diff --git a/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs b/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs index 507e852..74d4756 100644 --- a/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs +++ b/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs @@ -54,6 +54,7 @@ using static WeldingCommon.Vision.Factory.VisionFactory; using AuroraACS; using AuroraACS.Views; using AuroraMotor; +using WeldingCommon.Views.ACS; namespace ILSOS_PrismaticScanner @@ -271,9 +272,10 @@ namespace ILSOS_PrismaticScanner base.RegisterViews(manager); // Auto Run - var MainAutoRun = new MainMenu(CommonViewIds.AutoRun, MenuIcon.GetMenuIcon(eMenuIcon.HOME), PermissionLevel.NONE, false); - MainAutoRun.AddSubMenu(CommonViewIds.AutoRun, new UCMainAutoRun(new UCMainAutoRunViewModel(AuroraEnv, SequenceIds.SeqAutoRun))); - manager.RegisterMainMenu(MainAutoRun); + // 26.04.06 NDY: Manual 서브로 이동 + //var MainAutoRun = new MainMenu(CommonViewIds.AutoRun, MenuIcon.GetMenuIcon(eMenuIcon.HOME), PermissionLevel.NONE, false); + //MainAutoRun.AddSubMenu(CommonViewIds.AutoRun, new UCMainAutoRun(new UCMainAutoRunViewModel(AuroraEnv, SequenceIds.SeqAutoRun))); + //manager.RegisterMainMenu(MainAutoRun); // Recipe MainMenu recipe = new MainMenu(CommonViewIds.Recipe, MenuIcon.GetMenuIcon(eMenuIcon.RECIPE), PermissionLevel.NONE, true); @@ -300,12 +302,17 @@ namespace ILSOS_PrismaticScanner // Manual //var manual = new MainMenu(CommonViewIds.Manual, MenuIcon.GetMenuIcon(eMenuIcon.DEVICE), PermissionLevel.LEVEL4, true); // Level4 가 맞으나, 개발때는 None 으로 뒀다가 완료되면 풀자. var manual = new MainMenu(CommonViewIds.Manual, MenuIcon.GetMenuIcon(eMenuIcon.CAMERA), PermissionLevel.NONE, true); + // 26.04.06 NDY 추가: AutoRun을 Manual 서브메뉴로 추가 + manual.AddSubMenu(CommonViewIds.AutoRun, new UCMainAutoRun(new UCMainAutoRunViewModel(AuroraEnv, SequenceIds.SeqAutoRun))); // 추가 manual.AddSubMenu(CommonViewIds.ScannerOperation, new UCManualScannerOperation(new UCManualScannerOperationViewModel(AuroraEnv, CommonDeviceIds.Scanner, false))); //manual.AddSubMenu(CommonViewIds.OCT, new UCOCTManualMotion(AuroraEnv, CommonDeviceIds.OCT)); //manual.AddSubMenu(CommonViewIds.LBAD, new UCLBADDevice(AuroraEnv, CommonDeviceIds.LBAD, CommonDeviceIds.IODevice)); //manual.AddSubMenu(CommonViewIds.ConvEdgeObject, new UCConvEdgeObject(AuroraEnv)); manual.AddSubMenu(CommonViewIds.ModelFinder, new UCManualModelFinder(new UCManualModelFinderViewModel(AuroraEnv))); - #region 26.04.06 ACS 모션 스테이지 메뉴얼 추가 - 진행 예정이였으나, Gun 에 속해서 사용 애매함. View 자체를 전부 가져오지는 못함. + #region 26.04.06 ACS 모션 스테이지 메뉴얼 추가 - 진행 예정이였으나, Gun 에 속해서 사용 애매함. View 자체를 전부 가져오지는 못함. - Gun의 view도 common에 복사 + // Manual 메뉴에 추가 + manual.AddSubMenu(CommonViewIds.StageManual, + new UCStageManual(AuroraEnv, AuroraEnv.DeviceManager)); #endregion diff --git a/Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs b/Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs index e8ae5bd..f5095db 100644 --- a/Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs +++ b/Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs @@ -81,8 +81,11 @@ namespace ILSOS_PrismaticScanner.Sequences private static PAIX_PrismaticScanner _IO; // 필드 선언 추가 (다른 필드들 옆에) - private ScannerACS _ACS; // 26.04.06 NDY - MOTF용 ACS Stage X 제어 + // 변경 전 + //private ScannerACS _ACS; + // 변경 후 + private IScannerACS _ACS; // 26.04.06 NDY - MOTF용 ACS Stage X 제어 private Laser _Laser; private ILaser _LaserDevice; private LaserTruFiber _LaserTruFiber; @@ -201,7 +204,10 @@ namespace ILSOS_PrismaticScanner.Sequences // 26.04.06 NDY 추가: ACS 디바이스 취득 (null-safe) // 변수 맵 수신 후 MOTFStart() 호출에 사용 - try { _ACS = context.Devices["ACS"] as ScannerACS; } + // 변경 전 + //try { _ACS = context.Devices[DeviceIds.ACS] as ScannerACS; } + // 변경 후 + try { _ACS = context.Devices[DeviceIds.ACS] as IScannerACS; } catch { _ACS = null; Log.W("ACS 디바이스 취득 실패 (null 처리)"); } } private bool CheckDeviceReady(SequenceContext context) diff --git a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs b/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs deleted file mode 100644 index 21ce72d..0000000 --- a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs +++ /dev/null @@ -1,54 +0,0 @@ -// WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs -using AuroraACS; -using System.Web.UI.WebControls; - -namespace WeldingCommon.Devices.ACS -{ - public partial class ScannerACS - { - // ── 알람 ────────────────────────────────────────── - const string AlarmReset = "iAlarmreset"; - const string HeavyAlarm = "iAlarm"; - const string LightAlarm = "iLightAlarm"; - const string AlarmCodes = "iPCAlarmNo"; - - // ── 홈 ─────────────────────────────────────────── - const string iAllAxisHomeComplete = "iPCget_ALLAXIS_HOMECOMP"; - - // ── MOTF (Mark On The Fly) ──────────────────────── - // TODO: 이정인 선임 ACS 변수 맵 수신 후 실제 변수명으로 교체 - const string iMOTFStart = "iPCset_SCANNER_MOTF_START"; // placeholder - const string iMOTFComplete = "iPCget_SCANNER_MOTF_COMP"; // placeholder - const string rMOTFVelocity = "rPCset_SCANNER_MOTF_VEL"; // placeholder - const string rMOTFAcc = "rPCset_SCANNER_MOTF_ACC"; // placeholder - - #region 변수 맵 받으면 작업 순서 - //1. ScannerACS.Parameter.cs - // → placeholder 변수명을 실제 변수명으로 교체 - - //2. ScannerACS.cs - // → 축 번호 검증(ACSMotor 생성 시 넣은 번호) - - //3. EquipDef.cs - // → MotorIds의 eMotorIdx 번호 검증 - - //4. 빌드 후 실제 장비에서 동작 확인 - #endregion - - // ── 레이저 ─────────────────────────────────────── - const string IsLaserOn = "LCI_DEVICE.LaserEnabled"; - const string iLaserUse = "iPCset_LASER_USE"; - - // ── 축 번호 ────────────────────────────────────── - const string iXAxisNumber = "iPCget_LCI_ASMASK_X"; - - // ── 버퍼 ───────────────────────────────────────── - private enum eBuffer - { - All_Axis_Home = 0, - - // TODO: Scanner MOTF 버퍼 번호 확인 후 수정 - MOTF_Start = 11, - } - } -} \ No newline at end of file diff --git a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs b/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs deleted file mode 100644 index e863057..0000000 --- a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs +++ /dev/null @@ -1,185 +0,0 @@ -// WeldingCommon/Devices/ACS/ScannerACS.cs -using Aurora; -using Aurora.Api; -using Aurora.Api.Devices; -using Aurora.Util.HislogPlus; -using AuroraACS; -using ACS.SPiiPlusNET; -using Hermes; -using System.Windows; -using WeldingCommon.Device.ACS; -using WeldingCommon.Settings; - -namespace WeldingCommon.Devices.ACS -{ - public interface IScannerACS - { - bool IsActivated(); - - // 홈 - bool AllAxisHomeStart(); - bool AllAxisHomeStop(); - bool CheckAllAxisHome(); - - // MOTF - bool MOTFStart(); - bool MOTFStop(); - bool CheckMOTFComp(); - - // 레이저 - bool SetLaserIOUse(bool on); - bool IsLaserOn(); - - // 알람 - bool ResetAlarm(); - void AllAxisServoOff(); - } - - public partial class ScannerACS : ACSDevice, IScannerACS - { - // TODO: Scanner용 Setting ID 확정 후 교체 - private ACSDeviceSetting _setting; - private ACSMotor MotorStageX; // AxisX2 = Scanner Stage X - - public MotionVariable _motorVariable; - - public bool HasHeavyAlarm { get; private set; } - public bool HasLightAlarm { get; private set; } - public int[] HaveAlarmCodes { get => _HaveAlarmCodes; } - private int[] _HaveAlarmCodes = new int[11]; - - public ScannerACS(bool isSimulation, bool useTerminateUMD = false) - : base(isSimulation, useTerminateUMD) - { - _motorVariable = new MotionVariable(); - } - - protected override int DoActivate(IDeviceConfig config) - { - if (base.DoActivate(config) != E1.OK) - return E2.ABORTED; - - var env = Application.Current.AuroraEnv(); - - // TODO: Scanner용 SettingIds 확정 후 교체 - // _setting = env.SettingEntry[ScannerSettingIds.ACS] as ACSDeviceSetting; - - // Stage X 모터 취득 (null-safe) - // TODO: 이정인 선임 변수 맵 수신 후 축 번호 검증 - try { MotorStageX = env.DeviceManager[CommonDeviceIds.AxisX2] as ACSMotor; } - catch { MotorStageX = null; } - - SetMonitoringService(UpdateACSParam, 50); - StartMonitoringService(); - - return E1.OK; - } - - private void UpdateACSParam() - { - // Stage X 상태 갱신 - if (MotorStageX != null) - { - _motorVariable.X2AxisPosition = MotorStageX.GetActualPos(); - _motorVariable.X2InPosition = MotorStageX.IsInpos(); - _motorVariable.X2AxisVelocity = MotorStageX.GetFeedbackVelocity(); - _motorVariable.X2AxisAcceleration = MotorStageX.GetAcceleration(); - _motorVariable.IsHome = MotorStageX.GetServoStatus() == 1; - } - - // 알람 상태 갱신 - HasHeavyAlarm = ReadVariableInt(HeavyAlarm) == 1; - HasLightAlarm = ReadVariableInt(LightAlarm) == 1; - ReadVariableIntArrRef(AlarmCodes, ref _HaveAlarmCodes, - ProgramBuffer.ACSC_NONE, 0, 10); - } - - protected override int DoDeactivate() - { - StopMonitoringService(); - return base.DoDeactivate(); - } - - // ── 홈 ─────────────────────────────────────────── - bool IScannerACS.AllAxisHomeStart() - { - if (RunBuffer((ProgramBuffer)eBuffer.All_Axis_Home)) - { - Log.D("AllAxisHomeStart >> Complete"); - return true; - } - Log.D("AllAxisHomeStart >> Fail"); - return false; - } - - bool IScannerACS.AllAxisHomeStop() - { - StopBuffer((ProgramBuffer)eBuffer.All_Axis_Home); - Log.D("AllAxisHomeStop >> Complete"); - return true; - } - - bool IScannerACS.CheckAllAxisHome() - => ReadVariableInt(iAllAxisHomeComplete) > 0; - - // ── MOTF ───────────────────────────────────────── - // TODO: 이정인 선임 변수 맵 수신 후 버퍼 번호 및 변수명 교체 - bool IScannerACS.MOTFStart() - { - if (IsSimul) return true; - if (RunBuffer((ProgramBuffer)eBuffer.MOTF_Start)) - { - Log.I("MOTFStart >> Complete"); - return true; - } - Log.D("MOTFStart >> Fail"); - return false; - } - - bool IScannerACS.MOTFStop() - { - StopBuffer((ProgramBuffer)eBuffer.MOTF_Start); - Log.D("MOTFStop >> Complete"); - return true; - } - - bool IScannerACS.CheckMOTFComp() - { - if (IsSimul) return true; - return ReadVariableInt(iMOTFComplete) > 0; - } - - // ── 레이저 ─────────────────────────────────────── - bool IScannerACS.SetLaserIOUse(bool on) - { - if (WriteRealVariable(iLaserUse, on ? 1 : 0)) - { - Log.D($"SetLaserIOUse {on} >> Complete"); - return true; - } - Log.D("SetLaserIOUse >> Fail"); - return false; - } - - bool IScannerACS.IsLaserOn() - { - if (!IsActivated || !IsConnected) return false; - return ReadVariableInt(IsLaserOn) > 0; - } - - // ── 알람 ───────────────────────────────────────── - bool IScannerACS.ResetAlarm() - { - TerminalCommand("FCLEAR ALL"); - return WriteVariableInt(AlarmReset, 1); - } - - void IScannerACS.AllAxisServoOff() - { - if (!IsActivated || !IsConnected) return; - SetMotorDisableAll(); - } - - bool IScannerACS.IsActivated() => IsActivated; - } -} \ No newline at end of file diff --git a/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs b/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs new file mode 100644 index 0000000..38d36b0 --- /dev/null +++ b/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs @@ -0,0 +1,168 @@ +// WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs +// Gun(PrismaticGunACS.Parameter.cs) 기반으로 Scanner용으로 통합 +// 26.04.06 NDY +using AuroraACS; + +namespace WeldingCommon.Devices.ACS +{ + // ── 레이저 출력 타입 ────────────────────────────────────── + // Gun의 MainRecipe.eOutType과 동일 + // partial class 밖에 정의 → IScannerACS 인터페이스에서도 참조 가능 + public enum eOutType + { + Analog, // V + Interval, // hz + } + + public partial class ScannerACS + { + // ── 알람 ────────────────────────────────────────── + // Gun과 동일 + const string AlarmReset = "iAlarmreset"; + const string HeavyAlarm = "iAlarm"; + const string LightAlarm = "iLightAlarm"; + const string AlarmCodes = "iPCAlarmNo"; // 10개 + + // ── 레이저 ─────────────────────────────────────── + // Gun과 동일 + const string IsLaserOn = "LCI_DEVICE.LaserEnabled"; + const string iLaserUse = "iPCset_LASER_USE"; + const string iAStageLCType = "iPCset_ALINE_LCTYPE"; + + // ── 홈 ─────────────────────────────────────────── + // Gun과 동일 + const string iAllAxisHomeComplete = "iPCget_ALLAXIS_HOMECOMP"; + + // ── 축 번호 ────────────────────────────────────── + // Gun과 동일 + const string iXAxisNumber = "iPCget_LCI_ASMASK_X"; + const string iYAxisNumber = "iPCget_LCI_ASMASK_Y"; + + // ── 레이저 모드 ─────────────────────────────────── + // Gun과 동일 + const string iALaserShotMode = "iPCset_ALASER_SHOT_MODE"; + + // ── OneShot ─────────────────────────────────────── + // Gun과 동일 + const string rOneShotTime = "rPCset_ALINE_SHOT_TIME"; + const string rOneShotCoreVoltage = "rPCset_ALINE_SHOT_CORE_VOLTAGE"; + const string rOneShotRingVoltage = "rPCset_ALINE_SHOT_RING_VOLTAGE"; + const string iOneShotComplete = "iPCget_ALINE_SHOT_COMP"; + + // ── LineShot ────────────────────────────────────── + // Gun과 동일 + const string rLineWeldingCoreVoltage = "rPCset_ALINE_LINE_CORE_VOLTAGE"; + const string rLineWeldingRingVoltage = "rPCset_ALINE_LINE_RING_VOLTAGE"; + const string rLineWeldingVel = "rPCset_ALINE_LINE_VEL"; + const string rLineWeldingAcc = "rPCset_ALINE_LINE_ACC"; + const string rLineWeldingLaserOnX = "rPCset_ALINE_LINE_LASERON_X"; + const string rLineWeldingLaserOnY = "rPCset_ALINE_LINE_LASERON_Y"; + const string rLineWeldingLaserOffX = "rPCset_ALINE_LINE_LASEROFF_X"; + const string rLineWeldingLaserOffY = "rPCset_ALINE_LINE_LASEROFF_Y"; + const string iLineWeldingComplete = "iPCget_ALINE_LINE_COMP"; + + // ── Welding Position 1~8 ────────────────────────── + // Gun과 동일 + const string rWeldingPosition1PosX = "rPCset_ALINE_WeldingPosition1_X"; + const string rWeldingPosition1PosY = "rPCset_ALINE_WeldingPosition1_Y"; + const string rWeldingPosition2PosX = "rPCset_ALINE_WeldingPosition2_X"; + const string rWeldingPosition2PosY = "rPCset_ALINE_WeldingPosition2_Y"; + const string rWeldingPosition3PosX = "rPCset_ALINE_WeldingPosition3_X"; + const string rWeldingPosition3PosY = "rPCset_ALINE_WeldingPosition3_Y"; + const string rWeldingPosition4PosX = "rPCset_ALINE_WeldingPosition4_X"; + const string rWeldingPosition4PosY = "rPCset_ALINE_WeldingPosition4_Y"; + const string rWeldingPosition5PosX = "rPCset_ALINE_WeldingPosition5_X"; + const string rWeldingPosition5PosY = "rPCset_ALINE_WeldingPosition5_Y"; + const string rWeldingPosition6PosX = "rPCset_ALINE_WeldingPosition6_X"; + const string rWeldingPosition6PosY = "rPCset_ALINE_WeldingPosition6_Y"; + const string rWeldingPosition7PosX = "rPCset_ALINE_WeldingPosition7_X"; + const string rWeldingPosition7PosY = "rPCset_ALINE_WeldingPosition7_Y"; + const string rWeldingPosition8PosX = "rPCset_ALINE_WeldingPosition8_X"; + const string rWeldingPosition8PosY = "rPCset_ALINE_WeldingPosition8_Y"; + + // ── Welding Arc ─────────────────────────────────── + // Gun과 동일 + const string rWeldingEdgePointRad1 = "rPCset_ALINE_EdgePointRad1"; + const string rWeldingEdgePointRad2 = "rPCset_ALINE_EdgePointRad2"; + const string rWeldingEdgePointRad3 = "rPCset_ALINE_EdgePointRad3"; + const string rWeldingEdgePointRad4 = "rPCset_ALINE_EdgePointRad4"; + + // ── Welding Power ───────────────────────────────── + // Gun과 동일 + const string rWeldingCorePowerMax = "rPCset_ALINE_WEL_COREPOWER_MAX"; + const string rWeldingCorePowerMin = "rPCset_ALINE_WEL_COREPOWER_MIN"; + const string rWeldingRingPowerMax = "rPCset_ALINE_WEL_RINGPOWER_MAX"; + const string rWeldingRingPowerMin = "rPCset_ALINE_WEL_RINGPOWER_MIN"; + + // ── Welding Velocity ────────────────────────────── + // Gun과 동일 + const string rWeldingAcc = "rPCset_ALINE_WEL_ACC"; + const string rWeldingSVel = "rPCset_ALINE_WEL_SVEL"; + const string rWeldingCVel = "rPCset_ALINE_WEL_CVEL"; + const string iWeldingComplete = "iPCget_ALINE_WEL_COMP"; + + // ── Welding Position ────────────────────────────── + // Gun과 동일 + const string rWeldingStartPosX = "rPCset_ALINE_WEL_ST_POS_X"; + const string rWeldingStartPosY = "rPCset_ALINE_WEL_ST_POS_Y"; + const string rWeldingEndPosX = "rPCset_ALINE_WEL_EN_POS_X"; + const string rWeldingEndPosY = "rPCset_ALINE_WEL_EN_POS_Y"; + + // ── Laser ON/OFF Position ───────────────────────── + // Gun과 동일 + const string rLaserONPosX = "rPCset_ALINE_LASER_ONPOS_X"; + const string rLaserONOffset = "rPCset_ALINE_LASER_ON_OFFSET"; + const string rLaserOFFPosX = "rPCset_ALINE_LASER_OFFPOS_X"; + const string rLaserOFFOffset = "rPCset_ALINE_LASER_OFF_OFFSET"; + + // ── Ramping ─────────────────────────────────────── + // Gun과 동일 + const string rRampingONOverlapDist = "rPCset_ALINE_RAMP_ON_OVERLAP_DIS"; + const string rRampingONStartPower = "rPCset_ALINE_RAMP_ON_STARTPOWER"; + const string rRampingOFFStartPosX = "rPCset_ALINE_RAMP_OFF_STPOS_X"; + const string rRampingOFFOverlapDist = "rPCset_ALINE_RAMP_OFF_OVERLAP_DIS"; + const string rRampingOFFEndPower = "rPCset_ALINE_RAMP_OFF_ENDPOWER"; + + // ── MOTF (Mark On The Fly) ──────────────────────── + // Scanner 전용 추가 (Gun에 없음) + // TODO: 이정인 선임 ACS 변수 맵 수신 후 실제 변수명으로 교체 + const string iMOTFStart = "iPCset_SCANNER_MOTF_START"; // placeholder + const string iMOTFComplete = "iPCget_SCANNER_MOTF_COMP"; // placeholder + const string rMOTFVelocity = "rPCset_SCANNER_MOTF_VEL"; // placeholder + const string rMOTFAcc = "rPCset_SCANNER_MOTF_ACC"; // placeholder + + // ── 버퍼 ───────────────────────────────────────── + // Gun과 동일 + MOTF 추가 + private enum eBuffer + { + All_Axis_Home = 0, + AxisX1_Home = 1, + AxisX2_Home = 2, + AxisY1_Home = 3, + AxisY2_Home = 4, + AxisZ_Home = 5, + + Welding_Line = 11, + Welding_AllRound = 12, + Welding_OneShot = 13, + + // TODO: Scanner MOTF 버퍼 번호 확인 후 수정 + MOTF_Start = 14, // placeholder + } + + #region 변수 맵 받으면 작업 순서 + // 1. ScannerACS.Parameter.cs + // → iMOTFStart, iMOTFComplete, rMOTFVelocity, rMOTFAcc placeholder → 실제 변수명 교체 + // → eBuffer.MOTF_Start 번호 교체 + // 2. ScannerACS.cs + // → 축 번호 검증 (ACSMotor 생성 시 넣은 번호) + // 3. EquipDef.cs + // → MotorIds의 eMotorIdx 번호 검증 + // 4. SeqComponentTeachingRun.cs + // → _ACS?.MOTFStart() 주석 해제 + // → CheckMOTFComp() 주석 해제 + // → CheckDeviceReady() DeviceIds.ACS 주석 해제 + // 5. 빌드 후 실제 장비에서 동작 확인 + #endregion + } +} \ No newline at end of file diff --git a/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.cs b/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.cs new file mode 100644 index 0000000..ea2fdd3 --- /dev/null +++ b/WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.cs @@ -0,0 +1,588 @@ +// WeldingCommon/Devices/ACS/ScannerACS.cs +// Gun(PrismaticGunACS.cs) 기반으로 Scanner용으로 통합 +// 변경점: +// 1. 네임스페이스/클래스명 변경 (PrismaticGunACS → ScannerACS) +// 2. MOTF 메서드 3개 추가 (MOTFStart/Stop/CheckMOTFComp) +// 3. 모터 취득 try-catch null-safe 적용 +// 4. TeachingPosition 체크 로직 단순화 (Scanner는 X2축만 사용) +// 26.04.06 NDY +using Aurora; +using Aurora.Api; +using Aurora.Api.Devices; +using AuroraACS; +using ACS.SPiiPlusNET; +using Hermes; +using System.Windows; +using WeldingCommon.Settings; +using AuroraOCT; +using WeldingCommon.Device.ACS; +namespace WeldingCommon.Devices.ACS +{ + // ── 인터페이스 ──────────────────────────────────────────────────────────── + // Gun의 IPrismaticGunACS 기반 + MOTF 3개 추가 + public interface IScannerACS + { + bool IsActivated(); + + // 홈 + bool AllAxisHomeStart(); + bool AllAxisHomeStop(); + bool CheckAllAxisHome(); + + // MOTF (Scanner 전용 추가 - Gun에 없음) + // TODO: 이정인 선임 변수 맵 수신 후 주석 해제하여 사용 + bool MOTFStart(); + bool MOTFStop(); + bool CheckMOTFComp(); + + // OneShot (Gun과 동일) + bool SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2); + bool OneShotStart(); + bool OneShotStop(); + bool CheckOneShotComp(); + + // LineShot (Gun과 동일) + bool SetLineShot(double corePower, double ringPower, + double startPosX, double endPosX, + double startPosY, double endPosY, + double velocity, double acc); + bool LineShotStart(); + bool LineShotStop(); + bool CheckLineShotComp(); + + // Welding (Gun과 동일) + bool SetWeldingVel(double acc, double svel, double cvel); + bool SetWeldingPos(double startPosX, double startPosY, + double endPosX, double endPosY, + double camOffsetX, double camOffsetY); + bool SetWeldingArc(double point1, double point2, double point3, double point4); + bool SetWeldingType(eOutType type); + bool SetWeldingPulse(double coreMaxPower, double coreMinPower, + double ringMaxPower, double ringMinPower); + bool SetLaserOnOff(double onPosX, double onOffSet, + double offPosX, double offOffSet, + double camOffsetX, double camOffsetY); + bool SetRamppingOffParameter(double pos, double overlap, double endpower, + double camOffsetX, double camOffsetY); + bool SetRamppingOnParameter(double overlap, double startpower); + bool WeldingStart(); + bool WeldingStop(); + bool CheckWeldingComp(); + + // Teaching Position (Gun과 동일) + bool SetWeldingTeachingPosition1(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition2(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition3(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition4(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition5(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition6(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition7(double PosX, double PosY, double camOffsetX, double camOffsetY); + bool SetWeldingTeachingPosition8(double PosX, double PosY, double camOffsetX, double camOffsetY); + + // 레이저 (Gun과 동일) + bool SetLaserIOUse(bool on); + bool SetLCILserOn(bool on); + bool SetWeldingAxes(int axisXnum, int axisYnum); + bool IsLaserOn(); + + // 알람 (Gun과 동일) + bool ResetAlarm(); + void AllAxisServoOff(); + } + + // ── 구현 ────────────────────────────────────────────────────────────────── + public partial class ScannerACS : ACSDevice, IScannerACS + { + // Gun과 동일한 필드 + private ACSDeviceSetting _setting; + + // Scanner는 Stage X (X2) 1축만 사용 + // Gun은 X1, X2, Y1, Y2, Z 5축 사용 + private ACSMotor MotorStageX; // AxisX2 = Scanner Stage X + + public MotionVariable _motorVariable; + + public bool HasHeavyAlarm { get; private set; } + public bool HasLightAlarm { get; private set; } + public int[] HaveAlarmCodes { get => _HaveAlarmCodes; } + private int[] _HaveAlarmCodes = new int[11]; + + public ScannerACS(bool isSimulation, bool useTerminateUMD = false) + : base(isSimulation, useTerminateUMD) + { + _motorVariable = new MotionVariable(); + } + + protected override int DoActivate(IDeviceConfig config) + { + if (base.DoActivate(config) != E1.OK) + return E2.ABORTED; + + var env = Application.Current.AuroraEnv(); + + // TODO: Scanner용 SettingIds 확정 후 교체 + // Gun: _setting = env.SettingEntry[SettingIds.ACS] as ACSDeviceSetting; + // _setting = env.SettingEntry[ScannerSettingIds.ACS] as ACSDeviceSetting; + + // Scanner는 Stage X (X2) 1축만 취득 + // Gun은 X1, X2, Y1, Y2, Z 전부 취득 + // null-safe: 변수 맵 수신 전 예외 방지 + // TODO: 이정인 선임 변수 맵 수신 후 축 번호 검증 + try { MotorStageX = env.DeviceManager[CommonDeviceIds.AxisX2] as ACSMotor; } + catch { MotorStageX = null; } + + SetMonitoringService(UpdateACSParam, 50); + StartMonitoringService(); + + return E1.OK; + } + + private void UpdateACSParam() + { + // Scanner는 Stage X만 모니터링 + // Gun은 X1, X2, Y1, Y2, Z 전부 모니터링 + if (MotorStageX != null) + { + _motorVariable.X2AxisPosition = MotorStageX.GetActualPos(); + _motorVariable.X2InPosition = MotorStageX.IsInpos(); + _motorVariable.X2AxisVelocity = MotorStageX.GetFeedbackVelocity(); + _motorVariable.X2AxisAcceleration = MotorStageX.GetAcceleration(); + _motorVariable.IsHome = MotorStageX.GetServoStatus() == 1; + } + + // 알람 상태 갱신 (Gun과 동일) + HasHeavyAlarm = ReadVariableInt(HeavyAlarm) == 1; + HasLightAlarm = ReadVariableInt(LightAlarm) == 1; + ReadVariableIntArrRef(AlarmCodes, ref _HaveAlarmCodes, ProgramBuffer.ACSC_NONE, 0, 10); + } + + protected override int DoDeactivate() + { + StopMonitoringService(); + return base.DoDeactivate(); + } + + // ── 홈 (Gun과 동일) ─────────────────────────────────────────────────── + bool IScannerACS.AllAxisHomeStart() + { + if (RunBuffer((ProgramBuffer)eBuffer.All_Axis_Home)) + { + Log.D("AllAxisHomeStart >> Complete"); + return true; + } + Log.D("AllAxisHomeStart >> Fail"); + return false; + } + + bool IScannerACS.AllAxisHomeStop() + { + StopBuffer((ProgramBuffer)eBuffer.All_Axis_Home); + Log.D("AllAxisHomeStop >> Complete"); + return true; + } + + bool IScannerACS.CheckAllAxisHome() + => ReadVariableInt(iAllAxisHomeComplete) > 0; + + // ── MOTF (Scanner 전용 추가 - Gun에 없음) ──────────────────────────── + // TODO: 이정인 선임 변수 맵 수신 후 버퍼 번호 및 변수명 교체 + bool IScannerACS.MOTFStart() + { + if (IsSimul) return true; + if (RunBuffer((ProgramBuffer)eBuffer.MOTF_Start)) + { + Log.I("MOTFStart >> Complete"); + return true; + } + Log.D("MOTFStart >> Fail"); + return false; + } + + bool IScannerACS.MOTFStop() + { + StopBuffer((ProgramBuffer)eBuffer.MOTF_Start); + Log.D("MOTFStop >> Complete"); + return true; + } + + bool IScannerACS.CheckMOTFComp() + { + if (IsSimul) return true; + return ReadVariableInt(iMOTFComplete) > 0; + } + + // ── OneShot (Gun과 동일) ────────────────────────────────────────────── + bool IScannerACS.SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2) + { + if (WriteRealVariable(rOneShotTime, msecShotTime) & + WriteRealVariable(rOneShotCoreVoltage, secPhzShotPulse1) & + WriteRealVariable(rOneShotRingVoltage, secPhzShotPulse2)) + { + Log.D("SetOneShot >> Complete"); + return true; + } + Log.D("SetOneShot >> Fail"); + return false; + } + + bool IScannerACS.OneShotStart() + { + if (RunBuffer((ProgramBuffer)eBuffer.Welding_OneShot)) + { + Log.D("OneShotStart >> Complete"); + return true; + } + Log.D("OneShotStart >> Fail"); + return false; + } + + bool IScannerACS.OneShotStop() + { + IScannerACS motion = this; + motion.SetLCILserOn(false); + StopBuffer((ProgramBuffer)eBuffer.Welding_OneShot); + Log.D("OneShotStop >> Complete"); + return true; + } + + bool IScannerACS.CheckOneShotComp() + => ReadVariableInt(iOneShotComplete) > 0; + + // ── LineShot (Gun과 동일) ───────────────────────────────────────────── + bool IScannerACS.SetLineShot(double corePower, double ringPower, + double startPosX, double endPosX, + double startPosY, double endPosY, + double velocity, double acc) + { + if (WriteRealVariable(rLineWeldingLaserOnX, startPosX) & + WriteRealVariable(rLineWeldingLaserOnY, startPosY) & + WriteRealVariable(rLineWeldingLaserOffX, endPosX) & + WriteRealVariable(rLineWeldingLaserOffY, endPosY) & + WriteRealVariable(rLineWeldingVel, velocity) & + WriteRealVariable(rLineWeldingAcc, acc) & + WriteRealVariable(rLineWeldingCoreVoltage, corePower) & + WriteRealVariable(rLineWeldingRingVoltage, ringPower)) + { + Log.D("SetLineShot >> Complete"); + return true; + } + Log.D("SetLineShot >> Fail"); + return false; + } + + bool IScannerACS.LineShotStart() + { + if (RunBuffer((ProgramBuffer)eBuffer.Welding_Line)) + { + Log.D("LineShotStart >> Complete"); + return true; + } + Log.D("LineShotStart >> Fail"); + return false; + } + + bool IScannerACS.LineShotStop() + { + IScannerACS motion = this; + motion.SetLCILserOn(false); + StopBuffer((ProgramBuffer)eBuffer.Welding_Line); + Log.D("LineShotStop >> Complete"); + return true; + } + + bool IScannerACS.CheckLineShotComp() + => ReadVariableInt(iLineWeldingComplete) > 0; + + // ── Welding (Gun과 동일) ────────────────────────────────────────────── + bool IScannerACS.WeldingStart() + { + if (IsSimul) return true; + if (RunBuffer((ProgramBuffer)eBuffer.Welding_AllRound)) + { + Log.I("WeldingStart >> Complete"); + return true; + } + Log.D("WeldingStart >> Fail"); + return false; + } + + bool IScannerACS.WeldingStop() + { + IScannerACS motion = this; + motion.SetLCILserOn(false); + StopBuffer((ProgramBuffer)eBuffer.Welding_AllRound); + Log.D("WeldingStop >> Complete"); + return true; + } + + bool IScannerACS.CheckWeldingComp() + { + if (IsSimul) return true; + return ReadVariableInt(iWeldingComplete) > 0; + } + + bool IScannerACS.SetWeldingVel(double acc, double svel, double cvel) + { + if (WriteRealVariable(rWeldingAcc, acc) & + WriteRealVariable(rWeldingSVel, svel) & + WriteRealVariable(rWeldingCVel, cvel)) + { + Log.D("SetWeldingVel >> Complete"); + return true; + } + Log.D("SetWeldingVel >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingPos(double startPosX, double startPosY, + double endPosX, double endPosY, + double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingStartPosX, startPosX + camOffsetX) & + WriteRealVariable(rWeldingStartPosY, startPosY + camOffsetY) & + WriteRealVariable(rWeldingEndPosX, endPosX + camOffsetX) & + WriteRealVariable(rWeldingEndPosY, endPosY + camOffsetY)) + { + Log.D("SetWeldingPos >> Complete"); + return true; + } + Log.D("SetWeldingPos >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingArc(double point1, double point2, double point3, double point4) + { + if (WriteRealVariable(rWeldingEdgePointRad1, point1) & + WriteRealVariable(rWeldingEdgePointRad2, point2) & + WriteRealVariable(rWeldingEdgePointRad3, point3) & + WriteRealVariable(rWeldingEdgePointRad4, point4)) + { + Log.D("SetWeldingArc >> Complete"); + return true; + } + Log.D("SetWeldingArc >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingType(eOutType type) + { + if (WriteVariableInt(iALaserShotMode, (int)type)) + { + Log.D("SetWeldingType >> Complete"); + return true; + } + Log.D("SetWeldingType >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingPulse(double coreMaxPower, double coreMinPower, + double ringMaxPower, double ringMinPower) + { + if (WriteRealVariable(rWeldingCorePowerMax, coreMaxPower) & + WriteRealVariable(rWeldingCorePowerMin, coreMinPower) & + WriteRealVariable(rWeldingRingPowerMax, ringMaxPower) & + WriteRealVariable(rWeldingRingPowerMin, ringMinPower)) + { + Log.D("SetWeldingPulse >> Complete"); + return true; + } + Log.D("SetWeldingPulse >> Fail"); + return false; + } + + bool IScannerACS.SetLaserOnOff(double onPosX, double onOffSet, + double offPosX, double offOffSet, + double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rLaserONPosX, onPosX + camOffsetX) & + WriteRealVariable(rLaserONOffset, onOffSet) & + WriteRealVariable(rLaserOFFPosX, offPosX + camOffsetX) & + WriteRealVariable(rLaserOFFOffset, offOffSet)) + { + Log.D("SetLaserOnOff >> Complete"); + return true; + } + Log.D("SetLaserOnOff >> Fail"); + return false; + } + + bool IScannerACS.SetRamppingOffParameter(double pos, double overlap, double endpower, + double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rRampingOFFStartPosX, pos + camOffsetX) & + WriteRealVariable(rRampingOFFOverlapDist, overlap) & + WriteRealVariable(rRampingOFFEndPower, endpower)) + { + Log.D("SetRamppingOffParameter >> Complete"); + return true; + } + Log.D("SetRamppingOffParameter >> Fail"); + return false; + } + + bool IScannerACS.SetRamppingOnParameter(double overlap, double startpower) + { + if (WriteRealVariable(rRampingONOverlapDist, overlap) & + WriteRealVariable(rRampingONStartPower, startpower)) + { + Log.D("SetRamppingOnParameter >> Complete"); + return true; + } + Log.D("SetRamppingOnParameter >> Fail"); + return false; + } + + // ── Teaching Position (Gun과 동일) ──────────────────────────────────── + bool IScannerACS.SetWeldingTeachingPosition1(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition1PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition1PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition1 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition1 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition2(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition2PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition2PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition2 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition2 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition3(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition3PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition3PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition3 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition3 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition4(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition4PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition4PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition4 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition4 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition5(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition5PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition5PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition5 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition5 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition6(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition6PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition6PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition6 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition6 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition7(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition7PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition7PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition7 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition7 >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingTeachingPosition8(double PosX, double PosY, double camOffsetX, double camOffsetY) + { + if (WriteRealVariable(rWeldingPosition8PosX, PosX + camOffsetX) & + WriteRealVariable(rWeldingPosition8PosY, PosY + camOffsetY)) + { + Log.D($"SetWeldingTeachingPosition8 ({PosX}/{PosY}) >> Complete"); + return true; + } + Log.D("SetWeldingTeachingPosition8 >> Fail"); + return false; + } + + // ── 레이저 (Gun과 동일) ─────────────────────────────────────────────── + bool IScannerACS.SetLaserIOUse(bool on) + { + if (WriteRealVariable(iLaserUse, on ? 1 : 0)) + { + Log.D($"SetLaserIOUse {on} >> Complete"); + return true; + } + Log.D("SetLaserIOUse >> Fail"); + return false; + } + + bool IScannerACS.SetLCILserOn(bool on) + { + if (WriteRealVariable(iAStageLCType, on ? 1 : 0)) + { + Log.D($"SetLCILserOn {on} >> Complete"); + return true; + } + Log.D("SetLCILserOn >> Fail"); + return false; + } + + bool IScannerACS.SetWeldingAxes(int axisXnum, int axisYnum) + { + if (WriteVariableInt(iXAxisNumber, axisXnum) & + WriteVariableInt(iYAxisNumber, axisYnum)) + { + Log.D("SetWeldingAxes >> Complete"); + return true; + } + Log.D("SetWeldingAxes >> Fail"); + return false; + } + + bool IScannerACS.IsLaserOn() + { + if (!IsActivated || !IsConnected) return false; + return ReadVariableInt(IsLaserOn) > 0; + } + + // ── 알람 (Gun과 동일) ───────────────────────────────────────────────── + bool IScannerACS.ResetAlarm() + { + TerminalCommand("FCLEAR ALL"); + return WriteVariableInt(AlarmReset, 1); + } + + void IScannerACS.AllAxisServoOff() + { + if (!IsActivated || !IsConnected) return; + SetMotorDisableAll(); + } + + bool IScannerACS.IsActivated() => IsActivated; + } +} \ No newline at end of file diff --git a/WeldingComponents/WeldingCommon/EquipDefCommon.cs b/WeldingComponents/WeldingCommon/EquipDefCommon.cs index b658615..802e3cb 100644 --- a/WeldingComponents/WeldingCommon/EquipDefCommon.cs +++ b/WeldingComponents/WeldingCommon/EquipDefCommon.cs @@ -126,6 +126,7 @@ #region public const string AxisX2 = "AxisX2"; // 26.04.06 추가 + public const string ACS = "ACS"; // 26.04.06 추가 #endregion } diff --git a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCMotorAxses.xaml b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCMotorAxses.xaml new file mode 100644 index 0000000..84046a1 --- /dev/null +++ b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCMotorAxses.xaml @@ -0,0 +1,23 @@ + + + + + + + + +