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경로역방향 발생시 프로그램 통신 죽는 현상 수정

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This commit is contained in:
chi
2025-06-26 15:34:46 +09:00
parent f1aeeeba12
commit 02e71d7446
8 changed files with 655 additions and 588 deletions
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34
Cs_HMI/Project/StateMachine/_AGV.cs
View File

@@ -41,10 +41,30 @@ namespace Project
{
try
{
if (PUB.mapctl != null)
PUB.mapctl.PredictNextAction();
{
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);
//}
}
}
switch (e.DataType)
{
@@ -63,12 +83,12 @@ namespace Project
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Backward;
AGVControl.MapControlManager.agv.CurrentMOTDirection = AGVControl.Models.Direction.Backward;
else
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Forward;
AGVControl.MapControlManager.agv.CurrentMOTDirection = AGVControl.Models.Direction.Forward;
PUB.mapctl.agv.IsMoving = PUB.AGV.system1.agv_run;
PUB.mapctl.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
AGVControl.MapControlManager.agv.IsMoving = PUB.AGV.system1.agv_run;
AGVControl.MapControlManager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
if (PUB.AGV.signal.mark_sensor == false)
{

6
Cs_HMI/Project/StateMachine/_BMS.cs
View File

@@ -158,9 +158,9 @@ namespace Project
private void Bms_BMSDataReceive(object sender, EventArgs e)
{
PUB.mapctl.agv.BatteryLevel = PUB.BMS.Current_Level;
PUB.mapctl.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
PUB.mapctl.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
AGVControl.MapControlManager.agv.BatteryLevel = PUB.BMS.Current_Level;
AGVControl.MapControlManager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
AGVControl.MapControlManager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
if (PUB.BMS.Current_Level <= PUB.setting.ChargeStartLevel)
{
//배터리 레벨이 기준보다 낮다면 경고를 활성화 한다

2
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -60,7 +60,7 @@ namespace Project
case ENIGProtocol.AGVCommands.Goto: //move to tag
if (uint.TryParse(dataStr, out uint tagno2))
{
var currPos = PUB.mapctl.agv.CurrentRFID;///.AGVMoveToRFID(;
var currPos = AGVControl.MapControlManager.agv.CurrentRFID;///.AGVMoveToRFID(;
if (PUB.mapctl.SetTargetPosition(tagno2))
PUB.log.AddI($"New Target {tagno2}");
else