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Dev/OHV/VehicleControlSystem/ControlLayer/IO/EzIO.cs

@@ -453,10 +453,7 @@ namespace VehicleControlSystem.ControlLayer.IO
                             if (EziMOTIONPlusELib.FAS_GetAllStatus(board.BoardID, ref axisDIn, ref axisDOut, ref axisStatus,
                                 ref cmdPos, ref actPos, ref posErr, ref actVel, ref posItemNo) == EziMOTIONPlusELib.FMM_OK)
                             {
-
-                                if ( this._inPutIOList.Where( x => x.BoardNo == board.BoardID ).Count() <= 0 ) break;
-
-                                var input = this._inPutIOList.Where( x => x.BoardNo == board.BoardID ).DefaultIfEmpty().ToList();
+                                var input = this._inPutIOList.Where( x => x.BoardNo == board.BoardID ).ToList();
                                 input.ForEach(i =>
                                {
                                    var isOn = Convert.ToBoolean(axisDIn & this.servoAmpInputBitOnMask[i.Index]) ? true : false;
@@ -464,7 +461,7 @@ namespace VehicleControlSystem.ControlLayer.IO
                                    i.IsBitOn = isOn;
                                });
 
-                                var output = this._outPutIOList.Where(x => x.BoardNo == board.BoardID).DefaultIfEmpty().ToList();
+                                var output = this._outPutIOList.Where(x => x.BoardNo == board.BoardID).ToList();
                                 output.ForEach(o =>
                                {
                                    var isOn = Convert.ToBoolean(axisDOut & this.servoAmpOutputBitMask[o.Index]) ? true : false;
@@ -482,7 +479,7 @@ namespace VehicleControlSystem.ControlLayer.IO
                             result = EziMOTIONPlusELib.FAS_GetInput(board.BoardID, ref inValue, ref latchValue);
                             if (result == EziMOTIONPlusELib.FMM_OK)
                             {
-                                var input = this._inPutIOList.Where(x => x.BoardNo == board.BoardID).DefaultIfEmpty().ToList();
+                                var input = this._inPutIOList.Where(x => x.BoardNo == board.BoardID).ToList();
                                 input.ForEach(i =>
                                {
                                    var isOn = Convert.ToBoolean(inValue & this.bitOnMask[i.Index]) ? true : false;
@@ -502,7 +499,7 @@ namespace VehicleControlSystem.ControlLayer.IO
                             result = EziMOTIONPlusELib.FAS_GetOutput(board.BoardID, ref outValue, ref outStatus);
                             if (result == EziMOTIONPlusELib.FMM_OK)
                             {
-                                var output = this._outPutIOList.Where(x => x.BoardNo == board.BoardID).DefaultIfEmpty().ToList();
+                                var output = this._outPutIOList.Where(x => x.BoardNo == board.BoardID).ToList();
                                 output.ForEach(o =>
                                {
                                    var isOn = Convert.ToBoolean(outValue & this.bitOnMask[o.Index]) ? true : false;