스캐너 동작 시작과 종료 시점에 한번씩만 로그 찍을 예정

AuroraDevices/AuroraLaserScanner/Scanner.cs

@@ -577,6 +577,15 @@ namespace AuroraLaserScanner
             }
             _scannerObj.SetConfigList(mem1, mem2);
         }
+        public void GetListPointer(out eListNo list_no, out uint list_pos)
+        {
+            if (!IsActivated) {
+                list_no = eListNo.NONE;
+                list_pos = 0;
+                return;
+            }
+            _scannerObj.GetListPointer(out list_no, out list_pos);
+        }
         public double GetCommandPosX()
         {
             return _scannerObj.CommandPosX;

AuroraDevices/AuroraLaserScanner/ScannerObj.cs

@@ -313,6 +313,7 @@ namespace AuroraLaserScanner
         #endregion
         public abstract uint GetListSpace();
         public abstract void SetConfigList(uint mem1, uint mem2);
+        public abstract void GetListPointer(out eListNo list_no, out uint list_pos);
 
         public void WaitForListTaskCompleted(int timeOut, SequenceContext context = null) //단위는 초
         {

AuroraDevices/AuroraLaserScanner/ScannerRTC5.cs

@@ -1111,5 +1111,14 @@ namespace AuroraLaserScanner
         {
             RTC5Wrap.config_list(mem1, mem2);
         }
+        public override void GetListPointer(out eListNo list_no, out uint list_pos)
+        {
+            list_no = eListNo.NONE;
+
+            uint listNo = 0, listPos = 0;
+            RTC5Wrap.get_list_pointer(out listNo, out listPos);
+            list_no = (eListNo)listNo;
+            list_pos = listPos;
+        }
     }
 }

AuroraDevices/AuroraLaserScanner/ScannerRTC6.cs

@@ -1113,5 +1113,14 @@ namespace AuroraLaserScanner
         {
             RTC6Wrap.config_list(mem1, mem2);
         }
+        public override void GetListPointer(out eListNo list_no, out uint list_pos)
+        {
+            list_no = eListNo.NONE;
+
+            uint listNo = 0, listPos = 0;
+            RTC6Wrap.get_list_pointer(out listNo, out listPos);
+            list_no = (eListNo)listNo;
+            list_pos = listPos;
+        }
     }
 }

AuroraDevices/AuroraLaserScanner/ScannerSimul.cs

@@ -852,5 +852,15 @@ namespace AuroraLaserScanner
         {
 
         }
+        public override void GetListPointer(out eListNo list_no, out uint list_pos)
+        {
+            list_no = eListNo.NONE;
+            if (_list1Busy)
+                list_no = eListNo.LIST1;
+            else if (_list2Busy)
+                list_no = eListNo.LIST2;
+
+            list_pos = 0;
+        }
     }
 }

Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs

@@ -726,20 +726,22 @@ namespace ILSOS_CCW_H52A.Sequences
                     Log.W($"[PendingRestore] Jig{_WeldingJigNo} canExist=false, 복원 데이터 폐기 >> CellId({rCell})");
                 }
             }
-            else if (ProcessManager.Instance.ReceivedCellInfoQueue.TryDequeue(out var cell)) {
+            else if (canExist && ProcessManager.Instance.ReceivedCellInfoQueue.TryDequeue(out var cell)) {
                 _CellScheduler.Prefetch2.LotId = cell.LotId;
                 _CellScheduler.Prefetch2.CellId = cell.CellId;
                 Status.GetProcessingWeldingData().WorkLotId = cell.LotId;
                 Status.GetProcessingWeldingData().WorkCellId = cell.CellId;
             }
 
-            //Log.I($"상태 시프트(Rotate) >> 용접 전전셀({_CellScheduler.Prefetch2.CellId}) [CanExist({_CellScheduler.Prefetch2.IsCanExist})] [JigNo({_CellScheduler.Prefetch2.JigNo})] " +
+            if(_CellScheduler.Prefetch2 != null)
-            //    $"[ListNo({_CellScheduler.Prefetch2.ListNo})] [WeldingCount({_CellScheduler.Prefetch2.WeldingCount})]" +
+                Log.I($"상태 시프트(Rotate) >> 용접 전전셀({_CellScheduler.Prefetch2.CellId}) [CanExist({_CellScheduler.Prefetch2.IsCanExist})] [JigNo({_CellScheduler.Prefetch2.JigNo})] " +
-            //    $"[StartAngle(Y)({_CellScheduler.Prefetch2.StartAngle})]");
+                      $"[ListNo({_CellScheduler.Prefetch2.ListNo})] [WeldingCount({_CellScheduler.Prefetch2.WeldingCount})]" +
+                      $"[StartAngle(Y)({_CellScheduler.Prefetch2.StartAngle})]");
 
-            //Log.I($"이번 용접대상 >> 용접 전셀({_CellScheduler.Prefetch1.CellId}) [CanExist({_CellScheduler.Prefetch1.IsCanExist})] [JigNo({_CellScheduler.Prefetch1.JigNo})] " +
+            if(_CellScheduler.Prefetch1 != null)
-            //    $"[ListNo({_CellScheduler.Prefetch1.ListNo})] [WeldingCount({_CellScheduler.Prefetch1.WeldingCount})]" +
+                Log.I($"이번 용접대상 >> 용접 전셀({_CellScheduler.Prefetch1.CellId}) [CanExist({_CellScheduler.Prefetch1.IsCanExist})] [JigNo({_CellScheduler.Prefetch1.JigNo})] " +
-            //    $"[StartAngle(Y)({_CellScheduler.Prefetch1.StartAngle})]");
+                    $"[ListNo({_CellScheduler.Prefetch1.ListNo})] [WeldingCount({_CellScheduler.Prefetch1.WeldingCount})]" +
+                    $"[StartAngle(Y)({_CellScheduler.Prefetch1.StartAngle})]");
 
             if (canExist) {
                 #region 용접할 Objects 선택
@@ -982,8 +984,14 @@ namespace ILSOS_CCW_H52A.Sequences
                     }
                 }
 
-                var IsLaserToggle = ChangeChecker.IsChangedBool("LaserToggle", LaserIO);
+                // List의 실행의 토글을 확인함
-                if (IsLaserToggle)
+                _Scanner.GetListPointer(out eListNo curList, out uint pos);
+                var isBusy = _Scanner.GetBusyStatus();
+                if (!isBusy && (curList == eListNo.LIST1 || curList == eListNo.LIST2))
+                    curList = eListNo.NONE;
+
+                var IsToggleListState = ChangeChecker.IsChangedInt("ListState", (int)curList);
+                if (IsToggleListState)
                     Log.I($"Fork Laser On({LaserIO}) Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {executeTarget?.ListNo}, JigNo : ({executeTarget?.JigNo})");
 
                 for (int i = 0; i < _RotaryJigCount; i++) {

WeldingComponents/WeldingCommon/Utils/ChangeChecker.cs

@@ -41,5 +41,21 @@ namespace WeldingCommon.Utils
 
             return false;
         }
+
+        private static Dictionary<string, int> mappingInt = new Dictionary<string, int>();
+        public static bool IsChangedInt(string Resource, int value, int defaultVal = 0)
+        {
+            if (mappingInt.ContainsKey(Resource) == false) {
+                mappingInt[Resource] = defaultVal;
+                return false;
+            }
+
+            if (mappingInt[Resource] == value) {
+                return false;
+            }
+
+            mappingInt[Resource] = value;
+            return true;
+        }
     }
 }