회전중입력된 태그는 무시

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -56,7 +56,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //회전이없다면 오류처리한다.
-                if(PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
                 {
                     SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{funcname}-{PUB.sm.RunStepSeq}] 버퍼에서 나오려면 버퍼진입작업이 완료되어있어야 합니다");
                     return false;
@@ -299,6 +299,148 @@ namespace Project
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //1.전진으로 3초간 이동한다 - 방향/속도 설정
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 2,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    PUB.log.AddE($"[{funcname}-{PUB.sm.RunStepSeq}] 얼라인 전진속도 설정 실패(AGVMoveSet)");
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
+                    return false;
+                }
+
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 장비 얼라인 전진 이동 설정 (Dir:Forward)");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //전진이동 시작
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 장비 얼라인 전진 구동 시작");
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //3초간 이동한다.
+                if (seqtime.TotalSeconds < 3) return false;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //2.멈춘다
+                PUB.AGV.AGVMoveStop(funcname);
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 3초 전진 완료 후 정지 명령 전달");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV 멈출때까지 기다림
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    if (seqtime.TotalSeconds > 5)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname + "[TIMEOUT]");
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_STOP_FAIL);
+                        return false;
+                    }
+                    return false;
+                }
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 전진 정지 확인 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //3. 후진으로 이동하면서 마크스탑을 설정한다 - 방향/속도 설정
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 2,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    PUB.log.AddE($"[{funcname}-{PUB.sm.RunStepSeq}] 얼라인 후진속도 설정 실패(AGVMoveSet)");
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
+                    return false;
+                }
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 장비 얼라인 후진 이동 설정 (Dir:Backward)");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //후진 이동 시작
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 장비 얼라인 후진 구동 시작");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑을 설정한다.
+                if (seqtime.TotalSeconds < 1.0) return false; // 짧은 구동 후 마크스탑 설정
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 얼라인 후진 MarkStop 명령 전송");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑 신호 확인
+                if (PUB.AGV.data.Speed != 'S')
+                {
+                    if (seqtime.TotalSeconds > 10)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
+                        return false;
+                    }
+                    return false;
+                }
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 신호 확인 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //4. agv정지가 확인되면 완료이다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    if (seqtime.TotalSeconds > 10)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_STOP_FAIL);
+                        return false;
+                    }
+                    return false;
+                }
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 장비 얼라인 완료 (AGV 완벽 정지 확인)");
+
+                //완료후 라이더를 켜기위해서 기본 값을 복구한다
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 2,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
 
             PUB.AddEEDB($"[{funcname}] bufferout 완료({PUB.Result.TargetPos})");
             return true;

HMI/SubProject/AGV/Command.cs

@@ -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();
+                        TurnInformationSetting(eNarumiTurn.LeftIng);
-                        TurnInformation.Start = DateTime.Now;
-                        TurnInformation.End = new DateTime(1982, 11, 23);
-                        TurnInformation.State = 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();
+                        TurnInformationSetting(eNarumiTurn.RightIng);
-                        TurnInformation.Start = DateTime.Now;
-                        TurnInformation.End = new DateTime(1982, 11, 23);
-                        TurnInformation.State = 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:

HMI/SubProject/AGV/Narumi.cs

@@ -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);
+                    if (TurnInformation != null && TurnInformation.IsTurning)
-                    data.TagString = tagnostr;
+                    {
-                    data.TagNo = tagnoint;
+                        //턴진행중에 들어온 태그는 무시하자 260226
-                    old_TagString = tagnostr;
+                        RaiseMessage(MessageType.Normal, $"Tag Ignore by Turn (Tag:{tagnostr})");
-                    DataReceive?.Invoke(this, new DataEventArgs(DataType.TAG));
+                    }
+                    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)
         {