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refactor: Use SetRunStepError within RunStep sequences

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- Refactored _SM_RUN_ENTER, _EXIT, _BUFFER_IN, _BUFFER_OUT, and _Util to use SetRunStepError helper.

- Corrected AGV_RUN_FAIL and MESSAGE_ERROR codes in _SM_RUN_ENTER, _EXIT, and _CHARGE_GO.

- Added new error codes AGV_SPEED_SET_FAIL and AGV_RUN_FAIL to EnumData.cs.
This commit is contained in:
backuppc
2026-01-28 15:58:42 +09:00
parent 5b4fdd33cf
commit 16d51a2712
11 changed files with 99 additions and 1213 deletions
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12
Cs_HMI/Project/StateMachine/Step/_Util.cs
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@@ -45,10 +45,11 @@ namespace Project
/// </summary>
/// <param name="ermsg"></param>
/// <param name="ecode"></param>
public void SetRunStepError(string ermsg, eECode ecode)
public void SetRunStepError(string errmsg, eECode ecode)
{
PUB.log.AddE(ermsg);
PUB._mapCanvas.SetAlertMessage(ermsg);
PUB.AGV.AGVMoveStop(errmsg);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.Result.RunStepErrorCode = ecode;
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
@@ -151,10 +152,7 @@ namespace Project
VAR.I32[eVarInt32.PathValidationError] += 1;
if (VAR.I32[eVarInt32.PathValidationError] > 50)
{
PUB.log.AddE($"연속 경로 무결성 오류로 인해 중지 합니다");
PUB._mapCanvas.SetAlertMessage($"연속 경로 무결성 오류로 인해 중지 합니다");
PUB.Result.RunStepErrorCode = eECode.PATH_INTEGRITY_FAIL;
PUB.sm.SetNewRunStep(ERunStep.ERROR);
SetRunStepError($"연속 경로 무결성 오류로 인해 중지 합니다", eECode.PATH_INTEGRITY_FAIL);
}
return false;
}