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회전중입력된 태그는 무시

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This commit is contained in:
backuppc
2026-02-26 08:45:33 +09:00
parent e2691af903
commit 0e2b407e48
3 changed files with 208 additions and 16 deletions
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57
HMI/SubProject/AGV/Command.cs
View File

@@ -24,6 +24,7 @@ namespace arDev
{
public DateTime Start { get; set; }
public DateTime End { get; set; }
public string Message { get; set; }
public TimeSpan Runtime
{
get
@@ -41,6 +42,13 @@ namespace arDev
End = new DateTime(1982, 11, 23);
State = eNarumiTurn.None;
}
public bool IsTurning
{
get
{
return State == eNarumiTurn.LeftIng || State == eNarumiTurn.RightIng;
}
}
}
public class NarumiCommandTime
{
@@ -76,6 +84,7 @@ namespace arDev
{
public eNarmiPBSSensor PBSSensor = eNarmiPBSSensor.notset;
public NarumiTurnInfo TurnInformation { get; set; } = null;
Dictionary<string, NarumiCommandTime> SendCommandFailList { get; set; } = new Dictionary<string, NarumiCommandTime>();
@@ -297,6 +306,38 @@ namespace arDev
}
}
/// <summary>
/// 턴정보를 설정한다
/// </summary>
/// <param name="newstate"></param>
void TurnInformationSetting(eNarumiTurn newstate)
{
if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
TurnInformation.Start = DateTime.Now;
TurnInformation.End = new DateTime(1982, 11, 23);
if (TurnInformation.State != newstate)
{
TurnInformation.Message = $"Change {TurnInformation.State} -> {newstate}";
TurnInformation.State = newstate;
RaiseMessage(MessageType.Normal, TurnInformation.Message);
}
}
/// <summary>
/// 턴이진행중일경우에는 상태를 해제한다
/// </summary>
void TurnInformationSettingCancel()
{
if (TurnInformation == null) return;
if (TurnInformation.State == eNarumiTurn.LeftIng || TurnInformation.State == eNarumiTurn.RightIng)
{
TurnInformation.End = DateTime.Now;
TurnInformation.State = eNarumiTurn.None;
TurnInformation.Message = "Turningstatus cancled";
RaiseMessage(MessageType.Normal, TurnInformation.Message);
}
}
protected eNarumiCommandResult AddCommand(eAgvCmd command, BunkiData param)
{
@@ -332,10 +373,14 @@ namespace arDev
cmdString = $"CST{param}";
system1.agv_run_manual = false;
retval = AddCommand(cmdString);
if (retval == eNarumiCommandResult.Success)
TurnInformationSettingCancel();
break;
case eAgvCmd.MoveStart:
cmdString = $"CRN{param}";
retval = AddCommand(cmdString);
if (retval == eNarumiCommandResult.Success)
TurnInformationSettingCancel();
break;
case eAgvCmd.ChargeOf:
@@ -354,10 +399,7 @@ namespace arDev
retval = AddCommand(cmdString);
if (retval == eNarumiCommandResult.Success)
{
if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
TurnInformation.Start = DateTime.Now;
TurnInformation.End = new DateTime(1982, 11, 23);
TurnInformation.State = eNarumiTurn.LeftIng;
TurnInformationSetting(eNarumiTurn.LeftIng);
}
break;
case eAgvCmd.TurnRight:
@@ -365,10 +407,7 @@ namespace arDev
retval = AddCommand(cmdString);
if (retval == eNarumiCommandResult.Success)
{
if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
TurnInformation.Start = DateTime.Now;
TurnInformation.End = new DateTime(1982, 11, 23);
TurnInformation.State = eNarumiTurn.RightIng;
TurnInformationSetting(eNarumiTurn.RightIng);
}
break;
case eAgvCmd.BackAndTurn:
@@ -399,6 +438,8 @@ namespace arDev
system1.agv_run_manual = true;
cmdString = $"CRT{param}";
retval = AddCommand(cmdString);
if (retval == eNarumiCommandResult.Success)
TurnInformationSettingCancel();
break;
case eAgvCmd.LiftControl:

23
HMI/SubProject/AGV/Narumi.cs
View File

@@ -72,7 +72,7 @@ namespace arDev
/// </summary>
public event EventHandler<DataEventArgs> DataReceive;
public event EventHandler<TurnEventArgs> TurnComplete;
#endregion
@@ -344,11 +344,20 @@ namespace arDev
var tagnostr = rcvdNow.Substring(3);
if (ushort.TryParse(tagnostr, out ushort tagnoint))
{
var Changed = !old_TagString.Equals(tagnostr);
data.TagString = tagnostr;
data.TagNo = tagnoint;
old_TagString = tagnostr;
DataReceive?.Invoke(this, new DataEventArgs(DataType.TAG));
if (TurnInformation != null && TurnInformation.IsTurning)
{
//턴진행중에 들어온 태그는 무시하자 260226
RaiseMessage(MessageType.Normal, $"Tag Ignore by Turn (Tag:{tagnostr})");
}
else
{
//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"));
@@ -476,7 +485,7 @@ namespace arDev
Mid,
Low,
}
private bool CheckSum(byte[] bData)
{