Initial commit
This commit is contained in:
ChiKyun Kim
200
Handler/Project/RunCode/Step/_STEP_INIT.cs
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200
Handler/Project/RunCode/Step/_STEP_INIT.cs
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Linq;
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using System.Security.Cryptography;
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using System.Text;
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using AR;
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using Microsoft.Owin.Hosting;
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namespace Project
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{
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public partial class FMain
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{
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//Int32[] _hDevice = new Int32[] { 0, 0, 0 };
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//Int32[] _width = new Int32[] { 0, 0, 0 };
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//Int32[] _height = new Int32[] { 0, 0, 0 };
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//Int32[] _stride = new Int32[] { 0, 0, 0 };
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//Int32[] _bufferSize = new Int32[] { 0, 0, 0 };
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//Boolean[] _isCrevisOpen = new bool[] { false, false, false };
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//Boolean[] _isCrevisACQ = new bool[] { false, false, false };
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// IntPtr[] _pImage = new IntPtr[] { IntPtr.Zero, IntPtr.Zero, IntPtr.Zero };
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public void _STEP_INIT_START(eSMStep step)
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{
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int progress = 0;
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var ProgressMax = 13;
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Color fColor = Color.DarkViolet;
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PUB.sm.RaiseStateProgress(++progress, "Motion Initialize", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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if (PUB.mot.Init() == false)
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{
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PUB.log.AddE(string.Format("MOT INIT ERROR : {0}", PUB.mot.ErrorMessage));
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PUB.log.AddE("모션 초기화 오류로 잠시 후 다시 시도합니다");
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System.Threading.Thread.Sleep(1000);
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if (PUB.mot.Init() == false)
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{
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PUB.log.AddE("모션 초기화 재시도 실패" + PUB.mot.ErrorMessage);
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}
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}
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_SM_RUN_INIT_MOTION();
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PUB.sm.RaiseStateProgress(++progress, "DIO Initialize", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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if (PUB.dio.Init())
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{
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DIO.InitDIOSensitive();
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PUB.log.Add("DIO RUN MONITOR");
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PUB.dio.RunMonitor();
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//포트동작을 멈춘다
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DIO.SetPortMotor(0, eMotDir.CW, false, "init");
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DIO.SetPortMotor(1, eMotDir.CW, false, "init");
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DIO.SetPortMotor(2, eMotDir.CW, false, "init");
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}
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else PUB.log.AddE(string.Format("DIO INIT ERROR : {0}", PUB.dio.ErrorMessage));
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TowerLamp.Init(PUB.dio,
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DIO.Pin[eDOName.TWR_REDF].terminalno,
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DIO.Pin[eDOName.TWR_GRNF].terminalno,
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DIO.Pin[eDOName.TWR_YELF].terminalno);
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TowerLamp.Enable = !SETTING.Data.Disable_TowerLamp;
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PUB.sm.RaiseStateProgress(++progress, "Set DIO Names", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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_SM_RUN_INIT_SETDIONAME();
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PUB.log.AddI("모션 초기화 플래그 설정완료");
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PUB.flag.set(eVarBool.FG_INIT_MOTIO, true, "INIT");
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//230504
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hmi1.SetDIO(PUB.dio);
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hmi1.SetMOT(PUB.mot);
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//남은 공간
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PUB.sm.RaiseStateProgress(++progress, "공간 확인", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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CheckFreeSpace(); //181225
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//모델자동선택 181206
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PUB.sm.RaiseStateProgress(++progress, "이전모델 확인", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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//
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if (PUB.uSetting.LastModelV != "") PUB.SelectModelV(PUB.uSetting.LastModelV, false);
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var motionmodel = PUB.uSetting.LastModelM;
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if (motionmodel.isEmpty()) motionmodel = PUB.Result.vModel.Motion;
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if (motionmodel.ToUpper().StartsWith("CONV")) PUB.flag.set(eVarBool.Use_Conveyor, true, "load");
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else PUB.flag.set(eVarBool.Use_Conveyor, false, "load");
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PUB.SelectModelM(motionmodel, false);
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//프린터설정
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PUB.sm.RaiseStateProgress(++progress, "프린터설정", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
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PUB.PrinterL = new Device.SATOPrinterAPI();
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PUB.PrinterL.PortName = AR.SETTING.Data.PrintL_Port;
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PUB.PrinterL.BaudRate = AR.SETTING.Data.PrintL_Baud;
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PUB.PrinterR = new Device.SATOPrinterAPI();
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PUB.PrinterR.PortName = AR.SETTING.Data.PrintR_Port;
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PUB.PrinterR.BaudRate = AR.SETTING.Data.PrintR_Baud;
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PUB.flag.set(eVarBool.FG_INIT_PRINTER, true, "INIT");
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PUB.sm.RaiseStateProgress(ProgressMax, "초기화 완료", ProgressMax, Color.Gold); System.Threading.Thread.Sleep(5);
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PUB.log.Add("init finish");
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//조명 ON
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DIO.SetRoomLight(true);
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// Start OWIN host
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var baseAddress = "http://*:9001";
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WebApp.Start<OWIN.Startup>(url: baseAddress);
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PUB.log.AddI($"호스팅서비스ON : {baseAddress}");
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}
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public StepResult _STEP_INIT(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
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{
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PUB.sm.SetNewStep(eSMStep.IDLE);
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return StepResult.Complete;
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}
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public void _SM_RUN_INIT_SETDIONAME()
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{
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//DIO 이름설정
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Console.WriteLine("## SET DI NAME ##");
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for (int i = 0; i < PUB.dio.GetDICount; i++)
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{
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var name = Enum.GetName(typeof(eDIName), i);
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Console.WriteLine($"[{i}] {name}");
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PUB.dio.SetDIName(i, name);
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}
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Console.WriteLine("## SET DO NAME ##");
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for (int i = 0; i < PUB.dio.GetDOCount; i++)
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{
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var name = Enum.GetName(typeof(eDOName), i);
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Console.WriteLine($"[{i}] {name}");
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PUB.dio.SetDOName(i, name);
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}
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//Console.WriteLine("## SET FLAG NAME ##");
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//for (int i = 0; i < PUB.flag.Length; i++)
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//{
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// var name = Enum.GetName(typeof(eFlag), i);
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// PUB.flag.Name[i] = name;
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// Console.WriteLine($"[{i}] {name}");
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//}
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}
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private void _SM_RUN_INIT_MOTION()
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{
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PUB.mot.SetAlarmClearOn();
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System.Threading.Thread.Sleep(5);
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PUB.mot.SetAlarmClearOff();
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//7개의 축을 사용한다
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for (int i = 0; i < PUB.system.MotaxisCount; i++)
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{
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//설정파일이 있다면 불러온다
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var file = System.IO.Path.Combine(UTIL.CurrentPath, "Model", "axis" + i.ToString() + ".motaxt");
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if (System.IO.File.Exists(file) == false)
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{
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PUB.log.AddAT($"모션({i}) 설정파일 없음!!");
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PUB.mot.InitAxis(i, file);
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}
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else
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{
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if (PUB.mot.InitAxis((short)i, file) == false)
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PUB.log.AddE("모션 설정 실패 축:" + i.ToString());
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else
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PUB.log.AddI($"모션({i}) 설정 완료");
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}
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}
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//EStop Disable
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PUB.mot.SetEStopEnable(0, false);
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PUB.mot.SetEStopEnable(1, false);
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PUB.mot.SetEStopEnable(2, false);
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PUB.mot.SetEStopEnable(3, false);
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PUB.mot.SetEStopEnable(4, false);
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PUB.mot.SetEStopEnable(5, false);
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PUB.mot.SetEStopEnable(6, false);
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//softlimit 적용 - 201214
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UpdateSoftLimit();
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//PUB.mot.[(short)eAxis.Z_PICKER] = true;
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//PUB.mot.useBrake[(short)eAxis.PL_UPDN] = true;
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//PUB.mot.useBrake[(short)eAxis.PR_UPDN] = true;
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if (PUB.mot.IsInit)
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{
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PUB.log.Add("MOT RUN MONITOR");
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PUB.mot.RunMonitor();
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PUB.log.AddAT("ALL SERVO ON");
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PUB.mot.SetServOn(true);
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}
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}
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}
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}
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