..

2026-02-27 11:27:30 +09:00
parent 71b8a589c6
commit 03a53d49bf
14 changed files with 234 additions and 153 deletions
--- a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
+++ b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
@@ -106,6 +106,7 @@ namespace AGVNavigationCore.Controls
            }
            DrawSystemMessage(g);
            DrawAlertMessage(g);
+            DrawTagIgnoreMessage(g);

        }

@@ -313,6 +314,61 @@ namespace AGVNavigationCore.Controls
                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
            }

+        }
+        void DrawTagIgnoreMessage(Graphics g)
+        {
+            if (!showtagigreno || String.IsNullOrEmpty(this._tagignoreMessage)) return;
+            var ts = DateTime.Now - tagignoretime;
+            if (ts.TotalSeconds > 5) return;
+
+            // 상단 중앙에 반투명 빨간색 배경 바 표시
+            int barHeight = 40;
+            int barWidth = Math.Min(600, this.Width - 40); // 최대 600px, 좌우 여백 20px
+            int barX = (this.Width - barWidth) / 2;
+            int barY = this.Height - barHeight-20;
+
+            // 둥근 사각형 배경
+            using (var path = new GraphicsPath())
+            {
+                int radius = 10;
+                path.AddArc(barX, barY, radius * 2, radius * 2, 180, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY, radius * 2, radius * 2, 270, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY + barHeight - radius * 2, radius * 2, radius * 2, 0, 90);
+                path.AddArc(barX, barY + barHeight - radius * 2, radius * 2, radius * 2, 90, 90);
+                path.CloseFigure();
+
+                using (var brush = new SolidBrush(Color.FromArgb(255, Color.Violet)))
+                {
+                    g.FillPath(brush, path);
+                }
+
+                using (var pen = new Pen(Color.FromArgb(255, 255, 255), 2))
+                {
+                    g.DrawPath(pen, path);
+                }
+            }
+
+            // 텍스트 깜박임 효과 (배경은 유지하고 텍스트만 깜박임)
+
+            using (var font = new Font("Malgun Gothic", 12, FontStyle.Bold))
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                var textSize = g.MeasureString(_tagignoreMessage, font);
+                g.DrawString(_tagignoreMessage, font, brush,
+                    barX + (barWidth - textSize.Width) / 2,
+                    barY + (barHeight - textSize.Height) / 2);
+            }
+
+            // 경고 아이콘 그리기 (왼쪽)
+            // 간단한 느낌표 아이콘
+            int iconX = barX + 15;
+            int iconY = barY + barHeight / 2;
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                g.FillEllipse(brush, iconX - 2, iconY - 8, 4, 16); // body
+                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
+            }
+
        }
        private void DrawSyncScreen(Graphics g)
        {
--- a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
+++ b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
@@ -140,9 +140,17 @@ namespace AGVNavigationCore.Controls

        string _systemmesage = "";
        string _infomessage = "";
+        string _tagignoreMessage = "";
        bool showalertsystem = false;
        bool showinfo = false;
-
+        bool showtagigreno = false;
+        DateTime tagignoretime = DateTime.Now;
+        public void SetTagIgnore(string m)
+        {
+            _tagignoreMessage = m;
+            tagignoretime = DateTime.Now;
+            showtagigreno = !string.IsNullOrEmpty(m);
+        }
        public void SetInfoMessage(string m)
        {
            _infomessage = m;
--- a/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
+++ b/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
@@ -503,6 +503,11 @@ namespace AGVNavigationCore.PathFinding.Planning
            retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
            retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3T", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });

+            //일반노드도 일부 경로를 계산한다.
+            // 일반노드 3 -> 
+
+            // 일반노드 7 ->
+
            return retval;
        }
        /// <summary>
@@ -568,6 +573,14 @@ namespace AGVNavigationCore.PathFinding.Planning
            IEnumerable<MapZonePathData> candidates;
            // 목적지가 현재 위치와 동일한 경우 처리

+            //시작이 일반노드라면 , 경로가 등록된 주변 노드로 이동해서 이후경로를 계산하자
+            //일반노드용 기준은 7,3이있다. 
+            //11번은 7로 이동해서 경로를 계산한다.
+            //10,6번은 7로 이동해서 경로를 계산한다. 
+            //대상노드까지 CalculateScriptedPath를 재귀로 호출해서 계산을 완료한 후, 대상에서 목적지계산해서 전체 경로를 만들어낸다.
+
+
+

            // 시작Zone과 목표Zone이 다른 경우에만 하드코딩된 zonepath 검색
            if (startZone != targetZone)
--- a/AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj
+++ b/AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj
@@ -22,6 +22,7 @@
    <DefineConstants>DEBUG;TRACE</DefineConstants>
    <ErrorReport>prompt</ErrorReport>
    <WarningLevel>4</WarningLevel>
+    <PlatformTarget>AnyCPU</PlatformTarget>
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
    <DebugType>pdbonly</DebugType>
--- a/HMI/Project/Dialog/fACSCommand.cs
+++ b/HMI/Project/Dialog/fACSCommand.cs
@@ -22,12 +22,12 @@ namespace Project.Dialog
            if (btn == null) return;

            var targetAlias = btn.Text.Trim();
-            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == targetAlias);
+            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.ToUpper() == targetAlias.ToUpper());

            if (targetNode == null)
            {
                // Fallback for Buffer names which might have spaces
-                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.Replace(" ", "") == targetAlias.Replace(" ", ""));
+                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.ToUpper().Replace(" ", "") == targetAlias.ToUpper().Replace(" ", ""));
            }

            if (targetNode == null)
--- a/HMI/Project/StateMachine/Step/_Util.cs
+++ b/HMI/Project/StateMachine/Step/_Util.cs
@@ -57,7 +57,7 @@ namespace Project

            // Core Logic으로 이관됨
            var pathFinder = new AGVPathfinder(nodes);
-            var result = pathFinder.CalculatePath(startNode, targetNode, prevNode, prevDir);
+            var result = pathFinder.CalculateScriptedPath(startNode, targetNode, prevNode, prevDir);

            //게이트웨이노드를 하이라이트강조 한단
            _simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
--- a/HMI/Project/StateMachine/_AGV.cs
+++ b/HMI/Project/StateMachine/_AGV.cs
@@ -107,6 +107,11 @@ namespace Project
            }
            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Send)
                PUB.logagv.Add("AGV-TX", e.Message);
+            else if(e.MsgType == arDev.NarumiSerialComm.MessageType.TagIgnore)
+            {
+                PUB._mapCanvas.SetTagIgnore(e.Message);
+                PUB.logagv.Add(e.MsgType.ToString(), e.Message);
+            }
            else
            {
                PUB.logagv.Add(e.MsgType.ToString(), e.Message);
--- a/HMI/Project/fMain.Designer.cs
+++ b/HMI/Project/fMain.Designer.cs
@@ -120,6 +120,8 @@ namespace Project
            this.toolStripMenuItem5 = new System.Windows.Forms.ToolStripMenuItem();
            this.refreshListToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.gotoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.buffer2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.pandBottomDIO = new System.Windows.Forms.Panel();
            this.panel9 = new System.Windows.Forms.Panel();
@@ -128,8 +130,6 @@ namespace Project
            this.panDlg = new System.Windows.Forms.Panel();
            this.arPanel2 = new arCtl.arPanel();
            this.arPanel1 = new arCtl.arPanel();
-            this.gotoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.buffer2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.panRight.SuspendLayout();
            this.tableLayoutPanel1.SuspendLayout();
            this.panel4.SuspendLayout();
@@ -1679,7 +1679,7 @@ namespace Project
            this.xbeeSettingToolStripMenuItem,
            this.gotoToolStripMenuItem});
            this.cmDebug.Name = "cmVision";
-            this.cmDebug.Size = new System.Drawing.Size(229, 390);
+            this.cmDebug.Size = new System.Drawing.Size(229, 368);
            // 
            // mapFileToolStripMenuItem
            // 
@@ -1737,6 +1737,21 @@ namespace Project
            this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
            this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
            // 
+            // gotoToolStripMenuItem
+            // 
+            this.gotoToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.buffer2ToolStripMenuItem});
+            this.gotoToolStripMenuItem.Name = "gotoToolStripMenuItem";
+            this.gotoToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
+            this.gotoToolStripMenuItem.Text = "Goto";
+            // 
+            // buffer2ToolStripMenuItem
+            // 
+            this.buffer2ToolStripMenuItem.Name = "buffer2ToolStripMenuItem";
+            this.buffer2ToolStripMenuItem.Size = new System.Drawing.Size(113, 22);
+            this.buffer2ToolStripMenuItem.Text = "Buffer2";
+            this.buffer2ToolStripMenuItem.Click += new System.EventHandler(this.buffer2ToolStripMenuItem_Click);
+            // 
            // debugtestToolStripMenuItem
            // 
            this.debugtestToolStripMenuItem.Name = "debugtestToolStripMenuItem";
@@ -1803,7 +1818,7 @@ namespace Project
            this.IOState.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(200)))), ((int)(((byte)(200)))), ((int)(((byte)(200)))));
            this.IOState.ForeColorPin = System.Drawing.Color.WhiteSmoke;
            this.IOState.Location = new System.Drawing.Point(0, 0);
-            this.IOState.MatrixSize = new System.Drawing.Point(12, 1);
+            this.IOState.MatrixSize = new System.Drawing.Point(11, 1);
            this.IOState.MenuBorderSize = 1;
            this.IOState.MenuGap = 5;
            this.IOState.MinimumSize = new System.Drawing.Size(100, 0);
@@ -1846,8 +1861,7 @@ namespace Project
        ((ushort)(7)),
        ((ushort)(8)),
        ((ushort)(8)),
-        ((ushort)(8)),
-        ((ushort)(0))};
+        ((ushort)(8))};
            this.IOState.ItemClick += new System.EventHandler<arFrame.Control.GridView.ItemClickEventArgs>(this.IOState_ItemClick_1);
            // 
            // SSInfo
@@ -1981,21 +1995,6 @@ namespace Project
            this.arPanel1.TextShadow = false;
            this.arPanel1.UseProgressBar = false;
            // 
-            // gotoToolStripMenuItem
-            // 
-            this.gotoToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.buffer2ToolStripMenuItem});
-            this.gotoToolStripMenuItem.Name = "gotoToolStripMenuItem";
-            this.gotoToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
-            this.gotoToolStripMenuItem.Text = "Goto";
-            // 
-            // buffer2ToolStripMenuItem
-            // 
-            this.buffer2ToolStripMenuItem.Name = "buffer2ToolStripMenuItem";
-            this.buffer2ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
-            this.buffer2ToolStripMenuItem.Text = "Buffer2";
-            this.buffer2ToolStripMenuItem.Click += new System.EventHandler(this.buffer2ToolStripMenuItem_Click);
-            // 
            // fMain
            // 
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
--- a/HMI/Project/fMain.resx
+++ b/HMI/Project/fMain.resx
@@ -126,163 +126,160 @@
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--- a/HMI/SubProject/AGV/Narumi.cs
+++ b/HMI/SubProject/AGV/Narumi.cs
@@ -355,7 +355,7 @@ namespace arDev
                    if (TurnInformation != null && TurnInformation.IsTurning)
                    {
                        //턴진행중에 들어온 태그는 무시하자 260226
-                        RaiseMessage(MessageType.Normal, $"Tag Ignore by Turn (Tag:{tagnostr})");
+                        RaiseMessage(MessageType.TagIgnore, $"Tag Ignore by Turn (Tag:{tagnostr})");
                    }
                    else
                    {
--- a/HMI/SubProject/AGV/NarumiSerialComm.cs
+++ b/HMI/SubProject/AGV/NarumiSerialComm.cs
@@ -485,6 +485,7 @@ namespace arDev
            Error,
            Send,
            Recv,
+            TagIgnore,
        }

        public class MessageEventArgs : EventArgs
--- a/HMI/SubProject/CommData/CommData.csproj
+++ b/HMI/SubProject/CommData/CommData.csproj
@@ -23,6 +23,7 @@
    <ErrorReport>prompt</ErrorReport>
    <WarningLevel>4</WarningLevel>
    <Prefer32Bit>false</Prefer32Bit>
+    <PlatformTarget>x86</PlatformTarget>
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
    <DebugType>pdbonly</DebugType>
--- a/HMI/TestProject/Test_ACS/Test_ACS.csproj
+++ b/HMI/TestProject/Test_ACS/Test_ACS.csproj
@@ -14,7 +14,7 @@
    <TargetFrameworkProfile />
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x86</PlatformTarget>
    <DebugSymbols>true</DebugSymbols>
    <DebugType>full</DebugType>
    <Optimize>false</Optimize>
--- a/HMI/TestProject/Test_Port/Test_Port.csproj
+++ b/HMI/TestProject/Test_Port/Test_Port.csproj
@@ -14,7 +14,7 @@
    <Deterministic>true</Deterministic>
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x86</PlatformTarget>
    <DebugSymbols>true</DebugSymbols>
    <DebugType>full</DebugType>
    <Optimize>false</Optimize>