using Aurora.Api;
using AuroraLaser;
using AuroraLaserScanner;
using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using WeldingCommon.Data;
using WeldingCommon.Settings;
using eLaserType = AuroraLaser.eLaserType;

namespace WeldingCommon.Sequences
{
    public class SeqUploadWeldingList_Old
    {
        static readonly Logger Log = new Logger("SeqUploadWeldingList_Old");
        #region SequenceID
        public const string SEQ_SET_START_LIST = "SetStartList";
        public const string SEQ_MARKING_ON_THE_FLY_ON = "MarkingOnTheFlyOn";
        public const string SEQ_RECORD_SIGNAL_ON = "RecordSignalOn";
        public const string SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM = "LoadDrawObjectScannerParam";
        public const string SEQ_MARKING_ON_THE_FLY_OFF = "MarkingOnTheFlyOff";
        public const string SEQ_RECORD_SIGNAL_OFF = "RecordSignalOff";
        public const string SEQ_SET_END_LIST = "SetEndList";
        #endregion

        #region Property
        private static double _LastX = 0;
        private static double _LastY = 0;
        //private static int _LastScannerParamNo = -1;
        private static double _FlyOffsetX;
        private static double _FlyOffsetY;
        private static int _DrawObjectCount;
        private static bool _IncludeListStartEnd;

        private static Scanner _Scanner;
        private static Laser _Laser;
        private static LaserPowerCalParam _LaserPowerCalParam;
        //용접할 drawing객체에 대한 리스트
        //public static List<IDrawObject> m_selectedDrawObjects = new List<IDrawObject>();
        //public static List<IDrawObject> SelectedDrawObjects {
        //    get { return m_selectedDrawObjects; }
        //    set { m_selectedDrawObjects = value; }
        //}
        private static List<IDrawObject> _SelectedDrawObjects = new List<IDrawObject>();

        private static PointF _ScannerToCameraReferenceOffsets;

        // TODO: ExternalCommandOffset??, 아래 delegate 와 연결 되어 있나??, 사용 하는 부분이 없는데 확인 필요
        static PointF m_externalCommandOffset = new PointF(0, 0);
        public static PointF ExternalCommandOffset {
            get { return m_externalCommandOffset; }
            set { m_externalCommandOffset = value; }
        }

        // Model Type 별 setting 값이 다르게 적용해야 할때 사용, 이해 완료 후 주석 삭제
        public delegate void ExternalCommandOffsetDelegate(SequenceContext context, out float offsetX, out float offsetY);
        public static ExternalCommandOffsetDelegate OffsetDelegate;

        // OffsetDelegate 로 대체됨, 향후 이해 완료 후, 주석 삭제
        //private static SystemParameter _SystemParameter;
        //private static LHSModel _ModelItem;

        private static DateTime _UploadstartTime;
        private static TimeSpan _UploadSpanTime;

        #endregion
        public static SequenceBuilder Builder()
        {
            SequenceBuilder sb = new SequenceBuilder(1000);

            //MOTF와 RecordSignal이 동시 수행 가능한지 모르니깐 우선 순차적으로 실행될 수 있도록 LASA와 동일하게 구성..
            //동시 수행 가능하면 Fork로 구성해도 될 듯
            sb.AddAction(SEQ_SET_START_LIST, SetStartList);
            sb.AddAction(SEQ_MARKING_ON_THE_FLY_ON, MarkingOnTheFlyOn);
            sb.AddAction(SEQ_RECORD_SIGNAL_ON, RecordSignalOn);
            sb.AddAction(SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM, LoadDrawObjectScannerParam);
            sb.AddAction(SEQ_MARKING_ON_THE_FLY_OFF, MarkingOnTheFlyOff);
            sb.AddAction(SEQ_RECORD_SIGNAL_OFF, RecordSignalOff);
            sb.AddAction(SEQ_SET_END_LIST, SetEndList);

            sb.Flows(sb.Init > sb[SEQ_SET_START_LIST] > sb[SEQ_MARKING_ON_THE_FLY_ON] > sb[SEQ_RECORD_SIGNAL_ON] > sb[SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM]
                > sb[SEQ_MARKING_ON_THE_FLY_OFF] > sb[SEQ_RECORD_SIGNAL_OFF] > sb[SEQ_SET_END_LIST] > sb.Final);

            //sb.Draw("SeqUploadWeldingList_Old.pdf");

            return sb;
        }

        private static SequenceActionResult SetStartList(SequenceContext context, string id, SequenceActionResult param)
        {
            _UploadstartTime = DateTime.Now;
            _Scanner = context.GetLaserScanner();
            _Laser = context.GetLaser();
            _LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함

            eListNo m_weldingScannerListNo = Status.GetProcessingWeldingData().WeldingScannerListNo;
            //SelectedDrawObjects = context.GetValue<List<IDrawObject>>(SELECTED_DRAW_OBJECTS);
            _SelectedDrawObjects = Status.GetProcessingWeldingData().SelectedDrawObjectList;
            //AutoRunMPAbw에서는 메인시퀀스에서 LoadList로 List 불러오기 때문에 UploadWeldingList의 SetStartList를 하지 않음, IncludeListStartEnd를 false로 넘겨 주면됨
            _IncludeListStartEnd = Status.GetProcessingWeldingData().IncludeListStartEnd;

            //laserPowerCalParam 초기화(CSV 파일 불러오기)
            _LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);

            if (_IncludeListStartEnd) {
                //_scanner._scannerObj.SetStartList(m_weldingScannerListNo);
                _Scanner.SetStartList(m_weldingScannerListNo);
            }

            return SequenceAction.Ok();

        }

        private static SequenceActionResult MarkingOnTheFlyOn(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_Scanner.Config.UseMarkingOnTheFly) {
                if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
                    // 1. Linear Track OTF 활성화 및 엔코더 초기화
                    //_scanner._scannerObj.SetFlyX(_scanner.Config.MarkingOnTheFlyEncoderResolutionX);
                    _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);

                    _FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX;
                    _FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY;

                    // 2. 엔코더 특정 위치갈 때까지 대기
                    //_scanner._scannerObj.WaitForEncoderX(_scanner.Config.MarkingStartEncoderPositionX);
                    _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
                } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
                    Log.I(string.Format("MOTF 사용, Rotate 보상"));

                    // 1. 엔코더 값이 들어오면 바로 X(Rotary) Encoder 리셋
                    //_scanner._scannerObj.SetFlyRotate(_scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);
                    _Scanner.SetFlyRotate(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);

                    // 2. 일괄 회전.(OTW 세팅시, Encoder가 0부터 시작하므로)
                    foreach (IDrawObject obj in _SelectedDrawObjects) {
                        obj.Rotate(15, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY));  // +15도 회전
                    }

                    // 3. 원하는 용접 시작 각도 올 때까지 기다리기.
                    double weldingAngle = _Scanner.Config.MarkingRangeMinRotate + 15;

                    //_scanner._scannerObj.WaitForEncoderRotateX(weldingAngle);  // -5도부터 용접시작하고 싶으면 10도 넣으면 됨
                    _Scanner.WaitForEncoderRotateX(weldingAngle);  // -5도부터 용접시작하고 싶으면 10도 넣으면 됨

                }
                // 엔코더 기록(용접 시작)
                //_scanner._scannerObj.StoreEncoder(0);
                //_scanner._scannerObj.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
                _Scanner.StoreEncoder(0);
                _Scanner.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
            } else {
                _FlyOffsetX = 0;
                _FlyOffsetY = 0;
            }

            return SequenceAction.Ok();
        }

        private static SequenceActionResult RecordSignalOn(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_Scanner.Config.UseRecordSignal) {
                //_scanner._scannerObj.SaveAndRestartTimer();
                //_scanner._scannerObj.SetTrigger(_scanner.Config.RecordPeriod, _scanner.Config.RecordSignalType1, _scanner.Config.RecordSignalType2, _scanner.Config.RecordSignalType3, _scanner.Config.RecordSignalType4);
                _Scanner.SaveAndRestartTimer();
                _Scanner.SetTrigger(_Scanner.Config.RecordPeriod, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
            }
            return SequenceAction.Ok();
        }

        private static SequenceActionResult LoadDrawObjectScannerParam(SequenceContext context, string id, SequenceActionResult param)
        {
            //객체에 대한 파라미터 Load 전 lastX,Y를 현재 스캐너 위치로 받아옴
            //_scanner._scannerObj.GetXYPos(out lastX, out lastY);
            _Scanner.GetXYPos(out _LastX, out _LastY);

            // 현재는 SMW의 AutorunCellPositionMeasure에서 시퀀스 진행 시 Offset 값을 받오도록 되어있음
            // LHS는 모델에 등록된 값을 받아오도록 하자. 그럼 Autorun과 Teachingrun 모두 적용됨
            // CommandOffset로딩방식이 다른 장비. 정지명
            if (OffsetDelegate != null) {
                OffsetDelegate(context, out float offsetX, out float offsetY);
                m_externalCommandOffset.X = offsetX;
                m_externalCommandOffset.Y = offsetY;
            } else {
                m_externalCommandOffset.X = (float)Status.GetProcessingWeldingData().CellMeasureCenterOffsetX;
                m_externalCommandOffset.Y = (float)Status.GetProcessingWeldingData().CellMeasureCenterOffsetY;
            }

            FuncLoadDrawObjectScannerParam(_SelectedDrawObjects);

            return SequenceAction.Ok();
        }

        private static SequenceActionResult MarkingOnTheFlyOff(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_Scanner.Config.UseMarkingOnTheFly) {
                if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
                    // Linear OTW의 경우, 각 Draw Tool에서 좌표 오프셋을 해 주고 있음
                } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
                    // 여기서 원래 레시피로 돌려주기
                    foreach (IDrawObject obj in _SelectedDrawObjects) {
                        obj.Rotate(-15, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); //  -15도 회전
                    }
                }

                // 추후, Parking Position 을 용접 시작 위치로 자동으로 계산되어 들어가게 개선 필요
                //_scanner._scannerObj.Fly_Return(_scanner.Config.MarkingOntheFlyParkingPositionX, _scanner.Config.MarkingOntheFlyParkingPositionY);
                _Scanner.Fly_Return(_Scanner.Config.MarkingOntheFlyParkingPositionX, _Scanner.Config.MarkingOntheFlyParkingPositionY);

                // 엔코더 기록(용접 완료)
                //_scanner._scannerObj.StoreEncoder(1);
                //_scanner._scannerObj.SaveAndRestartTimer();
                _Scanner.StoreEncoder(1);
                _Scanner.SaveAndRestartTimer();
            }

            return SequenceAction.Ok();
        }

        private static SequenceActionResult RecordSignalOff(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_Scanner.Config.UseRecordSignal) {
                //_scanner._scannerObj.SaveAndRestartTimer();
                //_scanner._scannerObj.SetTrigger(0, _scanner.Config.RecordSignalType1, _scanner.Config.RecordSignalType2, _scanner.Config.RecordSignalType3, _scanner.Config.RecordSignalType4);
                _Scanner.SaveAndRestartTimer();
                _Scanner.SetTrigger(0, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
            }
            return SequenceAction.Ok();
        }

        private static SequenceActionResult SetEndList(SequenceContext context, string id, SequenceActionResult param)
        {
            if (_IncludeListStartEnd) {
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
                //_scanner._scannerObj.SetEndList();
                _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
                _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
                _Scanner.SetEndList();
            }
            _UploadSpanTime = DateTime.Now.Subtract(_UploadstartTime);
            Log.D(string.Format($"[SeqUploadWeldingList_Old] UploadWeldingList Complete Time : {_UploadSpanTime.TotalMilliseconds}"));

            return SequenceAction.Ok();
        }

        private static void FuncLoadDrawObjectScannerParam(List<IDrawObject> objects)
        {
            _DrawObjectCount = 0;

            foreach (IDrawObject obj in objects) {
                _DrawObjectCount += FuncLoadDrawObjectScannerParamSelec(obj);
            }
        }
        private static int FuncLoadDrawObjectScannerParamSelec(IDrawObject obj)
        {
            int count = 0;
            if (obj.Enabled == true) {
                if (obj is Line) {
                    LoadLineScannerParam((Line)obj);
                    count++;
                } else if (obj is Dot) {
                    LoadDotScannerParam((Dot)obj);
                    count++;
                } else if (obj is Spline) {
                    LoadSplineScannerParam((Spline)obj);
                    count++;
                } else if (obj is SnowMan) {
                    LoadSnowManScannerParam((SnowMan)obj);
                    count++;
                } else if (obj is Group) {
                    count += LoadGroupScannerParam((Group)obj);
                } else if (obj is Arc) {
                    LoadArcScannerParam((Arc)obj);
                    count++;
                } else if (obj is ZigZag) {
                    LoadZigzagScannerParam((ZigZag)obj);
                    count++;
                } else if (obj is Arc3Point) {
                    LoadArc3PScannerParam((Arc3Point)obj);
                    count++;
                }
            }
            return count;
        }

        private static void SetScannerProcessCondition(ScannerParam param, out float percentLaser1, out float percentLaser2)
        {
            //TrumpLaser의 경우 SetLaserTiming 함수로 Gate 신호를 살려줘야 함
            //우선 무조건 셋팅하는 것으로 쓰고 Trump_IO Class 만들면 _laser type이 Trump의 경우에만 셋팅해주는 것으로 변경하자
            //LaserFrequency = 10, LaserPulseDuration = 0.1로 셋팅하면 출사 되는 것 확인_241025
            if (_Laser.Config.Type == eLaserType.Trumpf_IO || _Laser.Config.Type == eLaserType.Coherent_Arm_IO) {
                //_scanner._scannerObj.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
                _Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
                Log.D(string.Format($"[SetLaserTiming] LaserFrequency : {param.LaserFrequency}, LaserPulseDuration : {param.LaserPulseDuration}"));
            }

            //1.레이저 ON/OFF delay 설정
            //_scanner._scannerObj.SetLaesrDelay(param.LaserOnDelay, param.LaserOffDelay);
            _Scanner.SetLaesrDelay(param.LaserOnDelay, param.LaserOffDelay);

            //2.Mark delay 설정
            //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
            _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);

            //3.DA(레이저 파워값) 설정
            percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);
            percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower2, (uint)eAnalogPortOut.DA2);

            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);

            //4.점프 및 마크 속도 설정
            //_scanner._scannerObj.SetJumpSpeed(param.JumpSpeed);
            //_scanner._scannerObj.SetMarkSpeed(param.MarkSpeed);
            _Scanner.SetJumpSpeed(param.JumpSpeed);
            _Scanner.SetMarkSpeed(param.MarkSpeed);
        }

        private static void LoadLineScannerParam(Line obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
            float percentLaser1 = 0.0f;
            float percentLaser2 = 0.0f;

            //5. Offset 설정(Camera Offset + Object의 Vision Offset)
            //m_scannerToCameraReferenceOffsets은 SystemParameter에서 설정된 값, Cal하고나면 해당 Offset은 현재 필요없는거같은데 확인 필요, 필요시 Camera setting에 추가해주면됨
            //m_externalCommandOffset은 AutoRun시 PLC에서 받아오는 offset임, 현재 LASA에서 BhAutoRun 클래스에 CCW라인에서만 사용하던데 실제 사용하는지 확인 필요
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 1. 스캐너 가공 조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
            Log.I(string.Format($"[Line Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region 2. 스캐너 가공 작업
            #region Wobbel 관련 설정
            if (param.WobbelEnable) {
                //SnowMan 와블인 경우
                if (param.SnowManEnable) {
                    int dx = 0;
                    int dy = 0;

                    double radian = (param.TiltingAngle - 90) * Math.PI / 180;

                    dx = (int)(Math.Cos(radian) * 100);
                    dy = (int)(Math.Sin(radian) * 100);

                    //_scanner._scannerObj.SetWobbelDirection(dx, dy);
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelDirection(dx, dy);
                    _Scanner.SetWobbelDirection(0, 0);

                    //5.Wobbel 모드 설정
                    //_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
                    _Scanner.SetWobbelMode(true, 1, 1, 1, 2);


                    //Wobbel Vector 리스트 초기화
                    //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
                    _Scanner.SetWobbelVector(0, 0, 0, 0);

                    List<double> dTrans = new List<double>();
                    List<double> dLong = new List<double>();

                    param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                    for (int i = 0; i < dTrans.Count; i++) {
                        //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                        _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                    }

                    param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                    for (int i = 0; i < dTrans.Count; i++) {
                        //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                        _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                    }

                }

                //Zigzag 와블인 경우
                if (param.ZigzagWobbelEnable) {
                    //5.Wobbel 모드 설정
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    //_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
                    _Scanner.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelMode(true, 1, 1, 1, 2);

                    //Wobbel Vector 리스트 초기화
                    //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
                    _Scanner.SetWobbelVector(0, 0, 0, 0);

                    List<double> dTrans = new List<double>();
                    List<double> dLong = new List<double>();

                    param.CreateWobbelVectorForZigzagPointList();

                    //_scanner._scannerObj.SetMarkSpeed(param.zigzagTotalSpeed);
                    _Scanner.SetMarkSpeed(param.zigzagTotalSpeed);

                    param.LoadZigZagWobbelVector(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                    for (int i = 0; i < dTrans.Count; i++) {
                        //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.m_zigzagPeriod[i + 1], 0);
                        _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.m_zigzagPeriod[i + 1], 0);
                    }

                }

                //일반적인 와블인 경우
                if (!param.SnowManEnable && !param.ZigzagWobbelEnable) {
                    //_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
                    _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
                }
                Log.I(string.Format($"[Line Weld] Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})"));
            } else {
                //_scanner._scannerObj.SetWobbelDirection(0, 0);
                //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
                //_scanner._scannerObj.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, 0);
                _Scanner.SetWobbelDirection(0, 0);
                _Scanner.SetWobbelVector(0, 0, 0, 0);
                _Scanner.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, 0);
            }
            #endregion

            #region Ramping & PowerProfile 관련 설정
            if (param.UsePowerProfile) {
                PowerProfilesList powerProfile = ReadPowerProfile(param.PowerProfileID);
                #region 시작위치 점프 관련 설정
                float power = 0;

                if (powerProfile.PowerProfiles.Count != 0) {
                    power = percentLaser1 * (float)powerProfile.PowerProfiles[0].PowerProfileParams[0].StartPowerPercent * 0.01f;

                    //Param 명령을 주기 위해서는 Polygon Delay 를 0으로 한다.
                    //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
                    _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);

                    // 지그재그는 벡터 기반 컨트롤
                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, (uint)eAutoControlParameter.AnalogOut1);
                    _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, (uint)eAutoControlParameter.AnalogOut1);

                    if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
                        //같은 위치인 경우 점프 딜레이 0으로 현재 위치(상대 위치 0,0)으로 점프 실행줘야 한다. --> Para함수는 Write_da 함수가 적용되지 않고, 마지막 Para 함수의 파워값으로 설정되기 때

                        //_scanner._scannerObj.SetScannerDelay(0, param.MarkDelay, 0);
                        //_scanner._scannerObj.ParaJumpRel(0, 0, power);
                        _Scanner.SetScannerDelay(0, param.MarkDelay, 0);
                        _Scanner.ParaJumpRel(0, 0, power);
                    } else {
                        //_scanner._scannerObj.ParaJumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, power);
                        _Scanner.ParaJumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, power);
                    }

                    //첫번째 Profile Param
                    double x = 0;
                    double y = 0;
                    double totalTime = powerProfile.PowerProfiles[0].PowerProfileParams[0].Time;

                    double speed = param.ZigzagWobbelEnable ? param.zigzagTotalSpeed : param.MarkSpeed;
                    double profileDistance = totalTime * speed * 0.001f;

                    x = profileDistance * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X;
                    y = profileDistance * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y;

                    power = percentLaser1 * (float)powerProfile.PowerProfiles[0].PowerProfileParams[0].EndPowerPercent * 0.01f;
                    //_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, power);
                    _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, power);

                    if (powerProfile.PowerProfiles.Count > 1) {
                        for (int i = 1; i < powerProfile.PowerProfiles.Count; i++) {
                            totalTime += powerProfile.PowerProfiles[i].PowerProfileParams[0].Time;
                            profileDistance = totalTime * speed * 0.001f;

                            if (profileDistance < obj.Distance) {
                                power = percentLaser1 * (float)powerProfile.PowerProfiles[i].PowerProfileParams[0].StartPowerPercent * 0.01f;

                                //_scanner._scannerObj.SetScannerDelay(0, param.MarkDelay, 0);
                                //_scanner._scannerObj.ParaJumpRel(0, 0, power);
                                _Scanner.SetScannerDelay(0, param.MarkDelay, 0);
                                _Scanner.ParaJumpRel(0, 0, power);

                                x = profileDistance * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X;
                                y = profileDistance * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y;

                                power = percentLaser1 * (float)powerProfile.PowerProfiles[i].PowerProfileParams[0].EndPowerPercent * 0.01f;

                                //_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, power);
                                _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, power);
                            } else {
                                break;
                            }

                        }
                    }

                    if (profileDistance < obj.Distance) {
                        //_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, power);
                        _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, power);
                    }

                } else {
                    if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
                        //점프 안함
                    } else {
                        //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                        _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
                    }

                    //Write_da 함수는 시작점으로 점프한 이후 Mark 명령 직전에 해준다.
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);

                    //_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
                    _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);
                }
                #endregion
            } else {    //Wobble, PowerProfile, Ramping을 사용하지 않는 일반적인 경우 이쪽으로 들어옴

                #region Jump(Line Shot)
                // @deprecated  굉장히 위험한 코드임. 충분히 검증하고 다시 코드 구현할 것. 첫번째 item의 경우 무조건 Jump  명령을 날려줘야 함.
                // 안그러면 초기 위치를 0에서 시작 하기 때문에 위험함.
                // RCC 검증을 위해 일단 주석 해제
                if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
                    // 점프 안함
                } else {
                    // Jump 할 때는 Analog Out 값을 0으로 변경
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
                    //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
                    _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);

                    Log.I(string.Format($"[Line Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
                }
                #endregion

                #region Mark
                if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) {
                    // RCC Ramping 의 경우

                    // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다.
                    // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다.
                    // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다.

                    float powerratio = obj.RCC_PowerRatio;
                    if (powerratio < 0) {
                        powerratio = 0;
                    } else if (powerratio > 1) {
                        powerratio = 1;
                    }

                    float AnalogPercentLaserPower1 = percentLaser1 * powerratio;    // center laser
                    float AnalogPercentLaserPower2 = percentLaser2 * powerratio;    // ring laser

                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
                    _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);

                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);

                    // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다.
                    // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다.
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);

                    //_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
                    _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);

                    Log.I(string.Format($"[RCC Subpath Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
                } else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingEndDist + param.RampingStartDist <= obj.Distance)) {
                    // RCC 가 아닌 경우
                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
                    //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
                    _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
                    _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);

                    double x = 0;
                    double y = 0;

                    if (0 < param.RampingStartDist) {
                        //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingStartPower * 0.01f);
                        _Scanner.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingStartPower * 0.01f);

                        // Start Ramping이 있는 경우, Start Ramping 끝지점 위치 계산
                        x = param.RampingStartDist * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X;
                        y = param.RampingStartDist * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y;

                        if (param.RampingStartSlopeMode) {
                            //_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1);
                            _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1);
                        } else {
                            //_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1 * (float)param.RampingStartPower * 0.01f);
                            //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
                            _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1 * (float)param.RampingStartPower * 0.01f);
                            _Scanner.ParaMarkRel(0, 0, percentLaser1);
                        }
                    } else {
                        //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
                        _Scanner.ParaMarkRel(0, 0, percentLaser1);
                    }

                    if (0 < param.RampingEndDist) {
                        // End Ramping이 있는 경우, End Ramping 시작지점 위치 계산
                        x = param.RampingEndDist * (obj.P1.X - obj.P2.X) / obj.Distance + obj.P2.X;
                        y = param.RampingEndDist * (obj.P1.Y - obj.P2.Y) / obj.Distance + obj.P2.Y;

                        //_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1);
                        _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1);

                        //Ramping End 끝지점 까지
                        if (param.RampingEndSlopeMode) {
                            //_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                            _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                        } else {
                            //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                            //_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                            _Scanner.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                            _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
                        }
                    } else {
                        //_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1);
                        _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1);
                    }

                    //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
                    _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
                    _Scanner.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);

                    Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));

                } else {
                    // Ramping 이 없는 경우

                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
                    _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);

                    //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, 0, 0);
                    //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
                    //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                    //_scanner._scannerObj.ParaMarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset, percentLaser1);

                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                    //_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                    _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);


                    //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);

                    Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
                }
                #endregion
            }
            #endregion

            _LastX = obj.PF2.X + xOffset;
            _LastY = obj.PF2.Y + yOffset;

            Log.I(string.Format($"[Line Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})"));
        }
        #endregion
        private static PowerProfilesList ReadPowerProfile(int powerProfileID)
        {
            //추후 경로 변경 필요
            var json = File.ReadAllText("PowerProfileTest.json");
            var root = JsonConvert.DeserializeObject<TopRootObject>(json);

            PowerProfilesList powerProfile = new PowerProfilesList();

            for (int i = 0; i < root.PowerProfilesLists[powerProfileID].PowerProfiles.Count; i++) {
                PowerProfile profile = new PowerProfile();
                profile.PowerProfileParams.Add(new PowerProfileParam());
                profile.PowerProfileParams[0].Copy(root.PowerProfilesLists[powerProfileID].PowerProfiles[i].PowerProfileParams[0]);
                powerProfile.PowerProfiles.Add(profile);
            }
            return powerProfile;
        }

        private static void LoadDotScannerParam(Dot obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
            float percentLaser1 = 0.0f;
            float percentLaser2 = 0.0f;
            #region 1. 스캐너 가공 조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);

            Log.I(string.Format($"[Point Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region 2. 스캐너 가공 작업
            //카메라 오프셋 + Object의 Vision Offset
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region Jump(Point Shot)
            // Jump 할 때는 Analog Out 값을 0으로 변경
            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);

            //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
            _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
            Log.I(string.Format($"[Point Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})"));
            #endregion

            #region Mark(Point Shot)
            //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
            //_scanner._scannerObj.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
            _Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));

            // @deprecated 해당  코드는  사용에  주의가  필요  함.. 만약  사용시  원복할  필요가  있음..
            // 이후  공정에  영향을  미치는  인자이므로
            //_scanner._scannerObj.SetStandby((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000));
            //_scanner._scannerObj.SetStandby(10, 0);
            _Scanner.SetStandby(10, 0);

            //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, 0, 0);
            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
            //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
            _Scanner.SetScannerDelay(param.JumpDelay, 0, 0);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
            _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
            //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);  // 위치 이동 없이 Power만 변경

            // Laser On Time 만큼 레이저 On 실행
            //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
            //_scanner._scannerObj.LaserOnList(param.SpotShotTime);
            _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
            _Scanner.LaserOnList(param.SpotShotTime);

            //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);

            Log.I(string.Format($"[Point Weld] Mark ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})"));
            #endregion

            //Dot도 Last값 추가
            _LastX = obj.PF1.X + xOffset;
            _LastY = obj.PF1.Y + yOffset;
            #endregion
        }

        private static void LoadSplineScannerParam(Spline obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];

            float percentLaser1 = 0;
            float percentLaser2 = 0;

            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 1.스캐너 가공조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);

            //Spline 의 경우 Wobbel 해제
            //_scanner._scannerObj.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
            _Scanner.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);

            Log.I(string.Format($"[Spline Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region 2.스캐너 가공 작업

            int pointCount = obj.P1.Count;

            switch (obj.DrawWay) {
                case Spline.DrawWayType.OUT_OUT: {
                        //P1 OUT에서 시작
                        //_scanner._scannerObj.JumpAbs(obj.P1[pointCount - 1].X + XOffset, obj.P1[pointCount - 1].Y + YOffset, eFunctionType.LIST);
                        _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST);

                        for (int i = obj.P1.Count - 2; i >= 0; i--) {
                            //_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
                            _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
                        }

                        //tornado 의 경우 P2까지
                        if (obj.SplineTornado) {
                            //P2 OUT에서 시작
                            //_scanner._scannerObj.JumpAbs(obj.P2[pointCount - 1].X + XOffset, obj.P2[pointCount - 1].Y + YOffset, eFunctionType.LIST);
                            _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST);

                            for (int i = obj.P2.Count - 2; i >= 0; i--) {
                                //_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
                                _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
                            }

                        }
                    }
                    break;

                case Spline.DrawWayType.OUT_IN: {
                        //P1 OUT에서 시작
                        //_scanner._scannerObj.JumpAbs(obj.P1[pointCount - 1].X + XOffset, obj.P1[pointCount - 1].Y + YOffset, eFunctionType.LIST);
                        _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST);

                        for (int i = obj.P1.Count - 2; i >= 0; i--) {
                            //_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
                            _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
                        }

                        //tornado 의 경우 P2까지
                        if (obj.SplineTornado) {
                            //P2 IN에서 시작
                            //_scanner._scannerObj.JumpAbs(obj.P2[0].X + XOffset, obj.P2[0].Y + YOffset, eFunctionType.LIST);
                            _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST);

                            for (int i = 1; i < obj.P2.Count; i++) {
                                //_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
                                _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
                            }

                        }
                    }
                    break;

                case Spline.DrawWayType.IN_OUT: {
                        //P1 IN에서 시작
                        //_scanner._scannerObj.JumpAbs(obj.P1[0].X + XOffset, obj.P1[0].Y + YOffset, eFunctionType.LIST);
                        _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST);

                        for (int i = 1; i < obj.P1.Count; i++) {
                            //_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
                            _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
                        }

                        //tornado 의 경우 P2까지
                        if (obj.SplineTornado) {
                            //P2 OUT에서 시작
                            //_scanner._scannerObj.JumpAbs(obj.P2[pointCount - 1].X + XOffset, obj.P2[pointCount - 1].Y + YOffset, eFunctionType.LIST);
                            _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST);

                            for (int i = obj.P2.Count - 2; i >= 0; i--) {
                                //_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
                                _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
                            }

                        }
                    }
                    break;

                case Spline.DrawWayType.IN_IN: {
                        //P1 IN에서 시작
                        //_scanner._scannerObj.JumpAbs(obj.P1[0].X + XOffset, obj.P1[0].Y + YOffset, eFunctionType.LIST);
                        _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST);

                        for (int i = 1; i < obj.P1.Count; i++) {
                            //_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
                            _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
                        }

                        //tornado 의 경우 P2까지
                        if (obj.SplineTornado) {
                            //P2 IN에서 시작
                            //_scanner._scannerObj.JumpAbs(obj.P2[0].X + XOffset, obj.P2[0].Y + YOffset, eFunctionType.LIST);
                            _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST);

                            for (int i = 1; i < obj.P2.Count; i++) {
                                //_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
                                _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
                            }
                        }
                    }
                    break;
            }
            #endregion

            Log.I(string.Format($"[Spline Weld] Draw Way : {obj.DrawWay}, Tornado 사용 : {obj.SplineTornado})"));
        }

        private static void LoadSnowManScannerParam(SnowMan obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];

            float percentLaser1 = 0;
            float percentLaser2 = 0;
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 1.스캐너 가공조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);

            Log.I(string.Format($"[Line Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region 2. 스캐너 가공 작업
            //SnowMan 로드 시작
            Math.Cos(obj.TiltingAngle * Math.PI / 180);
            //wobbel 각도 설정
            //_scanner._scannerObj.SetWobbelDirection((int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100), (int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100));
            _Scanner.SetWobbelDirection((int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100), (int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100));

            //5.Wobbel 모드 설정
            //_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
            _Scanner.SetWobbelMode(true, 1, 1, 1, 2);

            //Wobbel Vector 리스트 초기화

            //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
            _Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화

            List<double> dTrans = new List<double>();
            List<double> dLong = new List<double>();

            obj.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

            for (int i = 0; i < dTrans.Count; i++) {
                //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.HeadPeriod, 0);
                _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.HeadPeriod, 0);
            }

            obj.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

            for (int i = 0; i < dTrans.Count; i++) {
                //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.BodyPeriod, 0);
                _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.BodyPeriod, 0);
            }

            //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
            //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
            //_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
            _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
            _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);

            Log.I(string.Format($"[Line Weld] Set Mark StartPoint/EndPoint(SP:{obj.PF1.X},{obj.PF1.Y},EP:{obj.PF2.X},{obj.PF2.Y})"));
            #endregion
        }

        private static int LoadGroupScannerParam(Group obj)
        {
            int count = 0;

            //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
            for (uint i = 0; i < obj.MarkingCount; i++) {
                foreach (IDrawObject subObj in obj.SubObjects) {        //Group객체내 포함된 DrawTools에 대한 용접 작업
                    count += FuncLoadDrawObjectScannerParamSelec(subObj);
                }
            }
            return count;
        }

        private static void LoadArcScannerParam(Arc obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];

            float percentLaser1 = 0;
            float percentLaser2 = 0;
            //카메라 오프셋 + Object의 Vision Offset
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 스캐너 가공 조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
            Log.I(string.Format($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region Wobbel 관련 설정
            //Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행
            if (!param.SnowManEnable) {
                if (param.WobbelEnable) {
                    //wobbel 각도 설정
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelDirection(0, 0);

                    //Wobbel 모드 설정
                    //_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
                    _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);

                    //wobbel 모드 설정 로그 추가
                    Log.I(string.Format($"[Arc Weld]  Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})"));
                } else {
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
                    //_scanner._scannerObj.SetWobbelMode(false, 0, 0, 0, 0);
                    _Scanner.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelVector(0, 0, 0, 0);
                    _Scanner.SetWobbelMode(false, 0, 0, 0, 0);
                }
                //2.스캐너 가공 작업
                //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
                //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);

                // @deprecated  해당코드 검증 필요 !!
                if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
                    //점프 안함
                } else {
                    //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                    _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
                    Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
                }
            } else {

                int dx = 0;
                int dy = 0;

                double radian = (param.TiltingAngle - 90) * Math.PI / 180;

                dx = (int)(Math.Cos(radian) * 100); ;
                dy = (int)(Math.Sin(radian) * 100);

                //_scanner._scannerObj.SetWobbelDirection(dx, dy);
                _Scanner.SetWobbelDirection(dx, dy);

                //5.Wobbel 모드 설정
                //_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
                _Scanner.SetWobbelMode(true, 1, 1, 1, 2);

                //Wobbel Vector 리스트 초기화
                //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
                _Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화

                List<double> dTrans = new List<double>();
                List<double> dLong = new List<double>();

                param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                for (int i = 0; i < dTrans.Count; i++) {
                    //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                    _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                }

                param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                for (int i = 0; i < dTrans.Count; i++) {
                    //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                    _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                }


                //2.스캐너 가공 작업
                //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
                //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);

                if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
                    //점프 안함
                } else {
                    //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                    _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
                    Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
                }
            }

            #endregion

            #region Ramping 설정
            double radius = Math.Sqrt((obj.CenterPointF.X - obj.PF1.X) * (obj.CenterPointF.X - obj.PF1.X) + (obj.CenterPointF.Y - obj.PF1.Y) * (obj.CenterPointF.Y - obj.PF1.Y));
            double length = param.ArcRampingInterval; // ArcRamping 간격 추가
            double theta = 0;

            // 0. Sweep 방향에 따른 회전 방향 설정
            if (obj.Direction == Arc.eDirection.CCW) {
                theta = (length / radius) * (180 / Math.PI);
            }
            if (obj.Direction == Arc.eDirection.CW) {
                theta = (-length / radius) * (180 / Math.PI);
            }

            if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) {
                // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다.
                // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다.
                // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다.

                float powerratio = obj.RCC_PowerRatio;
                if (powerratio < 0) {
                    powerratio = 0;
                } else if (powerratio > 1) {
                    powerratio = 1;
                }

                float AnalogPercentLaserPower1 = percentLaser1 * powerratio;    // center laser
                float AnalogPercentLaserPower2 = percentLaser2 * powerratio;    // ring laser
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
                _Scanner.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);

                // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다.
                // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다.
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
                _Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);

                //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
                //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
                _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);

            } else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0)
                  && (param.RampingStartDist + param.RampingEndDist < radius * Math.Abs(obj.SweepAngle))
                  /*&& !param.WobbelEnable && !param.SnowManEnable*/) {
                // 기존 코드 유지
                // @SMW/LHS Wobbel 사용 시 Lamping도 사용 할 수 있도록 조건문 수정 및 Ring빔도 Ramping 가능하도록 수정

                // 1.1. 데이터테이블 기준으로 파워 동작
                //percentLaser1 = (float)_laserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);

                // 1.2. Ramping을 위한 변수 설정
                int risingEdgeCount = (int)(param.RampingStartDist / length);
                int fallingEdgeCount = (int)(param.RampingEndDist / length);
                //int totalCount = (int)(Math.Abs(obj.SweepAngle) / theta);
                int totalCount = (int)(Math.Abs(obj.SweepAngle / theta));

                // 2.1. Rising Edge 시작 파워 설정
                float startingPercentLaser1 = percentLaser1 * (float)param.RampingStartPower / 100 <= 100 ?
                                            percentLaser1 * (float)param.RampingStartPower / 100 : 100;
                float risingEdgePercentLaser1 = 0;
                float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower / 100 <= 100 ?
                            percentLaser1 * (float)param.RampingStartPower / 100 : 100;
                float risingEdgePercentLaser2 = 0;

                // 2.2. Rising Edge 구간 파워 및 위치 변경
                for (int iter = 0; iter < risingEdgeCount; iter++) {
                    risingEdgePercentLaser1 = (percentLaser1 - startingPercentLaser1) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser1;
                    risingEdgePercentLaser2 = (percentLaser2 - startingPercentLaser2) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser2;

                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
                    //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
                    _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                }

                // 3.1. Constant Range 파워 설정
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);

                // 3.2. Constant Range 구간 위치 변경
                for (int iter = risingEdgeCount; iter < totalCount - fallingEdgeCount; iter++) {
                    //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                    _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                }

                //4.1. Falling Edge 마지막 파워 설정
                float endingPercentLaser1 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
                                            percentLaser1 * (float)param.RampingEndPower / 100 : 100;
                float fallingEdgePercentLaser1 = 0;
                float endingPercentLaser2 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
                                            percentLaser1 * (float)param.RampingEndPower / 100 : 100;
                float fallingEdgePercentLaser2 = 0;

                //4.2. Falling Edge 구간 파워 및 위치 변경
                for (int iter = totalCount - fallingEdgeCount; iter < totalCount; iter++) {
                    // Falling Edge 구간 시작하는 순간부터 Power 변경 원하므로 (iter - (totalCount - fallingEdgeCount - 1))
                    fallingEdgePercentLaser1 = (endingPercentLaser1 - percentLaser1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser1;
                    fallingEdgePercentLaser2 = (endingPercentLaser2 - percentLaser2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser2;

                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
                    //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
                    _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                }

                // 5. 마지막 위치까지 이동해줌.
                double lastSweep = obj.SweepAngle - (totalCount * theta);
                //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, lastSweep);
                _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep);


            } else {
                //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
                //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
                _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);

            }
            #endregion

            _LastX = obj.PF2.X + xOffset;
            _LastY = obj.PF2.Y + yOffset;
            if (obj.MadebyRCC) {
                Log.I(string.Format($"[RCC SubPath Arc Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})"));
            } else {
                Log.I(string.Format($"[Arc Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})"));
            }
        }

        private static void LoadArc3PScannerParam(Arc3Point obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];

            float percentLaser1 = 0;
            float percentLaser2 = 0;
            //카메라 오프셋 + Object의 Vision Offset
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 스캐너 가공 조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
            Log.I(string.Format($"[Arc3P Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
            #endregion

            #region Wobbel 관련 설정
            //Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행
            if (!param.SnowManEnable) {
                if (param.WobbelEnable) {
                    //wobbel 각도 설정
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelDirection(0, 0);

                    //Wobbel 모드 설정
                    //_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
                    _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);

                    //wobbel 모드 설정 로그 추가
                    Log.I(string.Format($"[Arc3P Weld]  Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})"));
                } else {
                    //_scanner._scannerObj.SetWobbelDirection(0, 0);
                    //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
                    //_scanner._scannerObj.SetWobbelMode(false, 0, 0, 0, 0);
                    _Scanner.SetWobbelDirection(0, 0);
                    _Scanner.SetWobbelVector(0, 0, 0, 0);
                    _Scanner.SetWobbelMode(false, 0, 0, 0, 0);
                }
                //2.스캐너 가공 작업
                //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
                //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);

                if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) {
                    //점프 안함
                } else {
                    //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                    _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
                    Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
                }
            } else {

                int dx = 0;
                int dy = 0;

                double radian = (param.TiltingAngle - 90) * Math.PI / 180;

                dx = (int)(Math.Cos(radian) * 100); ;
                dy = (int)(Math.Sin(radian) * 100);

                //_scanner._scannerObj.SetWobbelDirection(dx, dy);
                _Scanner.SetWobbelDirection(dx, dy);

                //5.Wobbel 모드 설정
                //_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
                _Scanner.SetWobbelMode(true, 1, 1, 1, 2);

                //Wobbel Vector 리스트 초기화
                //_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
                _Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화

                List<double> dTrans = new List<double>();
                List<double> dLong = new List<double>();

                param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                for (int i = 0; i < dTrans.Count; i++) {
                    //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                    _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
                }

                param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);

                for (int i = 0; i < dTrans.Count; i++) {
                    //_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                    _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
                }


                //2.스캐너 가공 작업
                //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
                //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);

                if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) {
                    //점프 안함
                } else {
                    //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                    _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
                    Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
                }
            }

            #endregion

            #region Ramping 설정
            double radius = Math.Sqrt((obj.CenterPointF.X - obj.PF1.X) * (obj.CenterPointF.X - obj.PF1.X) + (obj.CenterPointF.Y - obj.PF1.Y) * (obj.CenterPointF.Y - obj.PF1.Y));
            double length = param.ArcRampingInterval; // ArcRamping 간격 추가
            double theta = 0;

            // 0. Sweep 방향에 따른 회전 방향 설정
            if (obj.Direction == Arc3Point.eDirection.CCW) {
                theta = (length / radius) * (180 / Math.PI);
            }
            if (obj.Direction == Arc3Point.eDirection.CW) {
                theta = (-length / radius) * (180 / Math.PI);
            }

            if ((param.RampingStartDist > 0 || param.RampingEndDist > 0)
                && (param.RampingStartDist + param.RampingEndDist < radius * Math.Abs(obj.SweepAngle))
                /*&& !param.WobbelEnable && !param.SnowManEnable*/) {
                if (obj.MadebyRCC) {
                    // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다.
                    // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다.
                    // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다.

                    float powerratio = obj.RCC_PowerRatio;
                    if (powerratio < 0) { powerratio = 0; } else if (powerratio > 1) { powerratio = 1; }

                    float AnalogPercentLaserPower1 = percentLaser1 * powerratio;    // center laser
                    float AnalogPercentLaserPower2 = percentLaser2 * powerratio;    // ring laser
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);

                    // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다.
                    // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다.
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);

                    //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
                    //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
                    _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);

                } else {
                    // 기존 코드 유지
                    // @SMW/LHS Wobbel 사용 시 Lamping도 사용 할 수 있도록 조건문 수정 및 Ring빔도 Ramping 가능하도록 수정

                    // 1.1. 데이터테이블 기준으로 파워 동작
                    //percentLaser1 = (float)_laserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);

                    // 1.2. Ramping을 위한 변수 설정
                    int risingEdgeCount = (int)(param.RampingStartDist / length);
                    int fallingEdgeCount = (int)(param.RampingEndDist / length);
                    //int totalCount = (int)(Math.Abs(obj.SweepAngle) / theta);
                    int totalCount = (int)(Math.Abs(obj.SweepAngle / theta));

                    // 2.1. Rising Edge 시작 파워 설정
                    float startingPercentLaser1 = percentLaser1 * (float)param.RampingStartPower / 100 <= 100 ?
                                                percentLaser1 * (float)param.RampingStartPower / 100 : 100;
                    float risingEdgePercentLaser1 = 0;
                    float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower / 100 <= 100 ?
                                percentLaser1 * (float)param.RampingStartPower / 100 : 100;
                    float risingEdgePercentLaser2 = 0;

                    // 2.2. Rising Edge 구간 파워 및 위치 변경
                    for (int iter = 0; iter < risingEdgeCount; iter++) {
                        risingEdgePercentLaser1 = (percentLaser1 - startingPercentLaser1) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser1;
                        risingEdgePercentLaser2 = (percentLaser2 - startingPercentLaser2) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser2;

                        //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
                        //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
                        //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                        _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
                        _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
                        _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                    }

                    // 3.1. Constant Range 파워 설정
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
                    _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);

                    // 3.2. Constant Range 구간 위치 변경
                    for (int iter = risingEdgeCount; iter < totalCount - fallingEdgeCount; iter++) {
                        //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                        _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                    }

                    //4.1. Falling Edge 마지막 파워 설정
                    float endingPercentLaser1 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
                                                percentLaser1 * (float)param.RampingEndPower / 100 : 100;
                    float fallingEdgePercentLaser1 = 0;
                    float endingPercentLaser2 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
                                                percentLaser1 * (float)param.RampingEndPower / 100 : 100;
                    float fallingEdgePercentLaser2 = 0;

                    //4.2. Falling Edge 구간 파워 및 위치 변경
                    for (int iter = totalCount - fallingEdgeCount; iter < totalCount; iter++) {
                        // Falling Edge 구간 시작하는 순간부터 Power 변경 원하므로 (iter - (totalCount - fallingEdgeCount - 1))
                        fallingEdgePercentLaser1 = (endingPercentLaser1 - percentLaser1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser1;
                        fallingEdgePercentLaser2 = (endingPercentLaser2 - percentLaser2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser2;

                        //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
                        //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
                        //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
                        _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
                        _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
                        _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
                    }

                    // 5. 마지막 위치까지 이동해줌.
                    double lastSweep = obj.SweepAngle - (totalCount * theta);
                    //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, lastSweep);
                    _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep);
                }
            } else {
                //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
                //_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
                _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);

            }
            #endregion

            _LastX = obj.PF2.X + xOffset;
            _LastY = obj.PF2.Y + yOffset;
            if (obj.MadebyRCC) {
                Log.I(string.Format($"[RCC SubPath Arc3P Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})"));
            } else {
                Log.I(string.Format($"[Arc3P Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})"));
            }
        }

        private static void LoadZigzagScannerParam(ZigZag obj)
        {
            ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];

            float percentLaser1 = 0;
            float percentLaser2 = 0;
            //카메라 오프셋 + Object의 Vision Offset + Fly 오프셋
            double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
            double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;

            #region 스캐너 가공 조건 설정
            SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);

            Log.I(string.Format($"[Line Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));

            #endregion

            #region 시작 위치로 점프
            //시작 위치로 점프
            if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) {
                //점프 안함
            } else {
                //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
                _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
            }

            #endregion

            #region Ramping 설정
            //지그재그는 아직 Ramping 구현 안됨
            #endregion

            #region 지그재그 순서대로 마킹
            for (int i = 0; i < obj.ZigZagCount; i++) {
                //_scanner._scannerObj.MarkAbs(obj.ArcStartPoints[i].X + XOffset, obj.ArcStartPoints[i].Y + YOffset);
                _Scanner.MarkAbs(obj.ArcStartPoints[i].X + xOffset, obj.ArcStartPoints[i].Y + yOffset);

                float startAngle = (float)HitUtil.RadiansToDegrees(HitUtil.LineAngleR(obj.ArcCenterPoints[i], obj.ArcStartPoints[i], 0));
                float endAngle = (float)HitUtil.RadiansToDegrees(HitUtil.LineAngleR(obj.ArcCenterPoints[i], obj.ArcEndPoints[i], 0));
                float sweepAngle = 0;
                bool clockwise = obj.DrawDirection == ZigZag.eDrawDirection.Left ? true : false;

                if (i % 2 == 0) {
                    if (obj.DrawDirection == ZigZag.eDrawDirection.Left) {
                        sweepAngle = (-1) * Math.Abs(startAngle - endAngle);
                        if (sweepAngle < -180) {
                            sweepAngle = (360 + sweepAngle) * (-1);

                        }
                        //_scanner._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
                        _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle);
                    } else {
                        sweepAngle = Math.Abs(startAngle - endAngle);
                        if (sweepAngle > 180) {
                            sweepAngle = (360 - sweepAngle);

                        }
                        //_scanner._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
                        _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle);
                    }
                } else {
                    if (obj.DrawDirection == ZigZag.eDrawDirection.Right) {
                        sweepAngle = (-1) * Math.Abs(startAngle - endAngle);
                        if (sweepAngle < -180) {
                            sweepAngle = (360 + sweepAngle) * (-1);

                        }
                        //_scanner._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
                        _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle);
                    } else {
                        sweepAngle = Math.Abs(startAngle - endAngle);
                        if (sweepAngle > 180) {
                            sweepAngle = (360 - sweepAngle);

                        }
                        //_scanner._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
                        _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle);
                    }
                }

                //_scanner._scannerObj.MarkAbs(obj.LineEndPoints[i].X + XOffset, obj.LineEndPoints[i].Y + YOffset);
                _Scanner.MarkAbs(obj.LineEndPoints[i].X + xOffset, obj.LineEndPoints[i].Y + yOffset);

            }
            #endregion

            _LastX = obj.LineEndPoints[obj.ZigZagCount - 1].X + xOffset;
            _LastY = obj.LineEndPoints[obj.ZigZagCount - 1].Y + yOffset;

            Log.I(string.Format($"[Line Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})"));
        }
    }
}