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chi
2025-01-07 16:08:02 +09:00
parent 9e657e2558
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Cs_HMI/SubProject/AGV/Narumi.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.ComponentModel;
using System.Threading;
using System.Threading.Tasks;
using System.Collections;
using COMM;
using System.Security.Cryptography.X509Certificates;
namespace arDev
{
public partial class Narumi : arRS232
{
Hashtable SystemCheck, ErrorCheck;
private Queue Errlog; // 에러발생시 코드 임시 저장용(쓰레드 동기화용)
public int nBatteryNo { get; set; } = 0;
public Narumi()
{
SystemCheck = new Hashtable();
SystemCheck.Add(15, "100");
SystemCheck.Add(14, "9");
SystemCheck.Add(13, "8");
SystemCheck.Add(12, "53");
SystemCheck.Add(11, "3");
//SystemCheck.Add(10, "66");
//SystemCheck.Add(9, "56");
SystemCheck.Add(8, "6");
SystemCheck.Add(7, "5");
SystemCheck.Add(6, "60");
SystemCheck.Add(5, "1");
SystemCheck.Add(4, "2");
//SystemCheck.Add(3, "65");
//SystemCheck.Add(2, "55");
//SystemCheck.Add(1, "11");
//SystemCheck.Add(0, "22");
ErrorCheck = new Hashtable();
ErrorCheck.Add(15, "17");
ErrorCheck.Add(14, "15");
ErrorCheck.Add(13, "18");
ErrorCheck.Add(12, "19");
//ErrorCheck.Add(11, "300");
ErrorCheck.Add(10, "299");
ErrorCheck.Add(9, "298");
ErrorCheck.Add(8, "297");
ErrorCheck.Add(7, "296");
//ErrorCheck.Add(6,"");
ErrorCheck.Add(5, "12");
ErrorCheck.Add(4, "13");
ErrorCheck.Add(3, "14");
ErrorCheck.Add(2, "16");
ErrorCheck.Add(1, "11");
ErrorCheck.Add(0, "10");
Errlog = new Queue();
MinRecvLength = 4;
COMM.VAR.Init(128);
}
#region "External Events"
/// <summary>
/// 분석완료된 데이터 이벤트
/// </summary>
public event EventHandler<DataEventArgs> DataReceive;
#endregion
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{
List<byte> remain = new List<byte>();
//데이터는 총 34byt 이며 , DD~77로 구성됨
Boolean bComplete = false;
for (int i = 0; i < buf.Length; i++)
{
var incomByte = buf[i];
if (bComplete == true)
{
remain.Add(incomByte);
}
else
{
if (incomByte == 0x02)
{
findSTX = true;
tempBuffer.Clear();
tempBuffer.Add(incomByte);
}
else if (incomByte == 0x03)
{
//데이터가 맞게 수신됨
//tempBuffer.Add(incomByte);
tempBuffer.Add(incomByte);
findSTX = false;
bComplete = true;
}
else
{
tempBuffer.Add(incomByte);
if (tempBuffer.Count == 150) //data overload
{
findSTX = false;
tempBuffer.Clear();
bComplete = false;
RaiseMessage(MessageType.Error, "Buffer Over");
}
}
}
}
remainBuffer = remain.ToArray();
return bComplete;
}
public class Dataframe
{
public byte STX { get; private set; }
public byte ETX { get; private set; }
public byte[] Data { get; private set; }
public string DataString { get; private set; }
public byte[] checksum { get; private set; } = new byte[2];
public bool Valid { get; private set; } = false;
public string Message { get; private set; } = string.Empty;
public byte[] Buffer { get; private set; }
public string Cmd { get; private set; } = string.Empty;
public bool Parse(byte[] data, int MinRecvLength = 0)
{
if (data == null || data.Any() == false)
{
this.Message = string.Format("수신 데이터가 없습니다");
return false;
}
else if (data.Length < 5)
{
this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
return false;
}
else if (MinRecvLength > 0 && data.Length < MinRecvLength)
{
this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
return false;
}
else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
{
this.Message = $"STX/ETX Error";
return false;
}
Buffer = new byte[data.Length];
Array.Copy(data, Buffer, data.Length);
STX = data[0];
ETX = data[data.Length - 1];
Array.Copy(data, data.Length - 3, checksum, 0, 2);
Data = new byte[data.Length - 4];
Array.Copy(data, 1, Data, 0, data.Length - 4);
if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
this.DataString = System.Text.Encoding.Default.GetString(Data);
Valid = true;
return true;
}
public Dataframe(byte[] buffer = null, int minlen = 0)
{
if (buffer != null) Parse(buffer);
}
}
public override bool ProcessRecvData(byte[] data)
{
//LastReceiveBuffer
var frame = new Dataframe(data, MinRecvLength);
if (frame.Valid == false)
{
RaiseMessage(arRS232.MessageType.Error, frame.Message);
return false;
}
else if (frame.DataString.StartsWith("$") == false && CheckSum(data) == false)
{
RaiseMessage(arRS232.MessageType.Error, "Checksum Error MSG=" + frame.DataString);
return false;
}
var retval = true;
///////////////////////////////////////////////////////////////////////////////
if (frame.Cmd.Equals("ACK") || frame.Cmd.Equals("NAK"))
{ // 응답확인값 수신 : Header(ACX), Length(9), CheckSum 확인
RevACK(frame);
}
///////////////////////////////////////////////////////////////////////////////
else if (frame.Cmd.Equals("STS"))
{ // AGV 상태 정보 : Header(STS), Length(30), CheckSum 확인
RevSTS(frame);
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
else if ((frame.Cmd.Equals("TAG") || frame.Cmd.Equals("CAL") || frame.Cmd.Equals("CCA")))
{ // TAG ID 정보 : Header(STX), Length(13), CheckSum 확인
RevTAG(frame);
}
else if (frame.DataString.StartsWith("$"))
{
// $로 시작되는 AGV 상태 표시
//var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
//var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
RaiseMessage(arRS232.MessageType.Normal, "$메세지수신:" + frame.DataString);
}
else
{
try
{
DataReceive?.Invoke(this, new DataEventArgs(DataType.UNKNOWN));
}
catch (Exception ex)
{
RaiseMessage(arRS232.MessageType.Error, ex.Message);
retval = false;
}
}
return retval;
}
#region [수신] ACK(응답확인값) 분석
public string ACKData { get; set; } = string.Empty;
public DateTime ACKtime { get; set; } = DateTime.Now;
private void RevACK(Dataframe frame)
{
//ACKSADA7
var rcvdNow = frame.DataString;
var bRcvData = frame.Buffer;
ACKData = rcvdNow.Substring(3);
ACKtime = DateTime.Now;
if (rcvdNow.StartsWith("ACK"))
{
//RaiseMessage("get ack");
DataReceive?.Invoke(this, new DataEventArgs(DataType.ACK));
//if (datamanager.commandQueue.Count != 0)
//{
// byte[] bCmdData = encoding.GetBytes((String)datamanager.commandQueue.Peek());
// if (bCmdData[1] == bRcvData[4] && bCmdData[2] == bRcvData[5] && bCmdData[3] == bRcvData[6]) //보낸값이 맞는지 확인후 Dequeue
// {
// nSendCount = 0;
// datamanager.commandQueue.Dequeue();
// sSendCommandString = "";
// }
//}
}
else if (rcvdNow.StartsWith("NAK"))
{
//RaiseMessage("get nak");
DataReceive?.Invoke(this, new DataEventArgs(DataType.NAK));
//nSendCount = 0; //NAK - 재전송이 날아왔을때 nSendCommandCounter 초기화
}
}
#endregion
public SystemFlag0 system0 = new SystemFlag0();
public SystemFlag1 system1 = new SystemFlag1();
public ErrorFlag error = new ErrorFlag();
public AgvData data = new AgvData();
public Signal signal = new Signal();
#region [수신] STS(AGV상태정보) 분석
public string LastSTS { get; set; } = string.Empty;
private void RevSTS(Dataframe frame)
{
LastSTS = frame.DataString;
string rcvdNow = frame.DataString;
byte[] bRcvData = frame.Buffer;
var encoding = System.Text.Encoding.Default;
try
{
// AGV 베터리 잔량 표시 flag (4~6) /////////////////////////////////////////////////////////////////////////////////////////////////////////////
var idx = 3;
var battery = int.Parse(rcvdNow.Substring(idx, 3)) / 10f;// Convert.ToDouble(encoding.GetString(rcvdNow, 3, 3)) / 10;
idx += 3;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// AGV 장치연결상태 flag (7~10) ////////////////////////////////////////////////////////////////////////////////////////////////////////////
var nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
system0.SetValue(nDataTemp);
idx += 4;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// AGV Sts(현재 상태) flag (11~14) ////////////////////////////////////////////////////////////////////////////////////////////////////////////
nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
system1.SetValue(nDataTemp);
idx += 4;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// AGV Error flag (15~18)////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
error.SetValue(nDataTemp);
idx += 4;
data.Speed = rcvdNow.Substring(idx, 1)[0]; idx += 1; //L,M.H
data.Sts = rcvdNow.Substring(idx, 1)[0]; idx += 1; //S(직진),L(좌분기),R(우분기)
data.Direction = rcvdNow.Substring(idx, 1)[0]; idx += 1; //F,B,L,R
data.guidesensor = int.Parse(rcvdNow.Substring(idx, 1)); idx += 1; //가이드 좌측부터 1~9
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal.SetValue(nDataTemp);
//data.Sts = encoding.GetString(bRcvData, 19, 3); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
//var Sts_cSpeed = encoding.GetString(bRcvData, 19, 1)[0];
//var Sts_cDirection = encoding.GetString(bRcvData, 20, 1)[0];
//var Sts_cFB = encoding.GetString(bRcvData, 21, 1)[0];
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////가이드센서 정보 (22)//////////////////////////////////////////////////////////////////////////////////////////////////////////
//var Sts_nGuide = 0;
//if (bRcvData[22] > 47 && bRcvData[22] < 58) { Sts_nGuide = Convert.ToInt32(encoding.GetString(bRcvData, 22, 1)); }
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////마크센서 & 포토센서 정보 (23~24)////////////////////////////////////////////////////////////////////////////////////////////////////
//nDataTemp = Convert.ToInt32(encoding.GetString(bRcvData, 23, 2), 16);
//data.Sts_bMark1 = Convert.ToBoolean(nDataTemp & 0x4);
//data.Sts_bMark2 = Convert.ToBoolean(nDataTemp & 0x8);
//data.Sts_bCargo = Convert.ToBoolean(nDataTemp & 0x10);
////포토센서
//if (Sts_cFB == 'F')
//{
// system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 26, 1));
//}
//else if (Sts_cFB == 'B')
//{
// system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 27, 1));
//}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//AGV 속도/분기/방향 (19~21)//////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));
}
catch (Exception ex)
{
RaiseMessage(MessageType.Error, $"Parse Error(STS) = {ex.Message}");
}
}
#endregion
#region [수신] TAG(태그정보) 분석
System.Text.Encoding encoding = System.Text.Encoding.Default;
string old_TagString = string.Empty;
string old_CALString = string.Empty;
string old_CCAString = string.Empty;
private void RevTAG(Dataframe frame)
{
string rcvdNow = frame.DataString;
byte[] bRcvData = frame.Buffer;
if (rcvdNow.StartsWith("TAG"))
{
//221123 chi 숫자로변경
var tagnostr = rcvdNow.Substring(3);
if (int.TryParse(tagnostr, out int tagnoint))
{
var Changed = !old_TagString.Equals(tagnostr);
data.TagString = tagnostr;
data.TagNo = tagnoint;
old_TagString = tagnostr;
DataReceive?.Invoke(this, new DataEventArgs(DataType.TAG));
}
WriteData(MakeCheckSum("ACKTAG"));
}
else if (rcvdNow.StartsWith("CAL"))
{
var tagnostr = encoding.GetString(bRcvData, 4, 4);
if (int.TryParse(tagnostr, out int tagnoint))
{
var Changed = !old_CALString.Equals(tagnostr);
data.CallString = tagnostr;
data.CallNo = tagnoint;
old_CALString = tagnostr;
if (Changed) DataReceive?.Invoke(this, new DataEventArgs(DataType.CALL));
}
WriteData(MakeCheckSum("ACKCAL"));
}
else if (rcvdNow.StartsWith("CCA")) //능동형 Call에 의하여 들어 오는 구문
{
var tagnostr = encoding.GetString(bRcvData, 4, 4);
if (int.TryParse(tagnostr, out int tagnoint))
{
var Changed = !old_CCAString.Equals(tagnostr);
data.CCAString = tagnostr;
data.CCANo = tagnoint;
old_CCAString = tagnostr;
if (Changed) DataReceive?.Invoke(this, new DataEventArgs(DataType.CCA));
}
WriteData(MakeCheckSum("ACKCCA"));
}
}
#endregion
private string MakeCheckSum(string sCommand)
{
//sCommand = sCommand.ToUpper();
List<byte> buffer = new List<byte>();
buffer.Add(0x02);
//byte[] bCommand = System.Text.ASCIIEncoding.ASCII.GetBytes(sCommand);
buffer.AddRange(System.Text.ASCIIEncoding.ASCII.GetBytes(sCommand));
//make sum
int nSum = 0;
for (int nCnt = 1; nCnt < buffer.Count; nCnt++)
nSum += buffer[nCnt];
string sSum = nSum.ToString("X2").ToUpper();// Convert.ToString(nSum, 16).ToUpper();
if (sSum.Length < 2) sSum = "0" + sSum;
sSum = sSum.Substring(sSum.Length - 2);
//if (sSum.Length == 3)
// sSum = sSum.Remove(0, 1);
//else if (sSum.Length == 4)
// sSum = sSum.Remove(0, 2);
buffer.AddRange(System.Text.ASCIIEncoding.Default.GetBytes(sSum));
buffer.Add(0x03);
// byte[] bStxEtx = { 0x02, 0x03 };
//var orgstr = (System.Text.ASCIIEncoding.ASCII.GetString(bStxEtx, 0, 1) + sCommand + sSum + System.Text.ASCIIEncoding.ASCII.GetString(bStxEtx, 1, 1));
var newstr = System.Text.Encoding.Default.GetString(buffer.ToArray());
return newstr;
}
///// <summary>
///// commandQueue에 명령을 추가합니다(체크섬은 자동 추가됨)
///// </summary>
///// <param name="cmd">체크섬을 제외한 평문</param>
///// <param name="addlog">sendlog 에 추가할 경우 true를 입력하세요</param>
//public void AddCommand(string cmd, bool addlog = true, int Repeat = 1)
//{
// var fullcmd = MakeCheckSum(cmd);
// for (int i = 0; i < Repeat; i++)
// commandQueue.Enqueue(fullcmd);
// if (addlog)
// {
// Message?.Invoke(this, new MessageEventArgs()
// }
//}
public enum eStopOpt
{
Stop = 0,
MarkStop,
MarkRotateLeft,
MarkRotateRight,
MarkChangeDirection,
}
public enum eRunOpt
{
NotSet,
Forward,
Backward,
}
public enum ManulOpt
{
FS,
BS,
RT,
LT,
FL,
FR,
BL,
BR,
}
public enum Sensor
{
PBSOff = 0,
PBSOn,
AllOn,
}
public enum Speed
{
High,
Mid,
Low,
}
public enum LiftCommand
{
/// <summary>
/// lift up
/// </summary>
UP,
/// <summary>
/// lift down
/// </summary>
DN,
/// <summary>
/// lift 동작 정지
/// </summary>
STP,
/// <summary>
/// magnet holder on
/// </summary>
ON,
/// <summary>
/// magnet holder off
/// </summary>
OFF
}
private bool CheckSum(byte[] bData)
{
if (bData.Length < 2) // 데이터 길이가 2이하일 경우 비정상 처리
return false;
int nSum = 0;
// byte[] bData = encoding.GetBytes(sData);
for (int nCnt = 1; nCnt < bData.Length - 3; nCnt++)
{
nSum += bData[nCnt];
}
string sSum = Convert.ToString(nSum, 16).ToUpper();
string sCSTemp = string.Empty;
if (sSum.Length == 3)
sCSTemp = sSum.Remove(0, 1);
else if (sSum.Length == 4)
sCSTemp = sSum.Remove(0, 2);
if (bData[bData.Length - 2] == '*' && bData[bData.Length - 3] == '*')
return true;
if (sCSTemp[0] == (char)(bData[bData.Length - 3]) && sCSTemp[1] == (char)(bData[bData.Length - 2]))
return true;
else
return false;
}
}
}