From b476476833d77a274d3e81e65fd8c95f11c47e7c Mon Sep 17 00:00:00 2001
From: NohDoyeon241104 <otteryeonny@ubisam.com>
Date: Mon, 6 Apr 2026 18:03:24 +0900
Subject: [PATCH] =?UTF-8?q?feat:=20ACS=20Stage=20Manual=20View=20=EC=B6=94?=
 =?UTF-8?q?=EA=B0=80=20=EB=B0=8F=20Motor=20=EC=B6=95=20=EB=93=B1=EB=A1=9D?=
 =?UTF-8?q?=20=EC=99=84=EB=A3=8C?=
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- WeldingCommon/Views/ACS/
  UCStageManual, UCMotorAxses, UCStageMotorMoving 추가
  (Scanner X축 전용, WeldingCommon 공통 View로 등록)

- EquipmentSetup.cs
  ACS, AxisX2, AxisY1, AxisY2, AxisZ 등록 및 Initialized 확인

- Manual 메뉴에 Stage Manual 서브메뉴 추가

- AddInterlockCheck 주석 처리
  (ACSMotor 지원 여부 이정인 선임 확인 필요)
---
 .../ILSOS_PrismaticScanner/EquipmentSetup.cs  | 54 +++++++++++++++++++
 1 file changed, 54 insertions(+)

diff --git a/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs b/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
index 74d4756..9c9ce87 100644
--- a/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
+++ b/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
@@ -159,6 +159,8 @@ namespace ILSOS_PrismaticScanner
                 () => _plc, PLCMxComponentConfig.GetDefaultConfig(),
                 device => new UCPLCDevice() { DataContext = new UCPLCDeviceViewModel(AuroraEnv, _plc) });
 
+
+
             AlarmManager.Init(AuroraEnv);
 
             #region Common에 있는 Device를 등록한다. 26.04.06
@@ -186,10 +188,62 @@ namespace ILSOS_PrismaticScanner
             registry.Register(MotorIds.AxisZ, () => motorZ,
                 new ACSMotorConfig(MotorIds.AxisZ),
                 motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
+
+            // ── 26.04.06 NDY 추가: DevGroup 적용 ──────────────────────────────
+            foreach (var device in registry.GetDevices())
+            {
+                if (device.DeviceId == DeviceIds.ACS ||
+                    device.DeviceId == MotorIds.AxisX2 ||
+                    device.DeviceId == MotorIds.AxisY1 ||
+                    device.DeviceId == MotorIds.AxisY2 ||
+                    device.DeviceId == MotorIds.AxisZ)
+                {
+                    device.DevGroup = "ACS";
+                }
+            }
+            // ──────────────────────────────────────────────────────────────────
+
+            // ── 26.04.06 NDY 추가: 인터락 ─────────────────────────────────────
+            // TODO: PLCControllerPrismaticScanner에 IsDoorOpen, IsEMO 있는지 확인 필요  - 없는 것 확인 완료 
+            //PLC_DOOR_INTERLOCK = 6,  // ← 도어 인터락
+            //PLC_EMO_STATUS = 7,  // ← EMO
+            AddMotionInterlockCheck(_plc);
+            // ──────────────────────────────────────────────────────────────────
             #endregion
 
         }
+        // 인터락 
+        private void AddMotionInterlockCheck(PLCControllerPrismaticScanner plc)
+        {
+            var motorIds = new[] {
+                        MotorIds.AxisX2,
+                        MotorIds.AxisY1,
+                        MotorIds.AxisY2,
+                        MotorIds.AxisZ
+                    };
 
+            foreach (var motorId in motorIds)
+            {
+                try
+                {
+                    var motor = AuroraEnv.DeviceManager[motorId] as ACSMotor;
+                    if (motor == null) continue;
+
+                    //motor.AddInterlockCheck(("MotorInPos",
+                    //    () => !motor.ReadInposition()));
+                    //motor.AddInterlockCheck(("IsDoorOpen",
+                    //    () => plc.ReadBit(PLCControllerPrismaticScanner.eBitInput.PLC_DOOR_INTERLOCK).data));
+                    //motor.AddInterlockCheck(("IsEMO",
+                    //    () => plc.ReadBit(PLCControllerPrismaticScanner.eBitInput.PLC_EMO_STATUS).data));
+
+                    //*** 인터락은 이정인 선임께 ACSMotor에 AddInterlockCheck가 있는지 확인 후 진행
+                }
+                catch (Exception ex)
+                {
+                    Log.W($"AddMotionInterlockCheck [{motorId}] 실패: {ex.Message}");
+                }
+            }
+        }
         public override void RegisterRecipes(RecipeRegister register)
         {
             register(CommonRecipeIds.ScannerObjectTeaching, new ScannerObjectTeachingRecipe(),