..

HMI/SubProject/AGV/Command.cs

@@ -65,8 +65,17 @@ namespace arDev
         Timeout,
         
     }
+    public enum eNarmiPBSSensor : byte
+    {
+        notset=0,
+        on = 1,
+        off = 2
+    }
+
     public partial class Narumi
     {
+        public eNarmiPBSSensor PBSSensor = eNarmiPBSSensor.notset;
+
         public NarumiTurnInfo TurnInformation { get; set; } = null;
         Dictionary<string, NarumiCommandTime> SendCommandFailList { get; set; } = new Dictionary<string, NarumiCommandTime>();
 
@@ -374,8 +383,17 @@ namespace arDev
 
 
                 case eAgvCmd.MoveSet:
-                    cmdString = $"CBR{param}";
+                    cmdString = $"CBR{param}";                    
                     retval = AddCommand(cmdString);
+                    if(retval == eNarumiCommandResult.Success)
+                    {
+                        if (param.Length > 3)
+                        {
+                            var pbschar = param[3];//.Substring(3, 1);
+                            if (pbschar == '2') PBSSensor = eNarmiPBSSensor.on;
+                            else PBSSensor = eNarmiPBSSensor.off;
+                        }
+                    }
                     break;
                 case eAgvCmd.ManualMove:
                     system1.agv_run_manual = true;