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backuppc
2026-01-30 17:29:54 +09:00
parent faf13f5c37
commit 02105d49a3
6 changed files with 98 additions and 21 deletions
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55
HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs
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@@ -13,14 +13,14 @@ namespace Project
{
byte GotoTurnStep = 0;
DateTime GotoTurnSetTime = DateTime.Now;
public Boolean _SM_RUN_GOTO(bool isFirst, TimeSpan stepTime)
public Boolean _SM_RUN_GOTO(bool isFirst, TimeSpan seqtime)
{
///명령어 재전송 간격(기본 2초)
var CommandInterval = 2;
var funcName = "_SM_RUN_GOTO";
var funcname = "_SM_RUN_GOTO";
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHARGE_GOFF(isFirst, stepTime) == false)
if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false)
return false;
//최초시작이라면 시간변수 초기화
@@ -39,29 +39,66 @@ namespace Project
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
return false;
}
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
if(PUB._virtualAGV.TargetNode == null)
SpeedSetRetry = false;
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
////빈 상태로 아웃해야한다.
//if (SpeedSetRetry)
//{
// if (seqtime.TotalSeconds < 2)
// return false;
//}
//var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
//{
// Bunki = arDev.Narumi.eBunki.Strate,
// Direction = arDev.Narumi.eMoveDir.Forward,
// PBSSensor = 2,
// Speed = arDev.Narumi.eMoveSpd.Low,
//});
////명령이 실패되었다면 재시도를 한다
//if (ret != arDev.eNarumiCommandResult.Success)
//{
// if (SpeedSetRetry == true || ret >= arDev.eNarumiCommandResult.Error)
// {
// SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
// }
// else SpeedSetRetry = true;
// return false;
//}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
if (PUB._virtualAGV.TargetNode == null)
{
PUB.log.Add($"대상노드가 없어 이동을할 수 없습니다");
PUB.sm.SetNewRunStep(ERunStep.READY);
return false;
}
PUB.log.Add($"[GOTO] Step {idx-1}: TargetNode Checked ({PUB._virtualAGV.TargetNode.ID2})");
PUB.log.Add($"[GOTO] Step {idx - 1}: TargetNode Checked ({PUB._virtualAGV.TargetNode.ID2})");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//모션 전후진 제어
if (UpdateMotionPositionForMark(funcName))
if (UpdateMotionPositionForMark(funcname))
{
PUB.log.Add($"[GOTO] Step {idx-1}: UpdateMotionPositionForMark Completed. Stopping AGV.");
PUB.AGV.AGVMoveStop(funcName);
PUB.log.Add($"[GOTO] Step {idx - 1}: UpdateMotionPositionForMark Completed. Stopping AGV.");
PUB.AGV.AGVMoveStop(funcname);
PUB.sm.UpdateRunStepSeq();
}
return false;
@@ -69,7 +106,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
PUB.log.Add($"[GOTO] Step {idx-1}: Movement Finished. Waiting for full stop.");
PUB.log.Add($"[GOTO] Step {idx - 1}: Movement Finished. Waiting for full stop.");
PUB.Speak(Lang.이동완료, true);
PUB.AddEEDB($"이동완료({PUB._virtualAGV.TargetNode.ID2})");
PUB.sm.UpdateRunStepSeq();