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buffer in 시퀀스 확인 완료

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- 최초 위치확인이 좀 이상하다.
This commit is contained in:
backuppc
2026-01-29 17:15:08 +09:00
parent af0c32215b
commit 1dde80fa93
12 changed files with 2845 additions and 3450 deletions
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45
HMI/Project/StateMachine/_Xbee.cs
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@@ -119,7 +119,52 @@ namespace Project
PUB.sm.SetNewRunStep(nextStep);
}
break;
case ENIGProtocol.AGVCommandHE.PickOnExit:
case ENIGProtocol.AGVCommandHE.PickOffExit:
{
Resultclear();
PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
// 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
var currNode = PUB._virtualAGV.CurrentNode;
if (currNode == null)
{
PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Current Node");
return;
}
var targetNode = PUB._virtualAGV.TargetNode;
if (targetNode == null)
{
PUB.log.AddE($"[{logPrefix}-{cmd}] 목표 노드를 알 수 없습니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Target Node");
return;
}
//버퍼의 경우 직전에 멈추기 때문에 스테이션종류를 보정해준다
var StationType = currNode.StationType;
if (StationType == StationType.Normal && targetNode.StationType == StationType.Buffer)
StationType = StationType.Buffer;
ERunStep nextStep = ERunStep.READY;
switch (StationType)
{
case StationType.Loader: nextStep = ERunStep.LOADER_OUT; break;
case StationType.UnLoader: nextStep = ERunStep.UNLOADER_OUT; break;
case StationType.Buffer: nextStep = ERunStep.BUFFER_OUT; break;
case StationType.Clearner: nextStep = ERunStep.CLEANER_OUT; break;
default:
PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
return;
}
//다음명령처리
PUB.NextWorkCmd = cmd;
PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
PUB.sm.SetNewRunStep(nextStep);
}
break;
case ENIGProtocol.AGVCommandHE.Charger: // 112
{
Resultclear();