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246
Cs_HMI/SubProject/AGV/Command.cs
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246
Cs_HMI/SubProject/AGV/Command.cs
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.ComponentModel;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Collections;
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using COMM;
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using System.Security.Cryptography.X509Certificates;
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namespace arDev
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{
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public partial class Narumi : arRS232
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{
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public bool AGVMoveSet(BunkiData opt)
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{
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return AddCommand(eAgvCmd.MoveSet, opt.ToString());
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}
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public bool AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
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{
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var param = opt.ToString() + spd.ToString()[0] + ((int)ss).ToString();
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return AddCommand(eAgvCmd.ManualMove, param);
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}
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public bool AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
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{
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System.Text.StringBuilder sb = new StringBuilder();
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if (opt == eRunOpt.Backward) sb.Append("B");
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else if (opt == eRunOpt.Forward) sb.Append("F");
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else sb.Append("0");
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sb.Append("000");
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return AddCommand(eAgvCmd.MoveStart, sb.ToString());
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}
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public bool AGVSetSpeed(eSetSpeed item, int speed)
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{
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string cmd = "SS";
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if (item == eSetSpeed.Rotation) cmd = "SRS";
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else cmd += item.ToString()[0];
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cmd += speed.ToString("0000");
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return AddCommand(cmd);
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}
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public bool AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
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{
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System.Text.StringBuilder sb = new StringBuilder();
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if (opt == eStopOpt.MarkStop) sb.Append("MS");
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else if (opt == eStopOpt.MarkRotateLeft) sb.Append("TL");
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else if (opt == eStopOpt.MarkRotateRight) sb.Append("TR");
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else if (opt == eStopOpt.MarkChangeDirection) sb.Append("BS");
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else sb.Append("0S");
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sb.Append("00");
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sb.Append("0000"); //재기동시간
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if (opt == eStopOpt.MarkStop)
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VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
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//동작중이면 이 멈춤 명령을 기록으로 남긴다 230116
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if (this.system1.agv_run)
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RaiseMessage(MessageType.Normal, $"stop command from {Reason}");
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return AddCommand(eAgvCmd.MoveStop, sb.ToString());
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}
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public bool AGVCommand(string cmd, string data)
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{
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return AddCommand(cmd + data);
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}
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public bool LiftControl(LiftCommand cmd)
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{
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return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
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}
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public bool AGVCharge(int chargetID, bool on, int waittime = 3)
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{
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if (on)
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return AddCommand(eAgvCmd.ChargeOn, chargetID.ToString("0000"));
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else
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return AddCommand(eAgvCmd.ChargeOf, chargetID.ToString("0000"));
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}
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public bool AGVErrorReset()
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{
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return AddCommand(eAgvCmd.ErrorReset, "FFFF");
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}
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public bool AGVTowerLamp(bool on)
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{
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return AddCommand(eAgvCmd.TowerLamp, (on ? "I" : "O"));
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}
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public bool AGVSetAddress(int value)
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{
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return AddCommand($"SAD{value:0000}");
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}
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public bool AGVSetPanID(string value)
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{
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value = value.PadLeft(4, '0');
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return AddCommand($"SPN{value}");
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}
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public bool AGVSetChannel(string value)
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{
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value = value.PadLeft(4, '0');
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return AddCommand($"SCH{value}");
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}
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public bool AGVGateOutTimer(int value)
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{
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return AddCommand($"SGT{value:0000}");
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}
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/// <summary>
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/// 정지감속주기 및 상수
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/// </summary>
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/// <returns></returns>
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public bool AGVSetStopAcc(int interval, int value)
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{
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var cmds = new string[] {
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$"SSK{interval:0000}",
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$"SCK{value:0000}"
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};
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return AddCommand(cmds);
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}
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public bool AGVSetTagReinputTime(int value)
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{
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return AddCommand($"STT{value:0000}");
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}
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public bool AGVSetPID(eSetPIDSpeed speed, int P, int I, int D)
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{
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var cmd = "S";
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var cmd2 = "";
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if (speed == eSetPIDSpeed.High) cmd2 = "K";
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else if (speed == eSetPIDSpeed.Middle) cmd2 = "M";
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else if (speed == eSetPIDSpeed.Low) cmd2 = "L";
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else if (speed == eSetPIDSpeed.Stop) cmd2 = "S";
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var cmds = new string[] {
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$"{cmd}P{cmd2}{P:0000}",
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$"{cmd}I{cmd2}{I:0000}",
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$"{cmd}D{cmd2}{D:0000}",
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};
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return AddCommand(cmds);
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}
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protected bool AddCommand(params string[] cmds)
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{
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bool ret = true;
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ACKData = string.Empty; //회신값 제거
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foreach (var cmdline in cmds)
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{
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var fullcmd = MakeCheckSum(cmdline);
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//commandQueue.Enqueue(fullcmd);
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if (WriteData(fullcmd) == false) ret = false;
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System.Threading.Thread.Sleep(1);
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}
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return ret;
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}
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protected bool AddCommand(eAgvCmd command, BunkiData param)
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{
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return AddCommand(command, param.ToString());
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}
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/// <summary>
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/// CBR커맨드를 사용하여 옵션값을 전송 합니다
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/// 11.분기명령 = CBR
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/// </summary>
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/// <param name="param"></param>
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/// <param name="Repeat"></param>
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protected bool AddCommand(BunkiData param)
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{
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return AddCommand(eAgvCmd.MoveSet, param.ToString());
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}
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protected bool AddCommand(eAgvCmd command, string param = "")
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{
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string cmdString;
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bool retval = false;
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switch (command)
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{
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case eAgvCmd.ErrorReset:
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cmdString = $"SFR{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.TowerLamp:
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cmdString = $"CBZ" + $"0299{param}0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveStop:
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cmdString = $"CST{param}";
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system1.agv_run_manual = false;
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveStart:
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cmdString = $"CRN{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.ChargeOf:
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cmdString = $"CBT{param}O0003"; ///0003=충전대기시간
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retval = AddCommand(cmdString);
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RaiseMessage(arRS232.MessageType.Normal, "충전취소전송");
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break;
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case eAgvCmd.ChargeOn:
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cmdString = $"CBT{param}I0003"; ///0003=충전대기시간
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retval = AddCommand(cmdString);
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RaiseMessage(arRS232.MessageType.Normal, "충전명령전송");
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break;
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case eAgvCmd.GoTurnLeft:
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cmdString = $"CTL0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.GoTurnRight:
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cmdString = $"CTR0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.goTurnBack:
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cmdString = $"CTB0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.CallCancle:
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cmdString = $"CCL0{param}010000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveSet:
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cmdString = $"CBR{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.ManualMove:
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system1.agv_run_manual = true;
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cmdString = $"CRT{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.LiftControl:
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cmdString = "CLF" + param.PadRight(6, '0');
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retval = AddCommand(cmdString);
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break;
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}
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return retval;
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}
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}
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}
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