RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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잔건 관련 업데이트

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1. 중복 보고
 - 보고가 완료된 사항을 체크하는 플래그를 통해 방지
2. 최초 셀 데이터 누락
 - Cell Tracker에서 마지막 데이터를 누적하고 있음
   정지 시점에서 이미 CellTracker는 데이터를 가지고 있어야 함
This commit is contained in:
최이근 2026-02-23 19:10:15 +09:00
parent 25d96fcae4
commit 5523b1f79c
7 changed files with 69 additions and 15 deletions
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2
AuroraDevices/AuroraCellTracker/CellTracker.cs
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@ -26,7 +26,7 @@ namespace AuroraCellTracker
public class CellTracker : Device
{
Logger _Logger = new Logger("CellTracker");
ICellTracker _CellTracker;
public ICellTracker _CellTracker;
public CellTrackerConfig _CellTrackerConfig { get; set; }
private ICellTracker[] _MultiCellTrackerObj = new ICellTracker[4];

19
AuroraDevices/AuroraCellTracker/DaekhonCoporation/CellTrackerDaekhon.cs
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@ -149,6 +149,8 @@ namespace AuroraCellTracker.DaekhonCoporation
{
string lotId = "", cellId = "";
bool gotNew = false;
if (selectedMode == eMode.Queue) {
if (null != dllSocketCtrl) {
string str = dllSocketCtrl.DllSocket_GetReceiveMessageInQueue(true, true);
@ -158,6 +160,7 @@ namespace AuroraCellTracker.DaekhonCoporation
CalcCellInfo(str, out lotId, out cellId);
SetCellInfo(lotId, cellId);
gotNew = true;
} else
CellInfoStrings.ReceiveStrInQueue = "Receive Length is 0";
} else
@ -167,26 +170,32 @@ namespace AuroraCellTracker.DaekhonCoporation
} else if (selectedMode == eMode.Callback) {
// Callback 방식의 경우, 자체 ConcurrentQueue에서 Deque해서 가져와야 함
CellInfoStr info;
if (CellInfoQueue.TryDequeue(out info)) {
SetCellInfo(info.LotID, info.CellID);
gotNew = true;
}
}
// Queue 방식인데 Cell Tracker에서 메세지가 안 왔거나, Callback 방식인데 Cell Tracker API 함수가 Callback 안 된 경우(ex : ECS 오프라인 모드),
// Queue 방식인데 Cell Tracker에서 메세지가 안 왔거나,
// Callback 방식인데 실제 수신이 없거나(또는 같은 값이 연속으로 들어오는 경우),
// Lot ID/Cell ID를 ES 지정사양에 맞추어 생성
if (OldLotId == CellInfoStrings.LotID && OldCellId == CellInfoStrings.CellID) {
if (!gotNew || (OldLotId == CellInfoStrings.LotID && OldCellId == CellInfoStrings.CellID)) {
CalcCellInfo("", out lotId, out cellId);
AddCellInfo(lotId, cellId);
CellInfoStr info;
if (CellInfoQueue.TryDequeue(out info))
{
if (CellInfoQueue.TryDequeue(out info)) {
SetCellInfo(info.LotID, info.CellID);
} else {
// 새로운 값이 안들어와도 일단 보여줌
SetCellInfo(lotId, cellId);
}
}
OldLotId = CellInfoStrings.LotID;
OldCellId = CellInfoStrings.CellID;
_Logger.I($"Received CellInfo >> count({CellInfoQueue.Count})");
}
public void SendData(string str, bool isSendToUpperSystem = false)

1
Machines/ILSOS_CCW_H52A/Device/Scanner/ScannerList.cs
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@ -66,6 +66,7 @@ namespace ILSOS_CCW_H52A.Device
public bool CheckSendCellinfo { get; set; }
public bool CheckSendPLCLaserPower { get; set; }
public bool ReportComplete { get; set; }
public void SetReportComplete(bool comp) => ReportComplete = comp;
public override string ToString() => string.Format("{0},WriteTime({1}),WeldingCount({2}),StartAngle({3}),JigNo({4}),CanExist({5}),LotId({6}),CellId({7})",
ListNo, WriteTime.ToString("HHmmss.fff"), WeldingCount, StartAngle, JigNo, CanExist, LotId, CellId);

3
Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj
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@ -106,7 +106,8 @@
<Compile Include="Recipes\RecipeEventHelper.cs" />
<Compile Include="RMS\EDC.cs" />
<Compile Include="Sequences\Monitoring\AlarmMonitoring.cs" />
<Compile Include="Sequences\ProcessManager.cs" />
<Compile Include="Sequences\ProcessObjects\ProcessManager.cs" />
<Compile Include="Sequences\ProcessObjects\ReceivedCellInfo.cs" />
<Compile Include="Sequences\SeqAutoRunCCWH52A.cs" />
<Compile Include="Sequences\SeqAutoRunRMOTF.cs" />
<Compile Include="Sequences\SequenceContextEx.cs" />

5
Machines/ILSOS_CCW_H52A/Sequences/ProcessManager.cs → Machines/ILSOS_CCW_H52A/Sequences/ProcessObjects/ProcessManager.cs
View File

@ -5,6 +5,7 @@ using AuroraLaserScanner;
using AuroraPLC;
using ILSOS_CCW_H52A.Device;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Reactive.Linq;
@ -12,9 +13,10 @@ using System.Text;
using System.Threading.Tasks;
using System.Windows;
using WeldingCommon;
using WeldingCommon.Data;
using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
namespace ILSOS_CCW_H52A.Sequences
namespace ILSOS_CCW_H52A.Sequences.ProcessObjects
{
public class ProcessManager
{
@ -40,6 +42,7 @@ namespace ILSOS_CCW_H52A.Sequences
public double DegreePerJig { get => RotaryMaxAngle / RotaryJigCount; }
public double HalfDegreePerJig { get => DegreePerJig / 2; }
//public ConcurrentQueue<ReceivedCellInfo>
public void Init(IAuroraEnvironment env)
{
_env = env;

16
Machines/ILSOS_CCW_H52A/Sequences/ProcessObjects/ReceivedCellInfo.cs Normal file
View File

@ -0,0 +1,16 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace ILSOS_CCW_H52A.Sequences.ProcessObjects
{
public class ReceivedCellInfo
{
public ReceivedCellInfo() {
}
}
}

36
Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
View File

@ -1,8 +1,10 @@
using Aurora;
using Aurora.Api;
using Aurora.Api.Manager;
using Aurora.Util.HislogPlus;
using Aurora.View;
using AuroraCellTracker;
using AuroraCellTracker.DaekhonCoporation;
using AuroraIO;
using AuroraLaser;
using AuroraLaserScanner;
@ -458,8 +460,8 @@ namespace ILSOS_CCW_H52A.Sequences
WaitingScannerList.Reset();
CompleteScannerList.Reset();
isTheFirstListWrite = false; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다
isTheSecondListWrite = false;
isTheFirstListWrite = true; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다
isTheSecondListWrite = true;
isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange
_PLC.WriteBit(eBitOutput.PC_AUTO_STATUS, true);
@ -1031,6 +1033,10 @@ namespace ILSOS_CCW_H52A.Sequences
return null;
}
// 중복 보고 방지 플래그 세팅
CompleteScannerList.SetReportComplete(true);
isWeled = false;
return SequenceAction.Ok();
}
@ -1054,12 +1060,23 @@ namespace ILSOS_CCW_H52A.Sequences
}
// END ALL
#endregion
private static string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
private string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{
if (isWeled)
// 중복 보고 방지:
// - CanExist=false (skip 대상) 는 보고하지 않음(미사용)
// - WeldComplete=false (레이저 ON 감지/완료 처리 전) 는 보고하지 않음(미사용)
// - ReportComplete=true (이미 보고 완료) 는 다시 보고하지 않음
// .시퀀스가 너무 빨리 내려가서 보고하는 케이스로 예상
// 보고 누락:
// - 첫번째, 두번째는 UploadWeldingList를 해야하기 때문에 일단 넘긴다.
if (isWeled
//CompleteScannerList.CanExist &&
//CompleteScannerList.WeldComplete &&
&& !CompleteScannerList.ReportComplete)
return SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ;
else
return SEQ_CHECK_CYCLE_STOP;
return SEQ_CHECK_CYCLE_STOP;
}
private void SaveCellAPD()
@ -1194,6 +1211,13 @@ namespace ILSOS_CCW_H52A.Sequences
{
Status.EquipmentMode = eEquipmentMode.MANUAL;
if((_CellTracker._CellTracker as CellTrackerDaekhon) != null && _CellTracker._CellTracker is CellTrackerDaekhon tracker){
Log.I($"Stoped Seq >> CellTracker Recv Queue count ({tracker.CellInfoQueue.Count})");
foreach (var info in tracker.CellInfoQueue.Select((value, index) => (value, index))) {
Log.I($"[{info.index}]Queue >> CellId[{info.value.CellID}] / LotId[{info.value.LotID}]");
}
}
//PLC All BIT OFF
for (int i = 0; i < _RotaryJigCount; i++)
_PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE_1 + i, false);