..

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -206,7 +206,7 @@ namespace Project
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Backward,
-                    PBSSensor = 0,
+                    PBSSensor = 0,  //라이다를끈다
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
 

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -11,6 +11,7 @@ namespace Project
 {
     public partial class fMain
     {
+        bool SpeedSetRetry = false;
         public Boolean _SM_RUN_BUFFER_OUT(bool isFirst, TimeSpan seqtime)
         {
             var funcname = "_SM_RUN_BUFFER_OUT";
@@ -35,6 +36,7 @@ namespace Project
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 버퍼진출시작({PUB.NextWorkCmd}) Turn:{PUB._virtualAGV.Turn}");
                 PUB.Speak(Lang.진출을시작합니다);
                 PUB.sm.UpdateRunStepSeq();
+                SpeedSetRetry = false;
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
@@ -83,6 +85,11 @@ namespace Project
                 if (PUB.AGV.signal1.mark_sensor == false)
                 {
                     //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,
@@ -93,10 +100,11 @@ namespace Project
                     //명령이 실패되었다면 재시도를 한다
                     if (ret != arDev.eNarumiCommandResult.Success)
                     {
-                        if (ret >= arDev.eNarumiCommandResult.Error)
+                        if (SpeedSetRetry == true || ret >= arDev.eNarumiCommandResult.Error)
                         {
                             SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
                         }
+                        else SpeedSetRetry = true;
                         return false;
                     }
 
@@ -256,6 +264,19 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] BufferOut Complete");
+
+                //라이더를 켜기위해서 기본 값을 설정한다.
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 2,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+
+                if (ret != arDev.eNarumiCommandResult.Success)
+                    PUB.log.AddE($"진출완료 후 라이더ON명령이 실패되었습니다(AGVMoveSet)");
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -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.log.Add($"[GOTO] Step {idx - 1}: UpdateMotionPositionForMark Completed. Stopping AGV.");
-                    PUB.AGV.AGVMoveStop(funcName);
+                    PUB.AGV.AGVMoveStop(funcname);
                     PUB.sm.UpdateRunStepSeq();
                 }
                 return false;
@@ -69,7 +106,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                PUB.log.Add($"[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();

HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

@@ -27,7 +27,7 @@ namespace Project
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
                         Direction = arDev.Narumi.eMoveDir.Forward,
-                        PBSSensor = 1,
+                        PBSSensor = 2,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
                     if(ret == arDev.eNarumiCommandResult.Success)

HMI/Project/StateMachine/Step/_Util.cs

@@ -270,14 +270,14 @@ namespace Project
                             PUB.log.Add($"다음행동예측에서 장비 멈춤이 확인되었습니다({nextAction.Reason})");
                             PUB.AGV.AGVMoveStop(nextAction.Message);
                             // 정지 타이머 갱신 (연속 정지 방지)
-                            VAR.TIME.Update(eVarTime.LastStopCommandTime);  
+                            VAR.TIME.Update(eVarTime.LastStopCommandTime);
 
                             // 일반 타이머도 갱신 (정지 직후 불필요한 이동 방지)
                             LastCommandTime = DateTime.Now;
                         }
                     }
 
-                 
+
 
                 }
 
@@ -357,7 +357,8 @@ namespace Project
                 // 현재 상태와 다를 때만 전송 (불필요한 통신 부하 방지)
                 if (PUB.AGV.data.Sts != bunki.ToString()[0] ||
                     PUB.AGV.data.Direction != dir.ToString()[0] ||
-                    PUB.AGV.data.Speed != spd.ToString()[0])
+                    PUB.AGV.data.Speed != spd.ToString()[0] ||
+                    PUB.AGV.PBSSensor != arDev.eNarmiPBSSensor.on)
                 {
                     // 2초 쿨타임 적용
                     var tsCmd = DateTime.Now - LastCommandTime;
@@ -367,7 +368,7 @@ namespace Project
                         {
                             Bunki = bunki,
                             Direction = dir,
-                            PBSSensor = 1,
+                            PBSSensor = 2,
                             Speed = spd,
                         });
 
@@ -380,8 +381,8 @@ namespace Project
                     }
                 }
 
-                // AGV가 정지 상태라면 구동 시작
+                // AGV가 정지 상태라면 구동 시작 (라이다가켜져있을때에만 사용한다)
-                if (PUB.AGV.system1.agv_run == false)
+                if (PUB.AGV.system1.agv_run == false && PUB.AGV.PBSSensor ==  arDev.eNarmiPBSSensor.on)
                 {
                     // 2초 쿨타임 적용 (AGVMoveSet과 동일한 타이머 사용)
                     var tsCmd = DateTime.Now - LastCommandTime;
@@ -417,7 +418,7 @@ namespace Project
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
                         Direction = arDev.Narumi.eMoveDir.Forward,
-                        PBSSensor = 1,
+                        PBSSensor = 2,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
                     if (ret == arDev.eNarumiCommandResult.Success)
@@ -449,7 +450,7 @@ namespace Project
                         {
                             Bunki = arDev.Narumi.eBunki.Strate,
                             Direction = arDev.Narumi.eMoveDir.Backward,
-                            PBSSensor = 1,
+                            PBSSensor = 2,
                             Speed = arDev.Narumi.eMoveSpd.Low,
                         });
                         if (ret == arDev.eNarumiCommandResult.Success)

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;