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chi
2025-06-30 13:48:19 +09:00
parent 02e71d7446
commit 00dd50192b
29 changed files with 2397 additions and 1136 deletions
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45
Cs_HMI/Project/StateMachine/_AGV.cs
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@@ -41,31 +41,7 @@ namespace Project
{
try
{
if (PUB.mapctl != null)
{
var rlt = AGVControl.MapControlManager.PredictNextAction();
if (rlt.ReasonCode == AGVControl.AGVActionReasonCode.busy)
{
//var premsg = $"이전 예측작업이 완료되지 않았습니다";
//PUB.log.AddE(premsg);
//PUB.log.AddE(premsg);
//Console.WriteLine(premsg);
//predicterr += 1;
//if (predicterr > 10)
//{
// var premsg = $"행동예측 오류카운트 초과";
// PUB.AGV.AGVMoveStop(premsg);
// PUB.log.AddE(premsg);
// PUB.logagv.AddE(premsg);
// Console.WriteLine(premsg);
//}
}
}
//데이터 파싱
switch (e.DataType)
{
case arDev.Narumi.DataType.STS:
@@ -83,12 +59,12 @@ namespace Project
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
AGVControl.MapControlManager.agv.CurrentMOTDirection = AGVControl.Models.Direction.Backward;
PUB.mapctl.Manager.agv.CurrentMOTDirection = AGVControl.Direction.Backward;
else
AGVControl.MapControlManager.agv.CurrentMOTDirection = AGVControl.Models.Direction.Forward;
PUB.mapctl.Manager.agv.CurrentMOTDirection = AGVControl.Direction.Forward;
AGVControl.MapControlManager.agv.IsMoving = PUB.AGV.system1.agv_run;
AGVControl.MapControlManager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
if (PUB.AGV.signal.mark_sensor == false)
{
@@ -201,10 +177,8 @@ namespace Project
else
{
//위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
}
////자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
//if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
// PUB.Result.CurrentPos == PUB.Result.TargetPos &&
@@ -237,12 +211,19 @@ namespace Project
break;
}
//이 후 상황을 예측한다
if (PUB.mapctl != null)
{
var rlt = PUB.mapctl.Manager.PredictNextAction();
if (rlt.Changed)
Console.WriteLine($"[new] predict idx:{rlt.Idx}");
}
}
catch (Exception ex)
{
Console.WriteLine($"[AGV_DataReceive] {ex.Message}");
}
}
}
}