示例#1
0
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        //생성 :
        //추가 :
        //목적 : 폼 초기화
        //설명 :
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        public bool InitializeForm()
        {
            bool bReturn = false;

            do
            {
                var pFormCommon = CFormCommon.GetFormCommon;
                var pDocument   = CDocument.GetDocument;

                // 페이지 변수 초기화
                m_iCurrentPage = new int[( int )enumIO.IO_FINAL];
                m_iMaxPage     = new int[( int )enumIO.IO_FINAL];

                // 버튼 매칭
                SetButtonControlInitialize();

                // IO 초기화 정보를 가져온다
                m_objPLCParameter = pDocument.m_objConfig.GetPLCParameter();

                // 해당 부분은 IO 디바이스에서 전체 수를 구해와서 나눠서 구해야 함
                int   iInputIOCount  = m_objPLCParameter.strPLCInput.Count;
                int   iOutputIOCount = m_objPLCParameter.strPLCOutput.Count;
                int[] iIOCount       = { iInputIOCount, iOutputIOCount };

                for (int iLoopIO = 0; iLoopIO < ( int )enumIO.IO_FINAL; iLoopIO++)
                {
                    // 현재 페이지 설정
                    m_iCurrentPage[iLoopIO] = 0;
                    // 최대 페이지 설정
                    m_iMaxPage[iLoopIO] = (iIOCount[iLoopIO] / m_iDisplayPageIO);
                }
                // 버튼 색상 정의
                SetButtonColor();
                // 타이머 외부에서 제어
                timer.Interval = 100;
                timer.Enabled  = false;

                SetDisplayInput();
                SetDisplayOutput();
                // IO 객체
                m_objPLC = pDocument.m_objProcessMain.m_objPLC;
                bReturn  = true;
            } while(false);

            return(bReturn);
        }
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        //생성 :
        //추가 :
        //목적 : 검사 시작
        //설명 :
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        public bool DoProcessInspection(int iCameraIndex)
        {
            bool      bReturn   = false;
            var       pDocument = CDocument.GetDocument;
            Stopwatch objTact   = new Stopwatch();

            Stopwatch objStopwatch = new Stopwatch();

            string strPlcCameraName = string.Format("CAMERA_{0}", iCameraIndex + 1);

            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "DoProcessInspection");

            //PLC객체
            HLDevice.CDevicePLC objPLC = pDocument.m_objProcessMain.m_objPLC;
            // 결과구조체
            CInspectionResult.CResult objResult          = new CInspectionResult.CResult();
            CConfig.CRecipeParameter  objRecipeParameter = pDocument.m_objConfig.GetRecipeParameter(iCameraIndex);
            int iAlarmCode = ( int )CDefine.enumVisionAlarmType.NONE;

            do
            {
                // 택타임 측정
                objTact.Start();
                // 비전 Busy상태
                if (false == m_objPLC.HLWriteWordFromPLC("PC_BUSY", ( short )CDefine.enumVisionStatus.STATUS_BUSY))
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Vision_Status_Busy On");
                }
                else
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Vision_Status_Busy On");
                }

                // 셀ID를 읽음
                string strCellID = ReadCellID();
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Read Cell ID : " + strCellID);

                // string strCellID = "";
                // PLC 데이터 읽기
                short[] iReadData = new short[( int )CDefine.enumPLCInputIndex.PLC_FINAL];
                m_objPLC.HLReadWordFromPLC(CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE.ToString(), iReadData.Length, ref iReadData);

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Read Recipe ID : " + iReadData[( int )CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE].ToString());
                // 레시피 체크
                if (false == DoProcessRecipe(iReadData[( int )CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE]))
                {
                    break;
                }

                int iCurrentInspectionIndex = iReadData[( int )CDefine.enumPLCInputIndex.PLC_INSPECTION_INDEX] - 1;


                // 티치모드이면 저장되어있는 포지션을 바로 사용하자
                CConfig.CSystemParameter objSystemParameter = pDocument.m_objConfig.GetSystemParameter();
                if (true == objSystemParameter.bVidiTeachMode)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Teach Mode");
                    iCurrentInspectionIndex = pDocument.GetInspectionIndex();
                }

                // 설정한 검사포지션수 초과시 NG
                if (iCurrentInspectionIndex > objRecipeParameter.iCountInspectionPosition)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "INSPECTION POSITION OVER");
                    iAlarmCode = (int)CDefine.enumVisionAlarmType.INSPECTION_POSITION_OVER_RANGE;
                    break;
                }

                if (0 > iCurrentInspectionIndex)
                {
                    iCurrentInspectionIndex = 0;
                }
                // 검사인덱스를 가지고 있고
                pDocument.SetInspectionIndex(iCurrentInspectionIndex);

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Inspection Index : " + (iCurrentInspectionIndex + 1).ToString());

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Grab Start");
                // 그랩
                objStopwatch.Start();
                if (false == DoProcessTrigger(iCameraIndex))
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Grab Fail");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.GRAB_FAIL;
                    break;
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "Grab Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "PMS Start");

                objStopwatch.Restart();
                // PMS 이미지 만들기
                CProcessVisionProcess150 obj = m_objProcessVisionProcess150[iCameraIndex] as CProcessVisionProcess150;
                // 트리거 ON
                obj.SetCommand(CProcessVisionProcess150.enumCommand.CMD_START_PMS);

                // Busy Off
                Thread.Sleep(20);
                if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_BUSY.ToString(), ( short )CDefine.enumVisionStatus.STATUS_IDLE))
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Vision_Status_Busy Off");
                }
                else
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Vision_Status_Busy Off");
                }

                int iTimeOut    = 25000;
                int iTimePeriod = 3;
                while (CProcessVisionProcess150.enumCommand.CMD_IDLE != obj.GetCommand() && iTimeOut > 0)
                {
                    iTimeOut -= iTimePeriod;
                    Thread.Sleep(iTimePeriod);
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "PMS Image Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());
                if (0 >= iTimeOut)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "PMS Image Time Out");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.PMS_IMAGE_SETTING_FAIL;
                    break;
                }

                if (CProcessVisionProcess150.enumStatus.STS_ERROR == obj.GetStatus())
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "PMS IMAGE NG");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.PMS_IMAGE_SETTING_FAIL;
                    break;
                }

                //////////////////////////////////////////////////
                // PMS이미지 까지 합성했다면.

                //Vidi Start
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "VIDI Start");
                objStopwatch.Restart();
                obj.SetCommand(CProcessVisionProcess150.enumCommand.CMD_START_INSPECTION);
                iTimeOut    = 25000;
                iTimePeriod = 3;
                while (CProcessVisionProcess150.enumCommand.CMD_IDLE != obj.GetCommand() && iTimeOut > 0)
                {
                    iTimeOut -= iTimePeriod;
                    Thread.Sleep(iTimePeriod);
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "VIDI Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());

                if (0 >= iTimeOut)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "VIDI Time Out");
                    objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                    objResult.objResultCommon.strCellID           = strCellID;
                    objResult.objResultCommon.eResult             = CDefine.enumResult.RESULT_NG;
                    objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    break;
                }
                if (CProcessVisionProcess150.enumStatus.STS_ERROR == obj.GetStatus())
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "VIDI Run NG");
                    objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                    objResult.objResultCommon.strCellID           = strCellID;
                    objResult.objResultCommon.eResult             = CDefine.enumResult.RESULT_NG;
                    objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    break;
                }

                // 여기서 결과 도출
                objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                objResult.objResultCommon.strCellID = strCellID;


                // 최종결과는 양품으로 설정하고, 1개라도 NG가 나오면 NG로 바꾸자
                objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_OK;
                // 여기에 결과를 채우자, 일단은 1,0으로 채움
                // 1포지션에 검사결과가 5개씩 있다고 가정
                objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                short[] iResult = new short[objResult.objResultCommon.iVidiResultCount];// ( int )CDefine.enumResultIndex.RESULT_FINAL ];
                for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.iVidiResultCount; iLoopCount++)
                {
                    // 일단 1보다 작으면 양품으로 테스트하자
                    if (objRecipeParameter.objInspectionParameter[pDocument.GetInspectionIndex()].dVidiScore > objResult.objResultCommon.objVidiScore[iLoopCount])
                    {
                        objResult.objResultCommon.objVidiResult.Add(CDefine.enumResult.RESULT_OK);
                        iResult[iLoopCount] = 1;
                    }
                    else
                    {
                        objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_NG;
                        objResult.objResultCommon.objVidiResult.Add(CDefine.enumResult.RESULT_NG);
                        iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    }
                    string strResult = string.Format("INDEX : {0}, VIDI_Score : {1:F2}, VIDI_Result : {2}", iLoopCount + 1, objResult.objResultCommon.objVidiScore[iLoopCount], CDefine.enumResult.RESULT_OK == objResult.objResultCommon.eResult ? "OK" : "NG");
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), strResult);
                }

                //String strPLCAddressName = string.Format( "PC_INSPECTION_RESULT_{0}", iCurrentInspectionIndex * ( int )CDefine.enumResultIndex.RESULT_FINAL );
                //String strPLCAddressName = string.Format(CDefine.enumPCOutIndex.PC_INSPECTION_RESULT_1.ToString() );

                //if ( false == m_objPLC.HLWriteWordFromPLC( strPLCAddressName, iResult.Length, iResult ) )
                //    pDocument.SetUpdateLog( ( CDefine.enumLogType )( ( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex ), "[SEND_PLC RESULT][FAIL]"+ strPLCAddressName  );
                //else
                //    pDocument.SetUpdateLog( ( CDefine.enumLogType )( ( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex ), "[SEND_PLC RESULT]" + strPLCAddressName );



                bReturn = true;
            } while(false);
            bool bInspectResult = false;

            // 에러코드
            if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_ALARM_CODE.ToString(), ( short )iAlarmCode))
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Set AlarmCode");
            }
            else
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Set AlarmCode");
            }

            if (false == bReturn)
            {
                if (true == pDocument.m_objConfig.GetSystemParameter().bPassMode)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "VISION PASS MODE");

                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "VISION PASS MODE : FINAL_RESULT_OK");
                    bInspectResult = true;
                }
                else
                {
                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_NG.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_NG On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_NG On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_NG");
                    bInspectResult = false;
                }
            }
            else
            {
                if (CDefine.enumResult.RESULT_OK == objResult.objResultCommon.eResult)
                {
                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_OK");
                    bInspectResult = true;
                }
                else
                {
                    if (true == pDocument.m_objConfig.GetSystemParameter().bPassMode)
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "VISION PASS MODE");

                        if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                        }
                        else
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                        }

                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "VISION PASS MODE : FINAL_RESULT_OK");
                        bInspectResult = true;
                    }
                    else
                    {
                        if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_NG.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_NG On");
                        }
                        else
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_NG On");
                        }

                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_NG");
                        bInspectResult = false;
                    }
                }
            }
            pDocument.SetDisplayResult(pDocument.GetInspectionIndex(), bInspectResult);

            if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_COMPLETE.ToString(), (short)CDefine.enumComplete.COMPLETE_ON))
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_COMPLETE On");
            }
            else
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_COMPLETE On");
            }

            // 트리거 OFF
            pDocument.SetTrigger(( int )CDefine.enumCamera.CAMERA_1 + iCameraIndex, CDefine.enumTrigger.TRIGGER_OFF);

            objTact.Stop();
            objResult.objResultCommon.strTactTime = objTact.ElapsedMilliseconds.ToString();
            pDocument.SetUpdateDisplayPMS(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150.enumDisplayIndex.PMS);

            // 이미지 저장경로 넣기
            objResult.strSaveImagePath = pDocument.m_objConfig.GetSystemParameter().strImageSavePath;
            pDocument.SetInspectionResultAlign(pDocument.GetInspectionIndex(), (CInspectionResult.CResult)objResult.Clone());

            // 여기서 결과 디스플레이를 뿌리자
            for (int iLoopCount = 0; iLoopCount < (CDefine.DEF_MAX_COUNT_CROP_REGION - 3); iLoopCount++)
            {
                pDocument.SetUpdateDisplayResultVIDI(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150.enumDisplayIndex.VIDI_1 + iLoopCount);
            }

            // 여기서 결과 디스플레이를 뿌리자
            for (int iLoopCount = 0; iLoopCount < (CDefine.DEF_MAX_COUNT_CROP_REGION - 3); iLoopCount++)
            {
                pDocument.SetUpdateDisplayResultMeasure(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150.enumDisplayIndex.MEASURE_1 + iLoopCount);
            }

            // 이미지 저장
            SaveImage((CInspectionResult.CResult)objResult.Clone());
            // 택타임 측정
            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_TACT_TIME_CAMERA_0 + iCameraIndex), objTact.ElapsedMilliseconds.ToString() + "ms");

            return(bReturn);
        }
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        //생성 :
        //추가 :
        //목적 : 검사 시작
        //설명 :
        //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        public bool DoProcessInspection(int iCameraIndex)
        {
            bool      bReturn   = false;
            var       pDocument = CDocument.GetDocument;
            Stopwatch objTact   = new Stopwatch();

            Stopwatch objStopwatch = new Stopwatch();

            string strPlcCameraName = string.Format("CAMERA_{0}", iCameraIndex + 1);

            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "DoProcessInspection");

            //PLC객체
            HLDevice.CDevicePLC objPLC = pDocument.m_objProcessMain.m_objPLC;
            // 결과구조체
            CInspectionResult.CResult objResult          = new CInspectionResult.CResult();
            CConfig.CRecipeParameter  objRecipeParameter = pDocument.m_objConfig.GetRecipeParameter(iCameraIndex);
            int iAlarmCode = ( int )CDefine.enumVisionAlarmType.NONE;

            do
            {
                // 택타임 측정
                objTact.Start();

                // 셀ID를 읽음
                string strCellID = ReadCellID();
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Read Cell ID : " + strCellID);

                // string strCellID = "";
                // PLC 데이터 읽기
                short[] iReadData = new short[( int )CDefine.enumPLCInputIndex.PLC_FINAL];
                m_objPLC.HLReadWordFromPLC(CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE.ToString(), iReadData.Length, ref iReadData);

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Read Recipe ID : " + iReadData[( int )CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE].ToString());
                // 레시피 체크
                if (false == DoProcessRecipe(iReadData[( int )CDefine.enumPLCInputIndex.PLC_MODEL_CHANGE]))
                {
                    break;
                }

                //검사 위치 Read
                int iCurrentInspectionIndex = iReadData[( int )CDefine.enumPLCInputIndex.PLC_INSPECTION_INDEX] - 1;

                //읽어온 검사 위치가 설정 수 보다 큰 경우 Error 후 종료
                if (iCurrentInspectionIndex > objRecipeParameter.iCountInspectionPosition)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "INSPECTION POSITION OVER");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.INSPECTION_POSITION_OVER_RANGE;
                    break;
                }

                // 티치모드이면 저장되어있는 포지션을 바로 사용하자
                CConfig.CSystemParameter objSystemParameter = pDocument.m_objConfig.GetSystemParameter();
                if (true == objSystemParameter.bVidiTeachMode)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Teach Mode");
                    iCurrentInspectionIndex = pDocument.GetInspectionIndex();
                }

                if (0 > iCurrentInspectionIndex)
                {
                    iCurrentInspectionIndex = 0;
                }
                // 검사인덱스를 가지고 있고
                pDocument.SetInspectionIndex(iCurrentInspectionIndex);

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Inspection Index : " + (iCurrentInspectionIndex + 1).ToString());

                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Grab Start");
                // 그랩
                objStopwatch.Start();
                if (false == DoProcessTrigger(iCameraIndex))
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Grab Fail");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.GRAB_FAIL;

                    // Busy Off
                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_BUSY.ToString(), (short)CDefine.enumVisionStatus.STATUS_IDLE))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Vision_Status_Busy Off");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Vision_Status_Busy Off");
                    }

                    break;
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "Grab Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());

                // Busy Off
                if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_BUSY.ToString(), ( short )CDefine.enumVisionStatus.STATUS_IDLE))
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Vision_Status_Busy Off");
                }
                else
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Vision_Status_Busy Off");
                }

                // 이미지 만들기
                objStopwatch.Restart();
                CProcessVisionProcess150Gocator obj = m_objProcessVisionProcess150[iCameraIndex] as CProcessVisionProcess150Gocator;
                obj.SetCommand(CProcessVisionProcess150Gocator.enumCommand.CMD_PROCESS_IMAGE_DATA);

                // Busy Off
                int iTimeOut    = 25000;
                int iTimePeriod = 3;
                while (CProcessVisionProcess150Gocator.enumCommand.CMD_IDLE != obj.GetCommand() && iTimeOut > 0)
                {
                    iTimeOut -= iTimePeriod;
                    Thread.Sleep(iTimePeriod);
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "Image Data Process Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());
                if (0 >= iTimeOut)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Image Data Process  Time Out");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.PMS_IMAGE_SETTING_FAIL;
                    break;
                }

                if (CProcessVisionProcess150Gocator.enumStatus.STS_ERROR == obj.GetStatus())
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Image Data Process  NG");
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.PMS_IMAGE_SETTING_FAIL;
                    break;
                }
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Set Data Process");

                objStopwatch.Restart();

                //////////////////////////////////////////////////
                // 이미지 획득 완료 시 검사 진행
                objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                //Vidi Start
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Inspection Start");
                objStopwatch.Restart();
                obj.SetCommand(CProcessVisionProcess150Gocator.enumCommand.CMD_START_INSPECTION);
                iTimeOut    = 25000;
                iTimePeriod = 3;
                while (CProcessVisionProcess150Gocator.enumCommand.CMD_IDLE != obj.GetCommand() && iTimeOut > 0)
                {
                    iTimeOut -= iTimePeriod;
                    Thread.Sleep(iTimePeriod);
                }
                objStopwatch.Stop();
                CDocument.GetDocument.SetUpdateLog(CDefine.enumLogType.LOG_ETC, "Inspection Sequence TactTime : " + objStopwatch.ElapsedMilliseconds.ToString());

                if (0 >= iTimeOut)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Inspection Time Out");
                    objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                    objResult.objResultCommon.strCellID           = strCellID;
                    objResult.objResultCommon.eResult             = CDefine.enumResult.RESULT_NG;
                    objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    break;
                }
                if (CProcessVisionProcess150Gocator.enumStatus.STS_ERROR == obj.GetStatus())
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_PROCESS_CAMERA_0 + iCameraIndex), "Inspection Run NG");
                    objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                    objResult.objResultCommon.strCellID           = strCellID;
                    objResult.objResultCommon.eResult             = CDefine.enumResult.RESULT_NG;
                    objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;
                    iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    break;
                }

                // 여기서 결과 도출
                objResult = pDocument.GetInspectionResultAlign(iCurrentInspectionIndex);
                objResult.objResultCommon.strCellID = strCellID;


                // 최종결과는 양품으로 설정하고, 1개라도 NG가 나오면 NG로 바꾸자
                objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_OK;
                // 여기에 결과를 채우자, 일단은 1,0으로 채움
                // 1포지션에 검사결과가 5개씩 있다고 가정
                objResult.objResultCommon.iInspectionPosition = iCurrentInspectionIndex;

                short[] iResult = new short[objResult.objResultCommon.iVidiResultCount]; // ( int )CDefine.enumResultIndex.RESULT_FINAL ];
                for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.iVidiResultCount; iLoopCount++)
                {
                    // 일단 1보다 작으면 양품으로 테스트하자
                    if (objRecipeParameter.objInspectionParameter[iCurrentInspectionIndex].dVidiScore < objResult.objResultCommon.objVidiScore[iLoopCount])
                    {
                        objResult.objResultCommon.objVidiResult.Add(CDefine.enumResult.RESULT_OK);
                        iResult[iLoopCount] = 1;
                    }
                    else
                    {
                        objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_NG;
                        objResult.objResultCommon.objVidiResult.Add(CDefine.enumResult.RESULT_NG);
                        iAlarmCode = ( int )CDefine.enumVisionAlarmType.VIDI_INSPECTION_FAIL;
                    }
                    string strResult = string.Format("INDEX : {0}, VIDI_Score : {1:F2}, VIDI_Result : {2}", iLoopCount + 1, objResult.objResultCommon.objVidiScore[iLoopCount], CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objVidiResult[iLoopCount] ? "OK" : "NG");
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), strResult);
                }

                for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.iVidiResultCount; iLoopCount++)
                {
                    // 일단 1보다 작으면 양품으로 테스트하자
                    if (0 >= objResult.objResultCommon.obj3DListHeightOverBlobCountHigh[iLoopCount] && 0 >= objResult.objResultCommon.obj3DListHeightOverBlobCountLow[iLoopCount])
                    {
                        objResult.objResultCommon.objMeasureResult.Add(CDefine.enumResult.RESULT_OK);
                        iResult[iLoopCount] = 1;
                    }
                    else
                    {
                        objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_NG;
                        objResult.objResultCommon.objMeasureResult.Add(CDefine.enumResult.RESULT_NG);
                        iAlarmCode = ( int )CDefine.enumVisionAlarmType.HEIGHT_OVER;
                    }

                    string strResult = string.Format(",POSITION: {0}, REGION: {1}, HEIGHT_MAX_OVER_REGION_COUNT : {2}, HEIGHT_MIN_OVER_REGION_COUNT : {3}, HEIGHT_RESULT : {4}", iCurrentInspectionIndex + 1, iLoopCount + 1, objResult.objResultCommon.obj3DListHeightOverBlobCountHigh[iLoopCount], objResult.objResultCommon.obj3DListHeightOverBlobCountLow[iLoopCount], CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objMeasureResult[iLoopCount] ? "OK" : "NG");
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), strResult);
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_RESULT_MEASURE_3D_HEIGHT), strResult, false);
                }

                for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.iVidiResultCount; iLoopCount++)
                {
                    // 일단 1보다 작으면 양품으로 테스트하자
                    if (objRecipeParameter.objInspectionParameter[iCurrentInspectionIndex].d3DWeldWidthMax > objResult.objResultCommon.obj3DListWeldWidth[iLoopCount] && objRecipeParameter.objInspectionParameter[iCurrentInspectionIndex].d3DWeldWidthMin < objResult.objResultCommon.obj3DListWeldWidth[iLoopCount])
                    {
                        objResult.objResultCommon.objMeasureResult3DWidth.Add(CDefine.enumResult.RESULT_OK);
                        iResult[iLoopCount] = 1;
                    }
                    else
                    {
                        objResult.objResultCommon.eResult = CDefine.enumResult.RESULT_NG;
                        objResult.objResultCommon.objMeasureResult3DWidth.Add(CDefine.enumResult.RESULT_NG);
                        iAlarmCode = ( int )CDefine.enumVisionAlarmType.WELD_WIDTH_OVER;
                    }
                    string strResult = string.Format(",POSITION: {0}, REGION: {1} , WELD WIDTH : {2:F3}, WELD_WIDTH_RESULT : {3}", iCurrentInspectionIndex + 1, iLoopCount + 1, objResult.objResultCommon.obj3DListWeldWidth[iLoopCount], CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objMeasureResult3DWidth[iLoopCount] ? "OK" : "NG");
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), strResult);
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_RESULT_MEASURE_3D_WELD_WIDTH), strResult, false);
                }


                for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.iVidiResultCount; iLoopCount++)
                {
                    // 일단 1보다 작으면 양품으로 테스트하자
                    string strResult = string.Format(",POSITION : {0}, REGION : {1}, SAMPLE HEIGHT DATA, ", iCurrentInspectionIndex + 1, iLoopCount + 1);
                    for (int iLoopSample = 0; iLoopSample < objResult.objResultCommon.obj3DListSampleHeightData[iLoopCount].Count; iLoopSample++)
                    {
                        strResult += (string.Format("{0:F3},", objResult.objResultCommon.obj3DListSampleHeightData[iLoopCount][iLoopSample]));
                    }
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_MEASURE_3D_HEIGHT_SAMPLE), strResult, false);
                }

                //String strPLCAddressName = string.Format( "PC_INSPECTION_RESULT_{0}", iCurrentInspectionIndex * ( int )CDefine.enumResultIndex.RESULT_FINAL );
                //String strPLCAddressName = string.Format(CDefine.enumPCOutIndex.PC_INSPECTION_RESULT_1.ToString() );

                //if ( false == m_objPLC.HLWriteWordFromPLC( strPLCAddressName, iResult.Length, iResult ) )
                //    pDocument.SetUpdateLog( ( CDefine.enumLogType )( ( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex ), "[SEND_PLC RESULT][FAIL]"+ strPLCAddressName  );
                //else
                //    pDocument.SetUpdateLog( ( CDefine.enumLogType )( ( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex ), "[SEND_PLC RESULT]" + strPLCAddressName );



                bReturn = true;
            } while(false);
            bool bInspectResult = false;

            // 에러코드
            if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_ALARM_CODE.ToString(), ( short )iAlarmCode))
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]Set AlarmCode");
            }
            else
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]Set AlarmCode");
            }

            if (false == bReturn)
            {
                if (true == pDocument.m_objConfig.GetSystemParameter().bPassMode)
                {
                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "VISION PASS MODE");

                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "VISION PASS MODE : FINAL_RESULT_OK");
                    bInspectResult = true;
                }
                else
                {
                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_NG.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_NG On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_NG On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_NG");
                    bInspectResult = false;
                }
            }
            else
            {
                if (CDefine.enumResult.RESULT_OK == objResult.objResultCommon.eResult)
                {
                    if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                    }
                    else
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                    }

                    pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_OK");
                    bInspectResult = true;
                }
                else
                {
                    if (true == pDocument.m_objConfig.GetSystemParameter().bPassMode)
                    {
                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "VISION PASS MODE");

                        if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_OK.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_OK On");
                        }
                        else
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_OK On");
                        }

                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "VISION PASS MODE : FINAL_RESULT_OK");
                        bInspectResult = true;
                    }
                    else
                    {
                        if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_INSPECTION_NG.ToString(), ( short )CDefine.enumComplete.COMPLETE_ON))
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_INSPECTION_NG On");
                        }
                        else
                        {
                            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_INSPECTION_NG On");
                        }

                        pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_RESULT_STAGE_0 + iCameraIndex), "FINAL_RESULT_NG");
                        bInspectResult = false;
                    }
                }
            }
            pDocument.SetDisplayResult(pDocument.GetInspectionIndex(), bInspectResult);

            if (false == m_objPLC.HLWriteWordFromPLC(CDefine.enumPCOutIndex.PC_COMPLETE.ToString(), (short)CDefine.enumComplete.COMPLETE_ON))
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC][FAIL]PC_COMPLETE On");
            }
            else
            {
                pDocument.SetUpdateLog((CDefine.enumLogType)((int)CDefine.enumLogType.LOG_VISION_INTERFACE_CAMERA_0 + iCameraIndex), "[SEND_PLC]PC_COMPLETE On");
            }

            // 트리거 OFF
            pDocument.SetTrigger(( int )CDefine.enumCamera.CAMERA_1 + iCameraIndex, CDefine.enumTrigger.TRIGGER_OFF);

            objTact.Stop();

            CInspectionResult.CInspectionHistoryData objHistory = new CInspectionResult.CInspectionHistoryData();
            objHistory.strCellID = objResult.objResultCommon.strCellID;
            objHistory.iPosition = pDocument.GetInspectionIndex() + 1;
            objHistory.iTactTime = ( int )objTact.ElapsedMilliseconds;
            objHistory.strResult = CDefine.enumResult.RESULT_OK == objResult.objResultCommon.eResult ? "OK" : "NG";
            objHistory.strNgType = ((CDefine.enumVisionAlarmType)iAlarmCode).ToString();

            for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.objVidiScore.Count; iLoopCount++)
            {
                objHistory.dVidiScore[iLoopCount] = objResult.objResultCommon.objVidiScore[iLoopCount];
                if (iLoopCount < objResult.objResultCommon.objVidiResult.Count)
                {
                    objHistory.strVidiResult[iLoopCount] = CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objVidiResult[iLoopCount] ? "OK" : "NG";
                }
                else
                {
                    objHistory.strVidiResult[iLoopCount] = "NG";
                }
            }


            for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.objVidiScore.Count; iLoopCount++)
            {
                if (iLoopCount < objResult.objResultCommon.objMeasureResult.Count)
                {
                    objHistory.str3dHeightResult[iLoopCount] = CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objMeasureResult[iLoopCount] ? "OK" : "NG";
                }
                else
                {
                    objHistory.str3dHeightResult[iLoopCount] = "NG";
                }
            }

            //double dResolution = CDocument.GetDocument.m_objConfig.GetCameraParameter( ( int )CDefine.enumCamera.CAMERA_1 ).dResolution;
            for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.objVidiScore.Count; iLoopCount++)
            {
                if (iLoopCount >= objResult.objResultCommon.obj3DListWeldWidth.Count)
                {
                    objHistory.dMeasureWidth[iLoopCount]  = 0;
                    objHistory.dMeasureHeight[iLoopCount] = 0;
                }
                else
                {
                    objHistory.dMeasureWidth[iLoopCount] = objResult.objResultCommon.obj3DListWeldWidth[iLoopCount];
                }
                if (iLoopCount < objResult.objResultCommon.objMeasureResult3DWidth.Count)
                {
                    objHistory.strMeasureResult[iLoopCount] = CDefine.enumResult.RESULT_OK == objResult.objResultCommon.objMeasureResult3DWidth[iLoopCount] ? "OK" : "NG";
                }
                else
                {
                    objHistory.strMeasureResult[iLoopCount] = "NG";
                }
            }

            // 높이 샘플데이터
            for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.objVidiScore.Count; iLoopCount++)
            {
                if (iLoopCount >= objResult.objResultCommon.obj3DListSampleHeightData[iLoopCount].Count)
                {
                    objHistory.dMeasureHeight[iLoopCount] = 0;
                }
                else
                {
                    objHistory.dMeasureHeight[iLoopCount] = objResult.objResultCommon.obj3DListSampleHeightData[iLoopCount].Max();
                }
            }

            for (int iLoopCount = 0; iLoopCount < objResult.objResultCommon.objVidiScore.Count; iLoopCount++)
            {
                if (iLoopCount < objResult.objResultCommon.objMeasureResult.Count)
                {
                    objHistory.dMeasureStartX[iLoopCount] = objResult.objResultCommon.objMeasureLine[iLoopCount].dStartX;
                    objHistory.dMeasureStartY[iLoopCount] = objResult.objResultCommon.objMeasureLine[iLoopCount].dStartY;
                    objHistory.dMeasureEndX[iLoopCount]   = objResult.objResultCommon.objMeasureLine[iLoopCount].dEndX;
                    objHistory.dMeasureEndY[iLoopCount]   = objResult.objResultCommon.objMeasureLine[iLoopCount].dEndY;
                }
            }

            objHistory.iMeasureLineFindCount = objResult.objResultCommon.objMeasureLine.Count;
            objHistory.dPatternPositionX     = objResult.objResultCommon.dPatternPositionX;
            objHistory.dPatternPositionY     = objResult.objResultCommon.dPatternPositionY;

            objResult.strSaveImagePath = pDocument.m_objConfig.GetSystemParameter().strImageSavePath;

            if ("" == objResult.objResultCommon.strCellID)
            {
                objResult.objResultCommon.strCellID = System.DateTime.Now.ToString("HH.mm.ss");
                objHistory.strCellID = objResult.objResultCommon.strCellID;
            }

            string strToday     = string.Format("{0:D4}-{1:D2}-{2:D2}", DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day);
            string strPosition  = "Position_" + (objResult.objResultCommon.iInspectionPosition + 1).ToString();
            string strImagePath = objResult.strSaveImagePath + "\\" + strToday + "\\" + objResult.objResultCommon.eResult.ToString() + "\\" + objResult.objResultCommon.strCellID + "\\" + strPosition + "\\";

            objHistory.strImagePath = strImagePath;
            // 데이터베이스 레포트 업데이트
            pDocument.m_objProcessDatabase.m_objDatabaseSendMessage.SetInsertHistoryAlign(objHistory);



            objTact.Stop();
            objResult.objResultCommon.strTactTime = objTact.ElapsedMilliseconds.ToString();
            //  pDocument.SetUpdateDisplayPMS( pDocument.GetInspectionIndex(), ( int )CFormMainProcess150.enumDisplayIndex.PMS );

            //// 이미지 저장경로 넣기
            objResult.strSaveImagePath = pDocument.m_objConfig.GetSystemParameter().strImageSavePath;
            pDocument.SetInspectionResultAlign(pDocument.GetInspectionIndex(), (CInspectionResult.CResult)objResult.Clone());

            // 여기서 결과 디스플레이를 뿌리자
            for (int iLoopCount = 0; iLoopCount < CDefine.DEF_MAX_COUNT_CROP_REGION; iLoopCount++)
            {
                pDocument.SetUpdateDisplayResultVIDI(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150Gocator.enumDisplayIndex.VIDI_1 + iLoopCount);
            }
            //
            // 여기서 결과 디스플레이를 뿌리자
            for (int iLoopCount = 0; iLoopCount < CDefine.DEF_MAX_COUNT_CROP_REGION; iLoopCount++)
            {
                pDocument.SetUpdateDisplayResultMeasure(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150Gocator.enumDisplayIndex.MEASURE_1 + iLoopCount);
            }
            pDocument.SetUpdateDisplay3D(pDocument.GetInspectionIndex(), ( int )CFormMainProcess150Gocator.enumDisplayIndex.IMAGE);
            // 이미지 저장
            Save3DData((CInspectionResult.CResult)objResult.Clone());
            // 배면 결과만 뿌리기
            pDocument.SetDisplayResultMonitor(pDocument.GetInspectionIndex());
            // 택타임 측정
            pDocument.SetUpdateLog((CDefine.enumLogType)(( int )CDefine.enumLogType.LOG_VISION_TACT_TIME_CAMERA_0 + iCameraIndex), objTact.ElapsedMilliseconds.ToString() + "ms");

            return(bReturn);
        }