMonitoring.pdf");
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return sb;
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}
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private static void OnForceError(SequenceContext arg1, string arg2)
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{
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Log.E("Enter Forced Error phase");
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}
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private static void OnStopped(SequenceContext obj)
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{
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Log.I("Enter Stopped phase");
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}
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private static string GoToCheckActive(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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//Log.I("GO_CHECK_ACTIVE: --> CHECK_ACTIVE");
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#if DEBUG
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//Debug.WriteLine($"GO_CHECK_ACTIVE: --> CHECK_ACTIVE");
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#endif
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return CHECK_ACTIVE;
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}
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private static string ReconnectPLCNetwork(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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if (_plc.IsActivated) {
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//EventLog.W($"PLC Reconnection Phase due to connection error");
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// ¿©±â´Â µ¶¸³ ½º·¹µåÀÌ°í, PLC Åë½Å ¿¬°áÀÌ ½ÇÆÐÇϸé, ´Ù¸¥ ÀÛ¾÷ÀÌ ¹«ÀǹÌÇϹǷÎ, µô·¹ÀÌ·Î Sleep À» »ç¿ëÇÔ
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if (_plc.ReconnectNetwork() != E1.OK) {
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Log.E("PLC reconnection is failed. Retry after 10 [s]");
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Thread.Sleep(SLEEP_TIME_FOR_RECONNECT_MS); // 10 ÃÊ
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return GO_RECONNECT_NETWORK;
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}
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//_plc.WriteOffsetData(Data.UnitType.Max, null);
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//EventLog.I($"PLC is reconnected");
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return GO_CHECK_ACTIVE;
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}
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return GO_CHECK_ACTIVE;
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}
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private static SequenceActionResult GoToReconnectNetwork(SequenceContext context, string id, SequenceActionResult param)
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{
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return SequenceAction.Ok();
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}
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private static SequenceActionResult PlcIsDeactivating(SequenceContext context, string id, SequenceActionResult param)
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{
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// PLC ºñÈ°¼ºÈ »óÅÂ
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// IsActivated °¡ false °¡ µÉ¶§±îÁö ´ë±â½ÃÅ°ÀÚ...
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// Å×½ºÆ®: ¾à 1ÃÊ ½Ã°£ÀÇ Å¸ÀӾƿôÀ¸·Î üũ
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var timeOutMS = 1000;
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if (_plc.WaitUntilDeactivated(timeOutMS, out int elapsedMS)) {
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Log.I($"PLC is deactivated: {elapsedMS} [ms] elapsed");
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} else {
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Log.W($"PLC is deactivating: {elapsedMS} [ms] elapsed");
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Thread.Sleep(SLEEP_TIME_MS);
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult GoToMonitorNetwork(SequenceContext context, string id, SequenceActionResult param)
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{
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#if DEBUG
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//Debug.WriteLine($"GO_MONITOR_NETWORK: --> MONITOR_NETWORK");
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#endif
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Thread.Sleep(50);
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return SequenceAction.Ok();
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}
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private static string MonitorPLCSettingStatus(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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/*
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switch (Step_SETTING) {
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case eMainSeqStep.INIT: {
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Step_SETTING = eMainSeqStep.WORK;
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_latchForWriteBitUpdate = _plc.LatchForWriteBitUpdate;
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_plc.WriteBit((int)eBitOutput.EQP_SETTING_DATA_CHANGE_COMPLETE, false); //ST1_SETTING_COMPLETE
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// ´ë±âÇÔ¼ö Ãß°¡..
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if (_plc.WaitWriteBitUpdate(_latchForWriteBitUpdate, out _) == false) {
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// ÇÔ¼ö¸íÀº ±âÁ¸ ·Î°Å¿¡¼ Áö¿øÇÏ´Ï, ¶óÀιøÈ£¸¸ ÂïÀÚ..
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Log.W(_plc.WriteLogTag("WriteBit timed out"));
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}
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break;
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}
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case eMainSeqStep.WORK: {
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var res2 = _plc.ReadBit((int)eBitInput.EQP_SETTING_DATA_CHANGE_REQ); //ST1_SETTING_REQ
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// ºñÈ°¼ºÈ¿Í ºñ¿¬°á ¿¹¿Ü¸¦ ±¸ºÐÇØ¾ß ÇÒ °Í °°Àºµ¥...»ý°¢ Á» Çغ¸ÀÚ...
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if (res2.err != E1.OK) {
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Step_SETTING = eMainSeqStep.INIT;
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swSetting.Stop();
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Log.I($"Step_SETTING.eMainSeqStep.WORK 1: PLC is deactivating: {res2.err}");
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return PLC_IS_DEACTIVATING;
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} else {
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if (res2.data) {
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// ZR ÀåÄ¡ Àбâ
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var res = _plc.ReadPLCSettingData();
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if (res != E1.OK) {
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// ºñÈ°¼ºÈ¿¡ ÀÇÇÑ ½ÇÆÐÀÎÁö, Åë½Å ¿À·ù¿¡ ÀÇÇÑ ½ÇÆÐÀÎÁö ±¸ºÐ
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if (_plc._dataUpdateTimer.IsRunning) {
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Log.E("ReadPLCSettingData() is failed: --> reconnect");
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// ¿øº»°ú ´Ù¸¥ ºÎºÐ, Åë½Å ½ÇÆзΠÀ翬°áÀ» ½ÃµµÇÏ´Ï, óÀ½ºÎÅÍ ´Ù½ÃÇØ¾ß ÇÏÁö ¾ÊÀ»±î??
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Step_SETTING = eMainSeqStep.INIT;
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swSetting.Stop();
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return GO_RECONNECT_NETWORK;
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} else {
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Log.E("ReadPLCSettingData() is failed: PLC is deactivating");
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Step_SETTING = eMainSeqStep.INIT;
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swSetting.Stop();
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return PLC_IS_DEACTIVATING;
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}
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}
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_plc.Check_SettingData();
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_latchForWriteBitUpdate = _plc.LatchForWriteBitUpdate;
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_plc.WriteBit((int)eBitOutput.EQP_SETTING_DATA_CHANGE_COMPLETE, true); //ST1_SETTING_COMPLETE
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// ´ë±âÇÔ¼ö Ãß°¡..
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if (_plc.WaitWriteBitUpdate(_latchForWriteBitUpdate, out _) == false) {
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// ÇÔ¼ö¸íÀº ±âÁ¸ ·Î°Å¿¡¼ Áö¿øÇÏ´Ï, ¶óÀιøÈ£¸¸ ÂïÀÚ..
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Log.W(_plc.WriteLogTag("WriteBit timed out"));
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}
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Step_SETTING = eMainSeqStep.ACK_WAIT;
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swSetting.Restart();
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}
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}
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break;
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}
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case eMainSeqStep.ACK_WAIT: {
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var res2 = _plc.ReadBit((int)PLCController.eBitInput.EQP_SETTING_DATA_CHANGE_REQ); //ST1_SETTING_REQ
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if (res2.err != E1.OK) {
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Step_SETTING = eMainSeqStep.INIT;
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swSetting.Stop();
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Log.I("Step_SETTING.eMainSeqStep.ACK: PLC is deactivating");
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return PLC_IS_DEACTIVATING;
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} else {
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if (!res2.data) {
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Step_SETTING = eMainSeqStep.INIT;
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swSetting.Stop();
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} else if (swSetting.ElapsedMilliseconds > TIME_OUT) {
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Step_SETTING = eMainSeqStep.INIT;
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EventLog.W($"PLC Setting Change Bit Clear TimeOver");
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swSetting.Stop();
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}
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}
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}
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break;
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}
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*/
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#if DEBUG
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//Debug.WriteLine($"MONITOR_SETTING: --> GO_MONITOR_NETWORK");
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#endif
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return GO_MONITOR_NETWORK;
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}
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private static string MonitorPLCAlarmStatus(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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/*
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switch (Step_ALARM) {
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case eMainSeqStep.INIT: {
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Step_ALARM = eMainSeqStep.WORK;
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_latchForWriteBitUpdate = _plc.LatchForWriteBitUpdate;
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_plc.WriteBit((int)eBitOutput.EQP_ALARM_STATUS_CHANGE_COMPLETE, false);
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// ´ë±âÇÔ¼ö Ãß°¡..
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if (_plc.WaitWriteBitUpdate(_latchForWriteBitUpdate, out _) == false) {
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// ÇÔ¼ö¸íÀº ±âÁ¸ ·Î°Å¿¡¼ Áö¿øÇÏ´Ï, ¶óÀιøÈ£¸¸ ÂïÀÚ..
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Log.W(_plc.WriteLogTag("WriteBit timed out"));
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}
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break;
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}
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case eMainSeqStep.WORK: {
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var res2 = _plc.ReadBit((int)eBitInput.EQP_ALARM_STATUS_CHANGE_REQ);
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if (res2.err != E1.OK) {
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Step_ALARM = eMainSeqStep.INIT;
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swAlarm.Stop();
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Log.I("Step_ALARM.eMainSeqStep.WORK: PLC is deactivating");
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return PLC_IS_DEACTIVATING;
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} else {
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if (res2.data) { // ¾Ë¶÷ ¿äû
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// LUKAS: ²Ï ¸¹Àº M ÀåÄ¡¸¦ Àаí ÀÖÀ½
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var res = _plc.ReadPLCAlarm();
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if (res != E1.OK) {
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// ºñÈ°¼ºÈ¿¡ ÀÇÇÑ ½ÇÆÐÀÎÁö, Åë½Å ¿À·ù¿¡ ÀÇÇÑ ½ÇÆÐÀÎÁö ±¸ºÐ
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if (_plc._dataUpdateTimer.IsRunning) {
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Log.E("ReadPLCAlarm() is failed: --> reconnect");
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// ¿øº»°ú ´Ù¸¥ ºÎºÐ, Åë½Å ½ÇÆзΠÀ翬°áÀ» ½ÃµµÇÏ´Ï, óÀ½ºÎÅÍ ´Ù½ÃÇØ¾ß ÇÏÁö ¾ÊÀ»±î??
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Step_ALARM = eMainSeqStep.INIT;
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swAlarm.Stop();
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return GO_RECONNECT_NETWORK;
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} else {
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Log.E("ReadPLCAlarm() is failed: PLC is deactivating");
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Step_ALARM = eMainSeqStep.INIT;
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swAlarm.Stop();
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return PLC_IS_DEACTIVATING;
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}
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}
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//Thread.Sleep(50);
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// LUKAS: ¼øȸ¸¦ ÇÏ¸é¼ ·Î±×¸¦ ³²±â´Âµ¥...Èì...
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_plc.CheckPLCAlarm();
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_latchForWriteBitUpdate = _plc.LatchForWriteBitUpdate;
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_plc.WriteBit((int)eBitOutput.EQP_ALARM_STATUS_CHANGE_COMPLETE, true);
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// ´ë±âÇÔ¼ö Ãß°¡..
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if (_plc.WaitWriteBitUpdate(_latchForWriteBitUpdate, out _) == false) {
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// ÇÔ¼ö¸íÀº ±âÁ¸ ·Î°Å¿¡¼ Áö¿øÇÏ´Ï, ¶óÀιøÈ£¸¸ ÂïÀÚ..
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Log.W(_plc.WriteLogTag("WriteBit timed out"));
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}
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Step_ALARM = eMainSeqStep.ACK_WAIT;
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swAlarm.Restart();
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}
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}
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break;
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}
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case eMainSeqStep.ACK_WAIT: {
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// LUKAS: ¾Ë¶÷ ¿äûÀÌ ¾øÀ¸¸é, Init (óÀ½)À¸·Î À̵¿
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var res2 = _plc.ReadBit((int)PLCController.eBitInput.EQP_ALARM_STATUS_CHANGE_REQ);
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if (res2.err != E1.OK) {
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Step_ALARM = eMainSeqStep.INIT;
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swAlarm.Stop();
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Log.I("Step_ALARM.eMainSeqStep.ACK: PLC is deactivating");
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return PLC_IS_DEACTIVATING;
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} else {
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if (!res2.data) {
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Step_ALARM = eMainSeqStep.INIT;
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swAlarm.Stop();
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} else if (swAlarm.ElapsedMilliseconds > TIME_OUT) { // LUKAS: PLC ¾Ë¶÷ ¸®¼Â ŸÀÔ¿À¹ö ??
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Step_ALARM = eMainSeqStep.INIT;
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EventLog.W($"PLC ALARM Change Bit Clear TimeOver");
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swAlarm.Stop();
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}
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}
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break;
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}
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}
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*/
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#if DEBUG
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//Debug.WriteLine($"MONITOR_ALARM: --> MONITOR_SETTING");
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#endif
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return MONITOR_SETTING;
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}
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private static string MonitorNetworkStatus(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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// Åë½Å ¿¬°á »óŸ¦ °Ë»çÇÑ´Ù.
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// Åë½ÅÀÌ ²÷°åÀ» °æ¿ì´Â 1. PLC¸¦ ºñÈ°¼ºÈÇßÀ» ¶§, 2. Åë½Å¿¡·¯·Î Á¾·áµÇ¾úÀ» °æ¿ì,
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// => Check Active ·Î À̵¿ÇÑ´Ù...
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// 1. => PLC ºñÈ°¼ºÈ
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// ==> Check Active ¿¡¼ 󸮵Ê...
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// 2. => Åë½Å À翬°á ·ÎÁ÷ ¼öÇà
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// ==> ¿©±â¼ 󸮵Ê...
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if (_plc.IsConnected) {
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#if DEBUG
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/* // TEST CODE For TEST
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_plc.ReadBit(1);
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_plc.WriteBit(1, true);
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_plc.ReadWord(1);
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_plc.WriteWord(1, 1);
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*/
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//Debug.WriteLine($"MONITOR_NETWORK: --> CHECK_RUN_STATUS");
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#endif
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return MONITOR_ALARM;
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} else { // Åë½ÅÀÌ Á¾·áµÇ¾ú´Ù...
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if (_plc._dataUpdateTimer.IsRunning == false) { // ºñÈ°¼ºÈ Æ®¸®°Å¸µ
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Log.I("MonitorNetworkStatus(): PLC is deactivating");
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return PLC_IS_DEACTIVATING;
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}
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// Åë½Å ÀÌ»ó...!!!
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Log.I("Try to reconnect to PLC");
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return GO_RECONNECT_NETWORK;
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}
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}
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private static string CheckActive(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
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{
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while (!context.Stopped) {
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if (_plc.IsActivated) {
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// data ¾÷µ¥ÀÌÆ® ½º·¹µå´Â ºñµ¿±â·Î µ¿ÀÛÁßÀÌ´Ù..
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Log.I("PLC is activated: --> Monitor PLC Network state");
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return MONITOR_NETWORK;
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}
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// ÁÖ±âÀû µô·¹ÀÌ
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Thread.Sleep(SLEEP_TIME_MS);
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}
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Log.W("Fatal error or Seq. Stop is occurred: --> Final");
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return SeqNodeIds.FINAL;
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}
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private static SequenceActionResult Init(SequenceContext context, string id, SequenceActionResult param)
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{
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_plc = context.Devices[CommonDeviceIds.PLCDevice] as PLCController;
|
||
//Log.I("PLC Mon. Sequence starts");
|
||
return SequenceAction.Ok();
|
||
}
|
||
}
|
||
}
|