//------------------------------------------------------------------------------------------------
private void fn_CheckAliveSignal()
{
switch (m_nCommStep)
{
case 0:
m_tCommDelayTimer.Clear();
m_nCommStep++;
return;
case 1:
if (!m_tCommDelayTimer.OnDelay(true, 2000))
{
return;
}
m_bCommSignal = !m_bCommSignal;
m_nCommStep = 0;
return;
default:
m_nCommStep = 0;
return;
}
}
//--------------------------------------------------------------------------
//Update.
public void fn_Update()
{
bool isOk = true;
for (int i = 0; i < m_iNumOfACT; i++)
{
Actuator[i].Update();
//Check Actuator Status.
if (Err(i) == 1)
{
m_bRptActr[i] = false;
}
//Changing Timer.
if (!m_bRptActrIng)
{
continue;
}
if (m_bRptActr[i])
{
if (!SEQ.fn_CheckDstbActr(i, m_iRptCmd))
{
m_bRptActrIng = false; continue;
}
MoveCyl(i, m_iRptCmd);
if (!Complete(i, m_iRptCmd))
{
isOk = false;
}
}
}
m_ChngActrOnTimer.OnDelay(isOk, m_iChngActrDlay);
if (m_ChngActrOnTimer.Out)
{
m_ChngActrOnTimer.Clear();
if (m_iRptCmd == (int)EN_ACTR_CMD.Fwd)
{
m_iRptCmd = (int)EN_ACTR_CMD.Bwd;
}
else
{
m_iRptCmd = (int)EN_ACTR_CMD.Fwd;
}
}
}
//--------------------------------------------------------------------------
//Update
public void fn_Update(int iSeqStat)
{
//Local Var.
int iStat = m_bTest ? m_iTestStat : iSeqStat;
if (m_bFlickLamp)
{
m_FlickOnTimer.Clear(); if (m_FlickOffTimer.OnDelay(m_bFlickLamp, 500))
{
m_bFlickLamp = false;
}
}
else
{
m_FlickOffTimer.Clear(); if (m_FlickOnTimer.OnDelay(!m_bFlickLamp, 500))
{
m_bFlickLamp = true;
}
}
if (m_bFlickBuzz)
{
m_FlickOnTimer2.Clear(); if (m_FlickOffTimer2.OnDelay(m_bFlickBuzz, 200))
{
m_bFlickBuzz = false;
}
}
else
{
m_FlickOffTimer2.Clear(); if (m_FlickOnTimer2.OnDelay(!m_bFlickBuzz, 200))
{
m_bFlickBuzz = true;
}
}
if (iStat < 0 || iStat >= UserConst.MAX_LAMP_KIND)
{
return;
}
UpdateLamp(m_iYLempRed, (EN_LAMP_OPER)m_LampInfo[iStat].iRed);
UpdateLamp(m_iYLempYel, (EN_LAMP_OPER)m_LampInfo[iStat].iYel);
UpdateLamp(m_iYLempGrn, (EN_LAMP_OPER)m_LampInfo[iStat].iGrn);
UpdateBuzz((EN_BUZZ_OPER)m_LampInfo[iStat].iBuzz);
}
//---------------------------------------------------------------------------
//Update Timer
private void fn_tmUpdate(object sender, EventArgs e)
{
//m_UpdateTimer.Stop();
//
switch (m_nStep)
{
case 0:
tbLoadMsg.Text = " Now Loading System Data...";
if (!m_tDelayTimer.OnDelay(true, 300))
{
return;
}
m_tDelayTimer.Clear();
m_nStep++;
break;
case 1:
//Load Default file Info.
tbLoadMsg.Text = " Loading the Information..."; FM.fn_LoadLastInfo(true);
tbLoadMsg.Text = " Loading the Project Info..."; FM.fn_LoadProject(true, FM._sCurrJob);
tbLoadMsg.Text = " Loading the System Option..."; FM.fn_LoadSysOptn(true);
tbLoadMsg.Text = " Loading the Master Option..."; FM.fn_LoadMastOptn(true);
tbLoadMsg.Text = " Loading the Recipe Data..."; FM.fn_LoadRecipeInfo(true, FM._sRecipeName);
tbLoadMsg.Text = " Loading the Password..."; FM.fn_LoadPassWord(true);
tbLoadMsg.Text = " Loading SPC Data..."; SPC.Load(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 2:
if (!m_tDelayTimer.OnDelay(true, 100))
{
return;
}
tbLoadMsg.Text = " Loading the IO List..."; IO.fn_LoadIO(true);
tbLoadMsg.Text = " Loading the Lamp/Buzzer Data..."; LAMP.fn_Load(true);
tbLoadMsg.Text = " Loading the Actuator Data..."; ACTR.fn_Load(true);
//tbLoadMsg.Text = " ACS IO Connection...(SIM)" ; IO.fn_ACSConnect(UserConst.ACS_CON_SIM);
tbLoadMsg.Text = " ACS IO Connection..."; IO.fn_ACSConnect(UserConst.ACS_CON_NOR);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 3:
//if (!m_tDelayTimer.OnDelay(true, 100)) return;
tbLoadMsg.Text = " Loading the Error List..."; EPU.fn_LoadErrorData(true);
tbLoadMsg.Text = " Loading the Lamp/Buzzer Data..."; EPU.fn_LoadLampData(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 4:
if (!m_tDelayTimer.OnDelay(true, 500))
{
return;
}
//tbLoadMsg.Text = " Loading the Motor List...(SIM)"; MOTR.fn_InitMotor(UserConst.ACS_CON_SIM);
tbLoadMsg.Text = " Loading the Motor List..."; MOTR.fn_InitMotor(UserConst.ACS_CON_NOR);
tbLoadMsg.Text = " Loading the Vision Recipe..."; g_VisionManager.fn_LoadVision(FM._sRecipeName);
//tbLoadMsg.Text = " Loading the Motor Data..." ; FM.fn_LoadMastOptn(true);
//tbLoadMsg.Text = " Loading the Motor DSTB..." ; MOTR.fn_LoadMotrDisturb(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 5:
//if (!m_tDelayTimer.OnDelay(true, 500)) return;
tbLoadMsg.Text = " Loading the Data Manager Map Data..."; DM.fn_LoadMap(true);
tbLoadMsg.Text = " Loading the Sequence Data..."; SEQ.fn_LoadWorkInfo(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 6:
//Row, Col Setting...
tbLoadMsg.Text = " Apply Project..."; FM.ApplyProject(FM._sCurrJob);
m_nStep++;
break;
case 7:
//LoadCell
tbLoadMsg.Text = " Initial Load Cell ...";
LDCBTM.fn_SetParam();
LDCBTM.fn_Open(LDCBTM._sSerialNo); //LDCBTM.fn_Open (FM.m_stMasterOpt.sLoadCellSN);
LDCBTM.fn_Close(); //JUNG/201014/Retry
LDCBTM.fn_Open(LDCBTM._sSerialNo);
//PMC, Slurry Init
//tbLoadMsg.Text = " Initial PMC IP,Port ..." ; PMC.fn_SetIpAddress(FM.m_stSystemOpt.sPMCIp, FM.m_stSystemOpt.nPMCPort);
tbLoadMsg.Text = " Initial REST API ..."; REST.fn_SetURL(FM.m_stSystemOpt.sRestApiUrl);
tbLoadMsg.Text = " Initial RFID Reader ...";
m_nStep++;
break;
case 8:
if (IO._bConnect)
{
//RFID
tbLoadMsg.Text = " Initial RFID Reader ..."; RFID.fn_Connect();
}
m_nStep++;
break;
case 9:
//if (!m_tDelayTimer.OnDelay(true, 500)) return;
//Main Load
fn_MainFormLoad();
m_UpdateTimer.Stop();
m_nStep++;
break;
default:
break;
}
//Step Inc.
pbStep.Value = m_nStep * 10;
//m_UpdateTimer.Start();
}
//--------------------------------------------------------------------------
public void UpdateInput()
{
//Local Var.
bool isXFwdID;
bool isXBwdID;
bool isYFwdID;
bool isYBwdID;
int iXfwdId;
int iXbwdId;
int iYfwdId;
int iYbwdId;
int iXfwdIndex;
int iXbwdIndex;
int iYfwdIndex;
int iYbwdIndex;
//Set I/O ID.
iXfwdId = (iInv == 1) ? m_xbwdId : m_xfwdId;
iXbwdId = (iInv == 1) ? m_xfwdId : m_xbwdId;
iYfwdId = (iInv == 1) ? m_ybwdId : m_yfwdId;
iYbwdId = (iInv == 1) ? m_yfwdId : m_ybwdId;
//Set I/O Index.
iXfwdIndex = (iInv == 1) ? m_xbwdIndex : m_xfwdIndex;
iXbwdIndex = (iInv == 1) ? m_xfwdIndex : m_xbwdIndex;
iYfwdIndex = (iInv == 1) ? m_ybwdIndex : m_yfwdIndex;
iYbwdIndex = (iInv == 1) ? m_yfwdIndex : m_ybwdIndex;
if (!IO._bConnect)
{
return;
}
//Check SKIP.
if ((iYfwdId == SKIP4 && iYbwdId == SKIP4) ||
(iYfwdId == SKIP5 && iYbwdId == SKIP5))
{
Rst();
return;
}
//Set exist ID.
isXFwdID = (iXfwdId != SKIP4 && iXfwdId != SKIP5);
isXBwdID = (iXbwdId != SKIP4 && iXbwdId != SKIP5);
isYFwdID = (iYfwdId != SKIP4 && iYfwdId != SKIP5);
isYBwdID = (iYbwdId != SKIP4 && iYbwdId != SKIP5);
//I/O.
if (isXFwdID)
{
dfx = Input(iXfwdIndex); //Detect X/Y Val.
}
if (isXBwdID)
{
dbx = Input(iXbwdIndex);
}
if (isYFwdID)
{
dfy = Output(iYfwdIndex);
}
if (isYBwdID)
{
dby = Output(iYbwdIndex);
}
//Virtual Input Sensor
//FWD.
if (isXFwdID)
{
vfx = dfx;
}
else if (isXBwdID)
{
vfx = !dbx;
}
else if (isYFwdID)
{
vfx = dfy;
}
else if (isYBwdID)
{
vfx = !dby;
}
else
{
vfx = !dby;
}
//BWD.
if (isXBwdID)
{
vbx = dbx;
}
else if (isXFwdID)
{
vbx = !dfx;
}
else if (isYBwdID)
{
vbx = dby;
}
else if (isYFwdID)
{
vbx = !dfy;
}
else
{
vbx = !dfy;
}
//Virtual Output Sensor
if (isYFwdID)
{
vfy = dfy;
}
else
{
vfy = !dby;
}
if (isYBwdID)
{
vby = dby;
}
else
{
vby = !dfy;
}
//OnDelay Timer.
odfx = tFwdOnDelayTimer.OnDelay(vfx, nFwdOnDelayTime);
odbx = tBwdOnDelayTimer.OnDelay(vbx, nBwdOnDelayTime);
//Check time out by delay result.
//Time out By Input
bool r = true;
if (odfx && !odbx)
{
r = false;
}
if (!odfx && odbx)
{
r = false;
}
if (odfx && odbx)
{
r = true;
}
if (!odfx && !odbx)
{
r = true;
}
//Time out By Output
if (dfy && odbx)
{
r = true;
}
if (dfy && !odfx)
{
r = true;
}
if (dby && odfx)
{
r = true;
}
if (dby && !odbx)
{
r = true;
}
//Is timeout.
ftoe = tFwdTimeOutTimer.OnDelay(ApplyTimeout && r, nFwdTimeOutDelayTime);
btoe = tBwdTimeOutTimer.OnDelay(ApplyTimeout && r, nBwdTimeOutDelayTime);
//if (ftoe) Ltftoe = true;
//if (btoe) Ltbtoe = true;
if (ftoe) //JUNG/201012/Retry
{
if (++nReCntFwd >= m_iRetry)
{
Ltftoe = true;
nReCntFwd = m_iRetry;
}
else
{
tFwdTimeOutTimer.Clear();
ftoe = false;
}
}
if (btoe)
{
if (++nReCntBwd >= m_iRetry)
{
Ltbtoe = true;
nReCntBwd = m_iRetry;
}
else
{
tBwdTimeOutTimer.Clear();
btoe = false;
}
}
//Error Action.
if (ftoe || btoe)
{
fx = false; bx = false;
}
else
{
fx = odfx; bx = odbx;
}
//Apply Out Complete.
if (ApplyOutComplete)
{
Rst();
fx = dfy;
bx = dby;
if (isYFwdID)
{
fx = dfy;
}
else if (isYBwdID)
{
fx = !dby;
}
else
{
fx = !bx;
}
if (isYBwdID)
{
bx = dby;
}
else if (isYFwdID)
{
bx = !dfy;
}
else
{
bx = !fx;
}
}
}
//---------------------------------------------------------------------------
public void fn_Update()
{
//
if (pmcip == string.Empty)
{
return;
}
if (pmcport < 1)
{
return;
}
printf("[OPEN PMC] ip : " + pmcip + ", port : " + pmcport);
IPEndPoint localAddress = new IPEndPoint(IPAddress.Parse(pmcip), pmcport);
server = new TcpListener(localAddress);
server.Start();
printf("server start...");
while (true)
{
//
if (client != null) //if (client != null && client.Connected)
{
m_tAliveTimer.OnDelay(m_bAlive, 5000);
if (m_tAliveTimer.Out)
{
//
fn_StopThread();
client.Close();
client = null;
m_bAlive = false;
}
continue;
}
try
{
client = server.AcceptTcpClient();
Console.WriteLine("Accept");
fn_SetCommState(COMM_STATE.CONNECTED); //curState.CommunicationState = (int)COMM_STATE.CONNECTED;
//fn_SetControlState(CONTROL_STATE.AUTO ); //curState.ControlState = (int)CONTROL_STATE.AUTO;
fn_SetControlState();
printf("Accept Client : " + client.Client.RemoteEndPoint.ToString());
if (thread != null)
{
thread.Abort();
thread = null;
}
thread = new Thread(new ParameterizedThreadStart(WorkThread));
thread.Start(client);
polling_thread = new Thread(new ParameterizedThreadStart(PollingThread));
polling_thread.Start(pollingQue);
proc_thread = new Thread(new ParameterizedThreadStart(ProcThread));
proc_thread.Start(procQue);
proc_Send = new Thread(new ThreadStart(SendThread));
proc_Send.Start();
}
catch (Exception ex)
{
printf("[fn_OpenPMC] " + ex.Message);
m_bAlive = true;
}
}
}
//---------------------------------------------------------------------------
public bool fn_Update()
{
//
m_bDrngSMC = m_nSeqStep != 0;
m_tMainCycle.OnDelay(m_bDrngSMC, 15 * 1000); //15sec
if (m_tMainCycle.Out)
{
m_sLog = string.Format($"SMC Update Time Out [STEP] : {m_nSeqStep}");
Console.WriteLine(m_sLog);
WriteLog(m_sLog);
m_nSeqStep = 0;
fn_Clear();
m_tErrDelay.Clear();
return(true);
}
if (!m_tErrDelay.OnDelay(true, 1000))
{
return(true); //Error 발생 후 1sec Delay
}
//
if (m_nSeqStep == 0)
{
int nTarPos = IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS];
int nReqTar = IO.REQ_EQ_TO_SMC [nIndex + (int)EN_SMC_WRITE.TARGET_POS];
//SMC Data
bool xServoOn = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.SERVO_ON] == 1;
bool xHomeEnd = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.HOME_COMPLETE] == 1;
bool xAlarm = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.ALRAM] == 1;
bool xReady = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.READY] == 1;
//Request
bool bReqServoOn = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.SERVO_ON] == 1;
bool bReqHome = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.HOME] == 1;
bool bReqMove = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.START_FLAG] == 1;
bool bReqReset = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.FAULT_RESET] == 1;
bool isConServoOn = bReqServoOn && !xServoOn;
bool isConServoOff = !bReqServoOn && xServoOn;
bool isConHome = bReqHome; //&& bReqServoOn
bool isConMove = bReqMove; //&& xHomeEnd && xServoOn && xAlarm;
bool isConReset = (xAlarm || !xReady) && (bReqReset || m_bReqReset);
m_tDelayTime.Clear();
m_bDrngHome = false;
m_bDrngServoOn = false;
m_bDrngMove = false;
m_bDrngReset = false;
if (isConHome)
{
m_bDrngHome = true; m_nSeqStep = 100; m_nStep = 10; goto __GOTO_CYCLE__;
}
if (isConServoOn)
{
m_bDrngServoOn = true; m_nSeqStep = 200; m_nStep = 10; goto __GOTO_CYCLE__;
}
if (isConMove)
{
m_bDrngMove = true; m_nSeqStep = 300; m_nStep = 10; goto __GOTO_CYCLE__;
}
if (isConReset)
{
m_bDrngReset = true; m_nSeqStep = 400; m_nStep = 10; goto __GOTO_CYCLE__;
}
//if (isConServoOff) { m_bDrngServoOn = true; m_nSeqStep = 200; m_nStep = 30; goto __GOTO_CYCLE__; }
}
//Cycle Start
__GOTO_CYCLE__:
switch (m_nSeqStep)
{
case 100:
if (fn_Home())
{
m_nSeqStep = 0;
}
return(false);
case 200:
if (fn_SetServo())
{
m_nSeqStep = 0;
}
return(false);
case 300:
if (fn_SetMove())
{
m_nSeqStep = 0;
}
return(false);
case 400:
if (fn_Reset())
{
m_nSeqStep = 0;
}
return(false);
default:
m_bDrngHome = false;
m_bDrngServoOn = false;
m_bDrngMove = false;
m_bDrngReset = false;
m_nSeqStep = 0;
return(true);
}
}
//---------------------------------------------------------------------------
private bool fn_SetMove()
{
bool r1;
bool xServoOn = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.SERVO_ON] == 1;
bool xHomeEnd = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.HOME_COMPLETE] == 1;
bool xAlarm = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.ALRAM] == 1;
bool xReady = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.READY] == 1;
int nTarPos = IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS];
int nReqTar = IO.REQ_EQ_TO_SMC [nIndex + (int)EN_SMC_WRITE.TARGET_POS];
int nCurrPos = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.CURRENT_POS];
if (m_nStep < 0)
{
m_nStep = 0;
}
switch (m_nStep)
{
case 10:
m_bDrngMove = true;
//
IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.START_FLAG] = 0;
if (!xServoOn || !xHomeEnd || xAlarm || !xReady)
{
m_bDrngMove = false;
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.START_FLAG] = 0;
m_nStep = 0;
return(true);
}
if (nReqTar == nCurrPos)
{
m_bDrngMove = false;
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.START_FLAG] = 0;
m_nStep = 0;
return(true);
}
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.JOG_LEFT] = 0;
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.JOG_RIGHT] = 0;
//
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.POSITION_ON] = 1; //SMC_CONTROL_FLAG(0).5 = 1
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.SPEED_ON] = 1; //SMC_CONTROL_FLAG(0).6 = 1
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS] = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS];
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_VEL] = IO.REQ_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_VEL];
Console.WriteLine("TARGET_POS :" + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS]);
Console.WriteLine("TARGET_VEL :" + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_VEL]);
WriteLog("[MOVE] TARGET_POS :" + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS] + "/" + "TARGET_VEL :" + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_VEL]);
m_tDelayTime.Clear();
m_nStep++;
return(false);
case 11:
if (!m_tDelayTime.OnDelay(true, DELAY_TIME))
{
return(false);
}
IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.START_FLAG] = 1;
m_tDelayTime.Clear();
m_nStep++;
return(false);
case 12:
if (!m_tDelayTime.OnDelay(true, 500))
{
return(false);
}
r1 = IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.INPOSITION] == 1;
if (!r1)
{
return(false);
}
Console.WriteLine("[SMC] MOVE DONE : " + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS]);
Console.WriteLine(" CURRENT_POS : " + IO.DATA_SMC_TO_EQ[nIndex + (int)EN_SMC_READ.CURRENT_POS]);
WriteLog("[SMC] MOVE DONE : " + IO.DATA_EQ_TO_SMC[nIndex + (int)EN_SMC_WRITE.TARGET_POS]);
fn_Clear(); //JUNG/200523
m_bDrngMove = false;
m_nStep = 0;
return(true);
}
return(true);
}
