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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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144
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -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;

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:

19
HMI/SubProject/AGV/Narumi.cs
View File

@@ -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"));