LGES-OC5-PtoP-Welder/Machines/ILSOS_PrismaticGun/Sequences/SeqOneShot.cs

using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Util.HislogPlus;
using Aurora.View;
using AuroraLaser;
using AuroraLaser.Trumpf;
using AuroraMassFlowMeter;
using Hermes;
using Hermes.Collections;
using ILSOS_PrismaticGun.Alarm;
using ILSOS_PrismaticGun.Device.ACS;
using ILSOS_PrismaticGun.Process;
using ILSOS_PrismaticGun.Recipes;
using ILSOS_PrismaticGun.Settings;
using ILSOS_PrismaticGun.Tools;
using ILSOS_PrismaticGun.Views.Recipe;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WeldingCommon;
using WeldingCommon.Sequences;

namespace ILSOS_PrismaticGun.Sequences
{
    class SeqOneShot
    {
        static readonly Logger Log = new Logger("OneShotSequence");
        const string SEQ_ENTER = "SEQ_ENTER";
        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";
        const string SEQ_ONE_SHOT = "OneShot";
        const string SEQ_ONE_SHOT_COMPLETE = "OneShot Sequence Complete";
        private static IPrismaticGunACS _motion;
        private static Laser _laser;
        private static LaserTruFiber _laserCore;
        private static OneShotItem _Item;
        private static eStage _stage;

        const int MOTION_TIMEOUT = 10 * 1000;
        const int WELDING_TIMEOUT = 100 * 1000;
        const int MOTION_INTERVAL = 20;

        public static SequenceBuilder Builder()
        {
            SequenceBuilder sb = new SequenceBuilder(1000, true);

            sb.AddAction(SEQ_ENTER, Sequence_Enter);
            sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition);
            sb.AddAction(SEQ_ONE_SHOT, OneShot);
            sb.AddAction(SEQ_ONE_SHOT_COMPLETE, ProcessComplete);

            sb.OnStopped(OnStopped);
            sb.OnForceError(OnForceError);

            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_ONE_SHOT] > sb[SEQ_ONE_SHOT_COMPLETE] > sb.Final);

            //sb.Draw("SeqOneShot.pdf");

            return sb;
        }

        public static SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqOneShot Start");
            if (_motion is null)
                _motion = context.Devices[DeviceIds.ACS] as IPrismaticGunACS;
            if (_laser is null)
                _laser = context.Devices[CommonDeviceIds.Laser] as Laser;
            _laserCore = _laser.getCore() as LaserTruFiber;

            (_stage, _Item) = ((eStage, OneShotItem))param.Param;
            return SequenceAction.Ok();
        }

        private static SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
        {
            Log.I("SeqOneShot CheckInitCondition");
            if (!((_motion as PrismaticGunACS).IsActivated)) {
                Log.E($"[ACS activated({(_motion as PrismaticGunACS).IsActivated})]");
                return null;
            }

            if (!(_laser.IsActivated && _laser.GetConnected())) {
                Log.E($"[Laser activated({_laser.IsActivated}) / connected({_laser.GetConnected()})]");
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.DEVICE_LASER_DEACTIVATED_DISCONNECTED);
                return null;
            }

            if (!_laser.GetLaserReady()) {
                _laser.LaserOn();

                Log.V($"Laser On");
                var res = context.RetryUntilSuccess(() => _laser.GetLaserReady(), WELDING_TIMEOUT, MOTION_INTERVAL);
                if (res == E2.TIMEOUT) {
                    Log.FuncE("Laser Ready Check Timeout!");
                    context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.GET_LASER_READY);
                    return null;
                } else if (res == E2.CANCELLED) {
                    Log.FuncE("Laser Ready Check Cancel!");
                    context.PutValue<int>("AlarmCode", 0);
                    return null;
                }
            }

            List<(int wordNo, int input, bool isWriteValue)> datas = new List<(int wordNo, int input, bool isWriteValue)>();
            // OCT 미사용 >> A(1) / B(2)
            // OCT 사용 >> A(3) B(4)
            var programNo = (int)_stage + 1;
            datas.Add((csWriteNodeNo.PROGRAM_NO, programNo, true));
            datas.Add((csWriteNodeNo.IW05, _Item.CoreRatio, true));

            if (_laserCore.UpdatesDatasIfChanged(datas)) {
                var res = context.RetryUntilSuccess(() => _laserCore.GetProgramCompleted(), MOTION_TIMEOUT, MOTION_INTERVAL);
                if (res == E2.TIMEOUT) {
                    context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.LASER_READY);
                    return null;
                } else if (res == E2.CANCELLED) {
                    context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.LASER_READY);
                    return null;
                }
            }
            Log.V($"Laser Program Update Complete [Ratio : {_Item.CoreRatio}] [Program No : {(int)_stage + 1}]");

            var res1 = context.RetryUntilSuccess(() => _laserCore.GetLaserReady() && _laserCore.GetProgramNo() == (int)_stage + 1, MOTION_TIMEOUT, MOTION_INTERVAL);
            if (res1 == E2.TIMEOUT) {
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.LASER_READY_PROGRAM_ACTIVATED_TIMEOUT);
                return null;
            } else if (res1 == E2.CANCELLED) {
                context.PutValue<int>("AlarmCode", 0);
                return null;
            }

            Log.V($"Laser Setting Complete {_stage}");
            return SequenceAction.Ok();
        }

        private static SequenceActionResult OneShot(SequenceContext context, string id, SequenceActionResult param)
        {
            var _shotTime = _Item.ShotTime;
            var _shotPower = _Item.ShotPower;

            _motion.SetLCILserOn(_stage, true);
            _motion.SetOneShot(_stage, _shotTime, _shotPower);
            _motion.OneShotStart(_stage);
            Thread.Sleep(500);
            Log.E(">> OneShot Start");
            return SequenceAction.Ok();
        }

        private static SequenceActionResult ProcessComplete(SequenceContext context, string id, SequenceActionResult param)
        {
            var ret = context.RetryUntilSuccess(() => _motion.CheckOneShotComp(_stage), MOTION_TIMEOUT, MOTION_INTERVAL);
            if(ret == E2.TIMEOUT) {
                Log.E("OneShot Timeout");
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_ONESHOT_COMP);
                return null;
            } else if(ret == E2.CANCELLED) {
                Log.E("OneShot Cancel");
                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_ONESHOT_COMP);
                return null;
            }

            Log.FuncV(">> OneShot Complete");
            _motion.SetLCILserOn(_stage, false);
            _laser.LaserOff();
            Thread.Sleep(500);
            return SequenceAction.Ok();
        }

        private static void OnStopped(SequenceContext context)
        {
            _motion.SetLCILserOn(_stage, false);
            _laser.LaserOff();
            MessageUtil.ShowErrorToast(">> Sequence Stop");
            return;
        }

        private static void OnForceError(SequenceContext context, string arg2)
        {
            _motion.SetLCILserOn(_stage, false);
            _laser.LaserOff();
            MessageUtil.ShowErrorToast(">> Sequence Fail");
            return;
        }
    }
}