128 lines
5.3 KiB
C#
128 lines
5.3 KiB
C#
using Aurora;
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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 WeldingCommon.Devices;
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using WeldingCommon;
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using Aurora.Api;
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using WeldingCommon.Sequences;
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using ILSOS_PrismaticGun.Sequences;
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using ILSOS_PrismaticGun.Sequences.SubSequence;
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using ILSOS_PrismaticGun.Sequences.Monitoring;
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using ILSOS_PrismaticGun.Sequences.SubSequence.PLCInterface;
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using ILSOS_PrismaticGun.Sequences.SubSequence.StageA;
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using ILSOS_PrismaticGun.Sequences.SubSequence.StageB;
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using System.Threading;
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namespace ILSOS_PrismaticGun.Process
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{
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// 비동기 시퀀스를 사용하기 때문에... 클래스 객체가 여러개 필요함
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public class SequenceManagerForMainWelder
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{
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private static SequenceManagerForMainWelder _Instance;
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public static SequenceManagerForMainWelder Instance {
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get {
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if (_Instance is null) {
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_Instance = new SequenceManagerForMainWelder();
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}
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return _Instance;
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}
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}
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private IAuroraEnvironment _env;
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//public SeqTeachingPosMove TeachingPosSequenceA { get; private set; }
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//public SeqTeachingPosMove TeachingPosSequenceB { get; private set; }
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//public SeqAutoRunPrismaticGun MainSequence { get; private set; }
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//public SeqLoadCell LoadCellSequence { get; private set; }
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//public SeqLoadCell LoadCellSequenceB { get; private set; }
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//public SeqWeldingCell WeldingCellSequenceA{ get; private set; }
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//public SeqWeldingCell WeldingCellSequenceB{ get; private set; }
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//public SeqUnloadCell UnloadingCellSequenceA { get; private set; }
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//public SeqUnloadCell UnloadingCellSequenceB { get; private set; }
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//public SeqAutoRunPrismaticGunType MainSequenceTest { get; private set; }
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public void Init(IAuroraEnvironment env)
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{
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_env = env;
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//TeachingPosSequenceA = new SeqTeachingPosMove();
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//TeachingPosSequenceB = new SeqTeachingPosMove();
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//MainSequence = new SeqAutoRunPrismaticGun();
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//LoadCellSequence = new SeqLoadCell();
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//LoadCellSequenceB = new SeqLoadCell();
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//WeldingCellSequenceA = new SeqWeldingCell();
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//WeldingCellSequenceB = new SeqWeldingCell();
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//UnloadingCellSequenceA = new SeqUnloadCell();
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//UnloadingCellSequenceB = new SeqUnloadCell();
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//MainSequenceTest = new SeqAutoRunPrismaticGunType();
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}
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public void RegisterSequence(IAuroraEnvironment aurora, SequenceRegister register)
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{
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register(SequenceIds.TargetMoveSequenceStageA, SeqTargetPosMoveStageA.Builder());
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register(SequenceIds.TargetMoveSequenceStageB, SeqTargetPosMoveStageB.Builder());
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// Main Sequence는 하나만 사용
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register(SequenceIds.TeachingMoveSequenceStageA, SeqTeachingPosMoveStageA.Builder());
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register(SequenceIds.TeachingMoveSequenceStageB, SeqTeachingPosMoveStageB.Builder());
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//Process Sequence
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register(SequenceIds.SeqAutoRunPrismaticGunStageA, SeqAutoRunPrismaticGunStageA.Builder());
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register(SequenceIds.SeqAutoRunPrismaticGunStageB, SeqAutoRunPrismaticGunStageB.Builder());
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//register(SequenceIds.SeqLoadCellStageA, SeqLoadCellStageA.Builder());
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//register(SequenceIds.SeqLoadCellStageB, SeqLoadCellStageB.Builder());
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register(SequenceIds.SeqWeldingCellStageA, SeqWeldingCellStageA.Builder());
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register(SequenceIds.SeqWeldingCellStageB, SeqWeldingCellStageB.Builder());
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//register(SequenceIds.SeqUnloadCellStageA, SeqUnloadCellStageA.Builder());
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//register(SequenceIds.SeqUnloadCellStageB, SeqUnloadCellStageB.Builder());
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register(SequenceIds.PLCRequest, SeqAutoStart.Builder());
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//Monitoring
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register(CommonSequenceIds.AlarmMonitor, SeqAlarmMonitor.Builder());
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register(SequenceIds.StatusMonitor, SeqStatusMonitor.Builder());
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register(CommonSequenceIds.PLCMonitor, PLCMonitor.Builder());
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// Manual or Maint
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register(SequenceIds.OneShot, SeqOneShot.Builder());
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register(SequenceIds.SplitLine, SeqSplitLine.Builder());
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register(SequenceIds.MotorInit, SeqMotorInit.Builder());
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}
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public bool CanExcuteLaserSequence()
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{
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if (_env.SequenceEntry[SequenceIds.OneShot].RunState != SequenceRunState.Idle)
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return false;
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else if (_env.SequenceEntry[SequenceIds.SplitLine].RunState != SequenceRunState.Idle)
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return false;
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else if (_env.SequenceEntry[SequenceIds.SeqAutoRunPrismaticGunStageA].RunState != SequenceRunState.Idle)
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return false;
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else if (_env.SequenceEntry[SequenceIds.SeqAutoRunPrismaticGunStageB].RunState != SequenceRunState.Idle)
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return false;
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return true;
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}
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public bool Terminate()
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{
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_env.SequenceEntry[CommonSequenceIds.AlarmMonitor].Stop();
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_env.SequenceEntry[SequenceIds.StatusMonitor].Stop();
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_env.SequenceEntry[CommonSequenceIds.PLCMonitor].Stop();
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Thread.Sleep(200);
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return true;
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}
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}
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}
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