feat: WeldingCommon에 ScannerACS 독립 구현 및 Scanner 등록

- WeldingCommon/Devices/ACS/ 에 ScannerACS 3개 파일 추가 (ScannerACS.cs / ScannerACS.Parameter.cs / MotionVariable.cs) - Gun 프로젝트 참조 제거, ScannerACS로 독립 분리 - WeldingCommon에 AuroraACS / AuroraMotor / ACS.SPiiPlusNET 참조 추가 - Scanner EquipmentSetup.RegisterDevices()에 ScannerACS 및 모터 등록 - EquipDef.cs에 MotorIds 추가 - AuroraEx.IsAutoActivation Device 네임스페이스 충돌 수정 - CommonEquipmentSetup.ActivateDevices() Aurora.Api.Device 타입 명시 TODO: 이정인 선임 ACS 변수 맵 수신 후 축 번호 및 변수명 검증 필요
2026-04-06 12:52:12 +09:00 · 2026-04-06 12:52:12 +09:00 · fc8c2186d4
commit fc8c2186d4
parent 5e49155952
10 changed files with 377 additions and 2 deletions
--- a/Machines/ILSOS_PrismaticScanner/EquipDef.cs
+++ b/Machines/ILSOS_PrismaticScanner/EquipDef.cs
@ -9,7 +9,28 @@ namespace ILSOS_PrismaticScanner
    internal class DeviceIds : CommonDeviceIds
    {
        public const string MassFlowMeter = "MassFlowMeter";
+
+        // 26.04.06 
+        public const string ACS = "ACS";
    }
+    // 추가 26.04.06
+    internal class MotorIds
+    {
+        public const string AxisX2 = "AxisX2";
+        public const string AxisY1 = "AxisY1";
+        public const string AxisY2 = "AxisY2";
+        public const string AxisZ = "AxisZ";
+
+        // TODO: 이정인 선임 ACS 변수 맵 수신 후 실제 번호 검증
+        public enum eMotorIdx
+        {
+            AxisX2 = 1,
+            AxisY1 = 3,
+            AxisY2 = 4,
+            AxisZ = 5,
+        }
+    }
+
    internal class SequenceIds : CommonSequenceIds
    {
        public const string SeqStreamTest = "SeqStreamTest";
--- a/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
+++ b/Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
@ -39,6 +39,7 @@ using System.Windows.Controls;
 using System.Windows.Threading;
 using WeldingCommon;
 using WeldingCommon.Alarm;
+using WeldingCommon.Devices.ACS;
 using WeldingCommon.Recipes;
 using WeldingCommon.Sequences;
 using WeldingCommon.Settings;
@ -49,6 +50,12 @@ using WeldingCommon.Views.Recipes.History;
 using WeldingCommon.Vision.Factory;
 using static WeldingCommon.Vision.Factory.VisionFactory;

+// 26.04.06 
+using AuroraACS;
+using AuroraACS.Views;
+using AuroraMotor;
+
+
 namespace ILSOS_PrismaticScanner
 {
    internal class EquipmentSetup : CommonEquipmentSetup, IEquipmentSetup
@ -153,6 +160,33 @@ namespace ILSOS_PrismaticScanner

            AlarmManager.Init(AuroraEnv);

+            #region Common에 있는 Device를 등록한다. 26.04.06
+            // ↓ ACS 등록 추가
+            var ACS = new ScannerACS(isSimul);
+            registry.Register(DeviceIds.ACS, () => ACS, new ACSDeviceConfig());
+
+            // TODO: 축 번호는 이정인 선임 변수 맵 수신 후 검증
+            var motorX2 = new ACSMotor(MotorIds.AxisX2, ACS, 1, (int)MotorIds.eMotorIdx.AxisX2);
+            registry.Register(MotorIds.AxisX2, () => motorX2,
+                new ACSMotorConfig(MotorIds.AxisX2),
+                motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
+
+            var motorY1 = new ACSMotor(MotorIds.AxisY1, ACS, 3, (int)MotorIds.eMotorIdx.AxisY1);
+            registry.Register(MotorIds.AxisY1, () => motorY1,
+                new ACSMotorConfig(MotorIds.AxisY1),
+                motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
+
+            var motorY2 = new ACSMotor(MotorIds.AxisY2, ACS, 4, (int)MotorIds.eMotorIdx.AxisY2);
+            registry.Register(MotorIds.AxisY2, () => motorY2,
+                new ACSMotorConfig(MotorIds.AxisY2),
+                motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
+
+            var motorZ = new ACSMotor(MotorIds.AxisZ, ACS, 5, (int)MotorIds.eMotorIdx.AxisZ);
+            registry.Register(MotorIds.AxisZ, () => motorZ,
+                new ACSMotorConfig(MotorIds.AxisZ),
+                motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
+            #endregion
+
        }

        public override void RegisterRecipes(RecipeRegister register)
--- a/Machines/ILSOS_PrismaticScanner/ILSOS_PrismaticScanner.csproj
+++ b/Machines/ILSOS_PrismaticScanner/ILSOS_PrismaticScanner.csproj
@ -161,6 +161,10 @@
    </None>
  </ItemGroup>
  <ItemGroup>
+    <ProjectReference Include="..\..\AuroraDevices\AuroraACS\AuroraACS.csproj">
+      <Project>{6eea4c41-a833-41b8-a9d2-512f45e6beca}</Project>
+      <Name>AuroraACS</Name>
+    </ProjectReference>
    <ProjectReference Include="..\..\AuroraDevices\AuroraCellTracker\AuroraCellTracker.csproj">
      <Project>{c376d692-d3a2-44ea-bd2d-dedde648d587}</Project>
      <Name>AuroraCellTracker</Name>
@ -189,6 +193,10 @@
      <Project>{858130f6-44a8-4b73-bd6e-0ed1aef4c0f4}</Project>
      <Name>AuroraLight</Name>
    </ProjectReference>
+    <ProjectReference Include="..\..\AuroraDevices\AuroraMotor\AuroraMotor.csproj">
+      <Project>{49a61fb7-ec36-4035-b7bc-63ab983590b4}</Project>
+      <Name>AuroraMotor</Name>
+    </ProjectReference>
    <ProjectReference Include="..\..\AuroraDevices\AuroraOCT\AuroraOCT.csproj">
      <Project>{21b083eb-97d6-49b3-acc4-c94c0fbfc999}</Project>
      <Name>AuroraOCT</Name>
--- a/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
+++ b/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
@ -1,6 +1,8 @@

 using Aurora;
 using Aurora.Api;
+// 추가 - Aurora.Api.Device 명시
+using AuroraDevice = Aurora.Api.Device;
 using Aurora.Api.Manager;

 using Aurora.View;
@ -28,6 +30,8 @@ using WeldingCommon.Views;
 using WeldingCommon.Views.DoorInterlock;
 using WeldingCommon.Vision.Factory;

+
+
 namespace WeldingCommon
 {
    public abstract class CommonEquipmentSetup
@ -137,7 +141,7 @@ namespace WeldingCommon
            await System.Threading.Tasks.Task.Run(() => {
                try {
                    var devices = AuroraEnv.DeviceManager.GetDevices();
-                    foreach (var device in devices) {
+                    foreach (Aurora.Api.Device device in devices) {
                        if (device.IsAutoActivation()) {
                            if (device.Activate() != E1.OK) {
                                Log.E($"{device.DeviceId} connect fail.");
--- a/WeldingComponents/WeldingCommon/Devices/ACS/MotionVariable.cs
+++ b/WeldingComponents/WeldingCommon/Devices/ACS/MotionVariable.cs
@ -0,0 +1,64 @@
+using Aurora.View;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace WeldingCommon.Device.ACS
+{
+    public class MotionVariable : NotifyPropertyChangedBase
+    {
+        public MotionVariable() { }
+        //private eStage Stage { get; set; }
+        //public double X1AxisPosition { get; set; } = 0.0;
+        //public bool X1InPosition { get; set; } = false;
+        //public double X1AxisVelocity { get; set; } = 0.0;
+        //public double X1AxisAcceleration { get; set; } = 0.0;
+
+        public double X2AxisPosition { get; set; } = 0.0;
+        public bool X2InPosition { get; set; } = false;
+        public double X2AxisVelocity { get; set; } = 0.0;
+        public double X2AxisAcceleration { get; set; } = 0.0;
+
+        public double Y1AxisPosition { get; set; } = 0.0;
+        public bool Y1InPosition { get; set; } = false;
+        public double Y1AxisVelocity { get; set; } = 0.0;
+        public double Y1AxisAcceleration { get; set; } = 0.0;
+
+        public double Y2AxisPosition { get; set; } = 0.0;
+        public bool Y2InPosition { get; set; } = false;
+        public double Y2AxisVelocity { get; set; } = 0.0;
+        public double Y2AxisAcceleration { get; set; } = 0.0;
+
+        public double ZAxisPosition { get; set; } = 0.0;
+        public bool ZInPosition { get; set; } = false;
+        public double ZAxisVelocity { get; set; } = 0.0;
+        public double ZAxisAcceleration { get; set; } = 0.0;
+
+        public bool IsHome { get; set; } = false;
+
+        public bool IsLoadPosition { get; set; } = false;
+        public bool IsUnloadPosition { get; set; } = false;
+        public bool IsSafetyPosition { get; set; } = false;
+        public bool IsWeldingStartPosition { get; set; } = false;
+
+        public bool IsLoadEnable { get; set; } = false;
+        public bool IsUnloadEnable { get; set; } = false;
+
+    }
+
+    //public class MotionVariableCollection : ObservableCollection<MotionVariable>
+    //{
+    //    public MotionVariableCollection()
+    //    {
+    //    }
+    //    public MotionVariableCollection(IEnumerable<MotionVariable> collection) : base(collection)
+    //    {
+    //    }
+    //    public MotionVariableCollection(List<MotionVariable> list) : base(list)
+    //    {
+    //    }
+    //}
+}
--- a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs
+++ b/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs
@ -0,0 +1,38 @@
+// WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs
+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
+
+        // ── 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,
+        }
+    }
+}
--- a/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs
+++ b/WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.cs
@ -0,0 +1,185 @@
+// 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;
+    }
+}
--- a/WeldingComponents/WeldingCommon/EquipDefCommon.cs
+++ b/WeldingComponents/WeldingCommon/EquipDefCommon.cs
@ -122,6 +122,10 @@
        public const string CAS = "CAS";
        public const string AJIN = "AJIN";
        public const string AJINStageMotorZ = "AJINStageMotorZ";
+
+        #region
+        public const string AxisX2 = "AxisX2"; // 26.04.06 추가
+        #endregion
    }

    public class CommonEventIds
--- a/WeldingComponents/WeldingCommon/Utils/AuroraEx.cs
+++ b/WeldingComponents/WeldingCommon/Utils/AuroraEx.cs
@ -1,5 +1,7 @@
 using Aurora;
 using Aurora.Api;
+// AuroraEx.cs 상단에
+using AuroraDevice = Aurora.Api.Device;
 using Aurora.Api.Manager;
 using AuroraMassFlowMeter;
 using AuroraOCT.Trumpf;
@ -17,7 +19,7 @@ namespace WeldingCommon.Utils
 {
    public static class AuroraEx
    {
-        public static bool IsAutoActivation(this Device dev)
+        public static bool IsAutoActivation(this AuroraDevice dev)
        {
            var Config = Application.Current.AuroraEnv().DeviceManager.GetDeviceConfig(dev.DeviceId);

--- a/WeldingComponents/WeldingCommon/WeldingCommon.csproj
+++ b/WeldingComponents/WeldingCommon/WeldingCommon.csproj
@ -54,6 +54,10 @@
    <ErrorReport>prompt</ErrorReport>
  </PropertyGroup>
  <ItemGroup>
+    <Reference Include="ACS.SPiiPlusNET, Version=3.13.1.20165, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\AuroraDevices\AuroraACS\External\ACS.SPiiPlusNET.dll</HintPath>
+    </Reference>
    <Reference Include="Aurora">
      <HintPath>..\..\External\Aurora\bin\Aurora.exe</HintPath>
    </Reference>
@ -205,6 +209,9 @@
    <Compile Include="Data\UpdateManualRunResult.cs" />
    <Compile Include="Data\PLCReportData.cs" />
    <Compile Include="Data\WeldingData.cs" />
+    <Compile Include="Devices\ACS\MotionVariable.cs" />
+    <Compile Include="Devices\ACS\PrismaticGunACS.cs" />
+    <Compile Include="Devices\ACS\PrismaticGunACS.Parameter.cs" />
    <Compile Include="Devices\PLC\PLCController.Address.cs" />
    <Compile Include="Devices\PLC\PLCController.Config.cs" />
    <Compile Include="Devices\PLC\PLCController.Logic.cs" />
@ -457,6 +464,10 @@
      <Project>{97f61029-c403-4d16-b34a-53b5b78f2b74}</Project>
      <Name>AuroraUIComponent</Name>
    </ProjectReference>
+    <ProjectReference Include="..\..\AuroraDevices\AuroraACS\AuroraACS.csproj">
+      <Project>{6eea4c41-a833-41b8-a9d2-512f45e6beca}</Project>
+      <Name>AuroraACS</Name>
+    </ProjectReference>
    <ProjectReference Include="..\..\AuroraDevices\AuroraCAS\AuroraCAS.csproj">
      <Project>{546e6043-3162-468c-aacd-1c4eaa1bb494}</Project>
      <Name>AuroraCAS</Name>
@ -505,6 +516,10 @@
      <Project>{007ba11c-c28e-4cfb-88c5-001988f0be8f}</Project>
      <Name>AuroraMotionBoard</Name>
    </ProjectReference>
+    <ProjectReference Include="..\..\AuroraDevices\AuroraMotor\AuroraMotor.csproj">
+      <Project>{49a61fb7-ec36-4035-b7bc-63ab983590b4}</Project>
+      <Name>AuroraMotor</Name>
+    </ProjectReference>
    <ProjectReference Include="..\..\AuroraDevices\AuroraMXComponent\AuroraMXComponent.csproj">
      <Project>{ffd404db-7fe2-447f-b469-56c61d863201}</Project>
      <Name>AuroraMXComponent</Name>