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backuppc
2025-12-17 14:54:33 +09:00
parent eb0e08d290
commit 1f37871336
22 changed files with 1218 additions and 884 deletions
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2
Cs_HMI/Data/NewMap.json
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@@ -1214,6 +1214,6 @@
"BackgroundColorArgb": -14671840, "BackgroundColorArgb": -14671840,
"ShowGrid": false "ShowGrid": false
}, },
"CreatedDate": "2025-12-16T10:58:08.630Z", "CreatedDate": "2025-12-17T04:23:31.655Z",
"Version": "1.3" "Version": "1.3"
} }

34
Cs_HMI/Project/Device/Xbee.cs
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@@ -14,11 +14,11 @@ using System.Windows.Forms;
namespace Project.Device namespace Project.Device
{ {
public class Xbee : SerialPort public class Xbee : SerialPort, arDev.ISerialComm
{ {
public string buffer = string.Empty; public string buffer = string.Empty;
public System.Text.StringBuilder newbuffer = new StringBuilder(); public System.Text.StringBuilder newbuffer = new StringBuilder();
public string errorMessage = string.Empty; public string ErrorMessage { get; set; } = string.Empty;
public DateTime LastStatusSendTime { get; set; } = DateTime.Now; public DateTime LastStatusSendTime { get; set; } = DateTime.Now;
private EEProtocol proto; private EEProtocol proto;
@@ -67,11 +67,23 @@ namespace Project.Device
} }
catch (Exception ex) catch (Exception ex)
{ {
errorMessage = ex.Message; ErrorMessage = ex.Message;
return false; return false;
} }
} }
public new bool Close()
{
try
{
base.Close();
return true;
}
catch
{
return false;
}
}
public new bool Open() public new bool Open()
{ {
try try
@@ -81,8 +93,8 @@ namespace Project.Device
} }
catch (Exception ex) catch (Exception ex)
{ {
errorMessage = ex.Message; ErrorMessage = ex.Message;
PUB.logxbee.AddE(errorMessage); PUB.logxbee.AddE(ErrorMessage);
return false; return false;
} }
} }
@@ -145,10 +157,12 @@ namespace Project.Device
byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error; byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error;
if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29); if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
var data = new byte[] { (byte)errcode }; var data = new List<byte>();
data.Add((byte)errcode);
var datamsg = System.Text.Encoding.Default.GetBytes(errormessage); var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
data.AddRange(datamsg);
var packet = proto.CreatePacket(id, cmd, data); var packet = proto.CreatePacket(id, cmd, data.ToArray());
Send(packet); Send(packet);
} }
@@ -173,7 +187,7 @@ namespace Project.Device
public void SendStatus() public void SendStatus()
{ {
if (this.IsOpen == false) return; if (this.IsOpen == false) return;
if ( sendlock.WaitOne() == false) return; if (sendlock.WaitOne() == false) return;
sendlock.Reset(); sendlock.Reset();
/* /*
@@ -257,8 +271,8 @@ namespace Project.Device
} }
catch (Exception ex) catch (Exception ex)
{ {
errorMessage = ex.Message; ErrorMessage = ex.Message;
PUB.logxbee.AddE(errorMessage); PUB.logxbee.AddE(ErrorMessage);
} }
finally finally
{ {

9
Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
View File

@@ -109,10 +109,17 @@ namespace Project
var target = PUB._virtualAGV.TargetNode; var target = PUB._virtualAGV.TargetNode;
PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}"); PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
switch(target.StationType) switch (target.StationType)
{ {
case AGVNavigationCore.Models.StationType.Buffer: case AGVNavigationCore.Models.StationType.Buffer:
//현재위치가 마지막경로의 NODEID와 일치해야한다 //현재위치가 마지막경로의 NODEID와 일치해야한다
if (PUB._virtualAGV.CurrentPath == null)
{
PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
PUB.XBE.BufferInComplete = false;
PUB.XBE.BufferOutComplete = false;
break;
}
var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault(); var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id)) if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
{ {

4
Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs
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@@ -54,8 +54,8 @@ namespace Project
// 1분 타임아웃 체크 // 1분 타임아웃 체크
if (stepTime.TotalMinutes >= 1) if (stepTime.TotalMinutes >= 1)
{ {
PUB.XBE.errorMessage = $"충전해제가 실패되었습니다(1분)"; PUB.XBE.ErrorMessage = $"충전해제가 실패되었습니다(1분)";
PUB.log.AddE(PUB.XBE.errorMessage); PUB.log.AddE(PUB.XBE.ErrorMessage);
PUB.sm.SetNewStep(eSMStep.IDLE); PUB.sm.SetNewStep(eSMStep.IDLE);
return false; return false;
} }

304
Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs
View File

@@ -17,6 +17,7 @@ namespace Project
{ {
///명령어 재전송 간격(기본 2초) ///명령어 재전송 간격(기본 2초)
var CommandInterval = 2; var CommandInterval = 2;
var funcName = "_SM_RUN_GOTO";
//충전 상태가 OFF되어야 동작하게한다 //충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -29,269 +30,48 @@ namespace Project
VAR.TIME.Update(eVarTime.CheckGotoTargetSet); VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
} }
//PUB._virtualAGV. //라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
if (PUB.AGV.system1.stop_by_front_detect == true)
{
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
return false;
}
//목적지가 설정되었는지 체크한다. var idx = 1;
//Z if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty) if (PUB.sm.RunStepSeq == idx++)
// { {
// //최대 5초간 설정여부를 확인하고 if(PUB._virtualAGV.TargetNode == null)
// if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5) {
// { PUB.log.Add($"대상노드가 없어 이동을할 수 없습니다");
// //실패시에는 READY로 전환한다. PUB.sm.SetNewRunStep(ERunStep.READY);
// PUB.sm.SetNewRunStep(ERunStep.READY); return false;
// PUB.Speak(Lang.목적지가없어대기상태로전환합니다); }
// } PUB.sm.UpdateRunStepSeq();
// return false; return false;
// } }
else if (PUB.sm.RunStepSeq == idx++)
//var idx = 1; {
//var BeforePredictIdx = -1; //모션 전후진 제어
//var predict = PUB.mapctl.Manager.PredictResult; if (UpdateMotionPositionForMark(funcName))
//if (PUB.sm.RunStepSeq == idx++) {
//{ PUB.AGV.AGVMoveStop(funcName);
// PUB.Speak(Lang.위치로이동합니다); PUB.sm.UpdateRunStepSeq();
// PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})"); }
// VAR.TIME.Update(eVarTime.CheckGotoTargetSet); return false;
// VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1)); }
// PUB.sm.UpdateRunStepSeq(); else if (PUB.sm.RunStepSeq == idx++)
// return false; {
//} //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
//else if (PUB.sm.RunStepSeq == idx++) PUB.Speak(Lang.홈검색완료, true);
//{ PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
// //멈춰야하는경우 PUB.sm.UpdateRunStepSeq();
// if (predict.MoveState == AGVControl.AGVMoveState.Stop) return false;
// { }
// if (PUB.AGV.system1.agv_run)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
// {
// PUB.Speak("AGV Stop");
// PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
// else
// {
// //완료되었거나 턴을진행해야한다
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// GotoTurnStep = 0;
// GotoTurnSetTime = DateTime.Now.AddDays(-1);
// PUB.sm.UpdateRunStepSeq();
// }
// return false;
// }
// }
// else //이동해야하는 경우
// {
// //속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
// AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
// AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
// AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
// //상태값이 바뀌었다면 전송을 해야한다
// if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
// {
// arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
// if (predict.MoveDiv == AGVControl.AgvSts.Straight) v_bunki = arDev.Narumi.eBunki.Strate;
// else if (predict.MoveDiv == AGVControl.AgvSts.Left) v_bunki = arDev.Narumi.eBunki.Left;
// else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
// arDev.Narumi.eMoveDir v_dir = arDev.Narumi.eMoveDir.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eMoveDir.Forward;
// else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
// arDev.Narumi.eMoveSpd v_spd = arDev.Narumi.eMoveSpd.Low;
// if (predict.MoveSpeed == AGVControl.AgvSpeed.Middle) v_spd = arDev.Narumi.eMoveSpd.Middle;
// else if (predict.MoveSpeed == AGVControl.AgvSpeed.High) v_spd = arDev.Narumi.eMoveSpd.High;
// else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
// //이동셋팅을 해준다
// PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
// {
// Bunki = v_bunki,
// Direction = v_dir,
// PBSSensor = 1,
// Speed = v_spd,
// });
// if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
// {
// PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
// }
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
// //정지상태라면 이동 명령을 전달한다
// if (PUB.AGV.system1.agv_run == false)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
// {
// PUB.Speak("AGV Start");
// arDev.Narumi.eRunOpt v_dir = arDev.Narumi.eRunOpt.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eRunOpt.Forward;
// else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
// PUB.AGV.AGVMoveRun(v_dir);
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
// }
// //예측이 업데이트되지 않으면 오류 처리해야한다
// if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
// else if (BeforePredictIdx != predict.Idx) //이전사용한 IDX와 다르다면 예측이 실행된 경우이다
// BeforePredictIdx = (int)predict.Idx;
// else
// {
// //5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
// var tsPredict = DateTime.Now - predict.CreateTime;
// if (tsPredict.TotalSeconds > 5)
// {
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
// PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
// }
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
// {
// PUB.Speak(Lang.목적지이동이완료되었습니다);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// PUB.sm.UpdateRunStepSeq();
// }
// else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// //턴을 해야하는 경우이다
// //좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
// if (GotoTurnStep == 0)
// {
// //턴을 한적이 없으므로 턴을 먼저 진행한다
// arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward;
// if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
// {
// //셋팅이 다르다면 3초간격으로 전송한다
// var tsTurnSet = DateTime.Now - GotoTurnSetTime;
// if (tsTurnSet.TotalSeconds > 3)
// {
// PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
// {
// Bunki = arDev.Narumi.eBunki.Left,
// Direction = moveDir,
// PBSSensor = 1,
// Speed = arDev.Narumi.eMoveSpd.Low,
// });
// GotoTurnSetTime = DateTime.Now;
// PUB.log.Add("Turn Bunki Set");
// }
// }
// else
// {
// PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
// PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
// PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
// GotoTurnStep += 1;
// }
// }
// }
// else PUB.sm.UpdateRunStepSeq();
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// //턴이완료되길 기다린다.
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// //(최소5초는 기다리고 판단한다)
// if (stepTime.TotalSeconds < 5) return false;
// //최대30초는 기다려준다
// if (stepTime.TotalSeconds > 30)
// {
// var ermsg = "Turn Timeout(30sec)";
// PUB.log.AddE(ermsg);
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
// //모션이 멈추었다면 턴이완료된것이다.
// if (PUB.AGV.system1.agv_stop)
// {
// if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
// {
// PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
// }
// GotoTurnStep += 1;
// PUB.sm.UpdateRunStepSeq();
// }
// else
// {
// //아직 이동중이므로 대기한다
// }
// }
// else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// if (GotoTurnStep < 2)
// {
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
// PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
// else
// {
// PUB.log.AddI("Turn Complete");
// }
// //방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
// {
// var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
// var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
// //원래방향에서 반대로 처리한다
// var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
// PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
// }
// else
// {
// //이동용 RFID에서 턴명령이 들어있는경우였다
// PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
// PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
// }
// PUB.sm.UpdateRunStepSeq();
// }
// else PUB.sm.UpdateRunStepSeq();
// return false;
//}
//좌턴이동명령 전송
//마크스탑전송
//마크스탑이 확인되면 나머지는 경로예측에 맡긴다
return true; return true;
} }

7
Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs
View File

@@ -13,8 +13,11 @@ namespace Project
public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime) public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime)
{ {
//현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환 //현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환
var currentnode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNode.Id); if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.PrevNode != null)
if (currentnode != null) return true; return true;
//최소2개의 노드정보가 있어야 진행가능하므로 prevNode 값이 있는지 확인한다.
//이동을 하지 않고있다면 전진을 진행한다 //이동을 하지 않고있다면 전진을 진행한다
if (PUB.AGV.system1.agv_run == false) if (PUB.AGV.system1.agv_run == false)

8
Cs_HMI/Project/StateMachine/_AGV.cs
View File

@@ -18,16 +18,16 @@ namespace Project
{ {
private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e) private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e)
{ {
if (e.MsgType == arDev.arRS232.MessageType.Normal) if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
PUB.logagv.AddE(e.Message); PUB.logagv.AddE(e.Message);
else if (e.MsgType == arDev.arRS232.MessageType.Normal) else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
PUB.logagv.Add(e.Message); PUB.logagv.Add(e.Message);
else if (e.MsgType == arDev.arRS232.MessageType.Recv) else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Recv)
{ {
if (e.Message.Substring(1).StartsWith("STS") == false) if (e.Message.Substring(1).StartsWith("STS") == false)
PUB.logagv.Add("AGV-RX", e.Message); PUB.logagv.Add("AGV-RX", e.Message);
} }
else if (e.MsgType == arDev.arRS232.MessageType.Send) else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Send)
PUB.logagv.Add("AGV-TX", e.Message); PUB.logagv.Add("AGV-TX", e.Message);
else else
{ {

16
Cs_HMI/Project/StateMachine/_Loop.cs
View File

@@ -76,7 +76,8 @@ namespace Project
} }
} }
string lockstep = string.Empty;
System.Threading.ManualResetEvent mreloop = new System.Threading.ManualResetEvent(true);
void sm_Running(object sender, StateMachine.StateMachine.RunningEventArgs e) void sm_Running(object sender, StateMachine.StateMachine.RunningEventArgs e)
{ {
@@ -89,6 +90,11 @@ namespace Project
} }
else PUB.sm.WaitFirstRun = false; else PUB.sm.WaitFirstRun = false;
if (mreloop.WaitOne(1) == false) return;
mreloop.Reset();
lockstep = e.Step.ToString();
//main loop //main loop
switch (e.Step) switch (e.Step)
{ {
@@ -186,11 +192,14 @@ namespace Project
break; break;
case eSMStep.SYNC: case eSMStep.SYNC:
if(e.isFirst) if (e.isFirst)
{ {
// 동기화 완료 시 캔버스 모드 복귀 // 동기화 완료 시 캔버스 모드 복귀
this.Invoke(new Action(() => {
if (PUB._mapCanvas != null) if (PUB._mapCanvas != null)
PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다"); PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
}));
} }
if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime)) if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
{ {
@@ -205,7 +214,6 @@ namespace Project
PUB.Speak( Lang.초기화완료); PUB.Speak( Lang.초기화완료);
PUB.sm.SetNewStep(eSMStep.IDLE); PUB.sm.SetNewStep(eSMStep.IDLE);
return;
} }
break; break;
@@ -269,6 +277,8 @@ namespace Project
} }
break; break;
} }
mreloop.Set();
} }
void DeleteFile(string path) void DeleteFile(string path)

74
Cs_HMI/Project/StateMachine/_SPS.cs
View File

@@ -23,6 +23,7 @@ namespace Project
DateTime agvsendstarttime = DateTime.Now; DateTime agvsendstarttime = DateTime.Now;
DateTime lastXbeStatusSendTime = DateTime.Now; DateTime lastXbeStatusSendTime = DateTime.Now;
DateTime lastBmsQueryTime = DateTime.Now; DateTime lastBmsQueryTime = DateTime.Now;
object connectobj = new object();
void sm_SPS(object sender, EventArgs e) void sm_SPS(object sender, EventArgs e)
{ {
@@ -36,14 +37,24 @@ namespace Project
// ========== 1. 장치 연결 관리 ========== // ========== 1. 장치 연결 관리 ==========
// AGV 연결 // AGV 연결
lock (connectobj)
{
ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV, ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV); eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
}
// XBee 연결 // XBee 연결
lock (connectobj)
{
ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE, ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE); eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE);
}
// BMS 연결 // BMS 연결
lock (connectobj)
{
if (PUB.BMS.IsOpen == false) if (PUB.BMS.IsOpen == false)
{ {
var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT); var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
@@ -63,13 +74,16 @@ namespace Project
var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT); var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5)) if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
{ {
this.BeginInvoke(new Action(() => { this.BeginInvoke(new Action(() =>
{
PUB.log.Add("BMS 자동 연결 해제 (응답 없음)"); PUB.log.Add("BMS 자동 연결 해제 (응답 없음)");
PUB.BMS.Close(); PUB.BMS.Close();
})); }));
VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5)); VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5));
} }
} }
}
// ========== 2. XBee 상태 전송 ========== // ========== 2. XBee 상태 전송 ==========
if (PUB.XBE != null && PUB.XBE.IsOpen) if (PUB.XBE != null && PUB.XBE.IsOpen)
@@ -133,7 +147,7 @@ namespace Project
/// <summary> /// <summary>
/// 시리얼 포트 연결 (arDev.arRS232) /// 시리얼 포트 연결 (arDev.arRS232)
/// </summary> /// </summary>
bool ConnectSerialPort(arDev.arRS232 dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime) bool ConnectSerialPort(arDev.ISerialComm dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
{ {
if (port.isEmpty()) return false; if (port.isEmpty()) return false;
@@ -151,7 +165,8 @@ namespace Project
PUB.log.Add($"Connect to {port}:{baud}"); PUB.log.Add($"Connect to {port}:{baud}");
if (dev.Open()) if (dev.Open())
{ {
PUB.log.Add(port, $"[AGV:{port}:{baud}] 연결 완료"); VAR.TIME[recvtime] = DateTime.Now; //값을 수신한것처럼한다
PUB.log.Add(port, $"[{port}:{baud}] 연결 완료");
} }
else else
{ {
@@ -163,7 +178,7 @@ namespace Project
} }
else else
{ {
var errmessage = dev.errorMessage; var errmessage = dev.ErrorMessage;
PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}"); PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}");
} }
} }
@@ -178,8 +193,10 @@ namespace Project
} }
else if (dev.PortName.Equals(port) == false) else if (dev.PortName.Equals(port) == false)
{ {
this.BeginInvoke(new Action(() => { this.BeginInvoke(new Action(() =>
{
PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료"); PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
VAR.TIME.Set(conntry, DateTime.Now);
dev.Close(); dev.Close();
})); }));
@@ -192,7 +209,8 @@ namespace Project
var tsConn = VAR.TIME.RUN(conntry); var tsConn = VAR.TIME.RUN(conntry);
if (tsRecv.TotalSeconds > 10 && tsConn.TotalSeconds > 5) if (tsRecv.TotalSeconds > 10 && tsConn.TotalSeconds > 5)
{ {
this.BeginInvoke(new Action(() => { this.BeginInvoke(new Action(() =>
{
PUB.log.Add($"{port} 자동 연결 해제 (응답 없음)"); PUB.log.Add($"{port} 자동 연결 해제 (응답 없음)");
dev.Close(); dev.Close();
})); }));
@@ -202,49 +220,7 @@ namespace Project
return true; return true;
} }
/// <summary>
/// 시리얼 포트 연결 (Device.Xbee)
/// </summary>
void ConnectSerialPort(Device.Xbee dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
{
if (dev.IsOpen == false && port.isEmpty() == false)
{
var tsPLC = VAR.TIME.RUN(conntry);
if (tsPLC.TotalSeconds > 5)
{
VAR.TIME.Update(conntry);
try
{
VAR.TIME.Update(recvtime);
dev.PortName = port;
dev.BaudRate = baud;
if (dev.Open())
{
PUB.log.Add(port, $"[XBEE:{port}:{baud}] 연결 완료");
}
else
{
var errmessage = dev.errorMessage;
PUB.log.AddE($"[XBEE:{port}:{baud}] {errmessage}");
}
VAR.TIME.Update(conn);
VAR.TIME.Update(conntry);
}
catch (Exception ex)
{
PUB.log.AddE(ex.Message);
}
}
}
else if (dev.PortName.Equals(port) == false)
{
this.BeginInvoke(new Action(() => {
PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
dev.Close();
}));
VAR.TIME[(int)conntry] = DateTime.Now;
}
}
} }
} }

58
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -111,20 +111,32 @@ namespace Project
} }
break; break;
case ENIGProtocol.AGVCommandHE.GotoAlias:
case ENIGProtocol.AGVCommandHE.Goto: //move to tag case ENIGProtocol.AGVCommandHE.Goto: //move to tag
if (data.Length > 4) var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 1 : 4;
if (data.Length > datalength)
{ {
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1); var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
if(ushort.TryParse(currTag, out ushort currtagvalue)) MapNode targetNode = null;
if(cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
{ {
var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagvalue); targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == currTag);
}
else
{
if (ushort.TryParse(currTag, out ushort currtagvalue))
targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagvalue);
else PUB.log.Add($"targstring 이 숫자가 아니라서 대상을 설정할 수 없습니다 값:{currTag}");
}
if (targetNode != null)
{
//자동상태가아니라면 처리하지 않는다. //자동상태가아니라면 처리하지 않는다.
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false) if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
{ {
PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다"); PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}"); PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
return;
} }
//목적지 //목적지
@@ -144,32 +156,20 @@ namespace Project
PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}"); PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
} }
if (startNode != null) //대상이동으로 처리한다.
if(PUB.sm.RunStep != ERunStep.GOTO)
{ {
//시작위치가 존재한다면 경로를 예측한다. PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
var rltGoto = CalcPath(startNode, targetNode); PUB.sm.ResetRunStepSeq();
if (rltGoto.result == null)
{
PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
}
else
{
//경로예측을 화면에 표시해준다.
PUB._virtualAGV.SetPath(rltGoto.result);
var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapCanvas.Nodes, nodeId)).ToList();
PUB.log.Add($"경로예측결과:{pathWithRfid}");
}
} }
//대상이동으로 처리한다.
PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
//Move to //Move to
PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}"); PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}");
} }
else PUB.log.AddE($"[{logPrefix}-Goto] TagString Value Error:{data}"); else PUB.log.AddE($"[{logPrefix}-{cmd}] 대상노드가 없습니다 {data}");
} }
else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Error:{data.Length}"); else PUB.log.AddE($"[{logPrefix}-{cmd}] Length Error:{data.Length}");
break; break;
case ENIGProtocol.AGVCommandHE.Stop: //stop case ENIGProtocol.AGVCommandHE.Stop: //stop
@@ -254,6 +254,10 @@ namespace Project
} }
break; break;
default:
PUB.logagv.AddE($"Unknown Command : {cmd}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
break;
} }
} }
} }
@@ -291,7 +295,7 @@ namespace Project
_simulatorCanvas.FitToNodes(); _simulatorCanvas.FitToNodes();
string Message = string.Empty; string Message = string.Empty;
if (advancedResult.Success) if (advancedResult != null && advancedResult.Success)
{ {
// 도킹 검증이 없는 경우 추가 검증 수행 // 도킹 검증이 없는 경우 추가 검증 수행
if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired) if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
@@ -311,12 +315,12 @@ namespace Project
//UpdateAdvancedPathDebugInfo(advancedResult); //UpdateAdvancedPathDebugInfo(advancedResult);
} }
else else if(advancedResult != null)
{ {
// 경로 실패시 디버깅 정보 초기화 // 경로 실패시 디버깅 정보 초기화
//_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}"; //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
advancedResult = null;
Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}"; Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}";
advancedResult = null;
} }
return (advancedResult, Message); return (advancedResult, Message);

24
Cs_HMI/StateMachine/StateMachine.cs
View File

@@ -67,7 +67,7 @@ namespace Project.StateMachine
public void Stop() public void Stop()
{ {
if(bLoop != false) bLoop = false; if (bLoop != false) bLoop = false;
//if (worker.IsAlive) //if (worker.IsAlive)
// if (worker.Join(1000) == false) // if (worker.Join(1000) == false)
// worker.Abort(); // worker.Abort();
@@ -172,14 +172,17 @@ namespace Project.StateMachine
var runningStartTime = DateTime.Now; var runningStartTime = DateTime.Now;
var runningTask = System.Threading.Tasks.Task.Run(() => var runningTask = System.Threading.Tasks.Task.Run(() =>
{ {
try
{ //try
//{
runningHandler(this, new RunningEventArgs(Step, firstRun, StepRunTime)); runningHandler(this, new RunningEventArgs(Step, firstRun, StepRunTime));
} //}
catch (Exception ex) //catch (Exception ex)
{ //{
RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}"); // RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
} //}
}); });
// 타임아웃 2초 // 타임아웃 2초
@@ -193,7 +196,8 @@ namespace Project.StateMachine
{ {
RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}"); RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
} }
} System.Threading.Thread.Sleep(1); }
System.Threading.Thread.Sleep(1);
} }
} }
catch (Exception ex) catch (Exception ex)
@@ -240,7 +244,7 @@ namespace Project.StateMachine
{ {
if (Step != newstep_) if (Step != newstep_)
{ {
if(force) if (force)
{ {
RaiseMessage("SM-STEP", string.Format("강제스텝전환 {0} -> {1}", Step, _newstep)); RaiseMessage("SM-STEP", string.Format("강제스텝전환 {0} -> {1}", Step, _newstep));
OldStep = _step; OldStep = _step;

6
Cs_HMI/SubProject/AGV/Command.cs
View File

@@ -12,7 +12,7 @@ using AR;
namespace arDev namespace arDev
{ {
public partial class Narumi : arRS232 public partial class Narumi
{ {
public bool AGVMoveSet(BunkiData opt) public bool AGVMoveSet(BunkiData opt)
@@ -236,12 +236,12 @@ namespace arDev
case eAgvCmd.ChargeOf: case eAgvCmd.ChargeOf:
cmdString = $"CBT{param}O0003"; ///0003=충전대기시간 cmdString = $"CBT{param}O0003"; ///0003=충전대기시간
retval = AddCommand(cmdString); retval = AddCommand(cmdString);
RaiseMessage(arRS232.MessageType.Normal, "충전취소전송"); RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전취소전송");
break; break;
case eAgvCmd.ChargeOn: case eAgvCmd.ChargeOn:
cmdString = $"CBT{param}I0003"; ///0003=충전대기시간 cmdString = $"CBT{param}I0003"; ///0003=충전대기시간
retval = AddCommand(cmdString); retval = AddCommand(cmdString);
RaiseMessage(arRS232.MessageType.Normal, "충전명령전송"); RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전명령전송");
break; break;
case eAgvCmd.TurnLeft: case eAgvCmd.TurnLeft:

69
Cs_HMI/SubProject/AGV/Dataframe.cs Normal file
View File

@@ -0,0 +1,69 @@
using System;
using System.Linq;
using AR;
namespace arDev
{
public partial class Narumi
{
public class Dataframe
{
public byte STX { get; private set; }
public byte ETX { get; private set; }
public byte[] Data { get; private set; }
public string DataString { get; private set; }
public byte[] checksum { get; private set; } = new byte[2];
public bool Valid { get; private set; } = false;
public string Message { get; private set; } = string.Empty;
public byte[] Buffer { get; private set; }
public string Cmd { get; private set; } = string.Empty;
public bool Parse(byte[] data, int MinRecvLength = 0)
{
if (data == null || data.Any() == false)
{
this.Message = string.Format("수신 데이터가 없습니다");
return false;
}
else if (data.Length < 5)
{
this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
return false;
}
else if (MinRecvLength > 0 && data.Length < MinRecvLength)
{
this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
return false;
}
else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
{
this.Message = $"STX/ETX Error";
return false;
}
Buffer = new byte[data.Length];
Array.Copy(data, Buffer, data.Length);
STX = data[0];
ETX = data[data.Length - 1];
Array.Copy(data, data.Length - 3, checksum, 0, 2);
Data = new byte[data.Length - 4];
Array.Copy(data, 1, Data, 0, data.Length - 4);
if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
this.DataString = System.Text.Encoding.Default.GetString(Data);
Valid = true;
return true;
}
public Dataframe(byte[] buffer = null, int minlen = 0)
{
if (buffer != null) Parse(buffer);
}
}
}
}

2
Cs_HMI/SubProject/AGV/NARUMI.csproj
View File

@@ -47,8 +47,10 @@
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="DataEventArgs.cs" /> <Compile Include="DataEventArgs.cs" />
<Compile Include="Dataframe.cs" />
<Compile Include="EnumData.cs" /> <Compile Include="EnumData.cs" />
<Compile Include="Command.cs" /> <Compile Include="Command.cs" />
<Compile Include="NarumiSerialComm.cs" />
<Compile Include="Structure\ErrorFlag.cs" /> <Compile Include="Structure\ErrorFlag.cs" />
<Compile Include="Narumi.cs" /> <Compile Include="Narumi.cs" />
<Compile Include="Properties\AssemblyInfo.cs" /> <Compile Include="Properties\AssemblyInfo.cs" />

69
Cs_HMI/SubProject/AGV/Narumi.cs
View File

@@ -11,15 +11,13 @@ using AR;
namespace arDev namespace arDev
{ {
public partial class Narumi : arRS232 public partial class Narumi : arDev.NarumiSerialComm
{ {
Hashtable SystemCheck, ErrorCheck; Hashtable SystemCheck, ErrorCheck;
private Queue Errlog; // 에러발생시 코드 임시 저장용(쓰레드 동기화용) private Queue Errlog; // 에러발생시 코드 임시 저장용(쓰레드 동기화용)
public int nBatteryNo { get; set; } = 0; public int nBatteryNo { get; set; } = 0;
public Narumi() public Narumi()
{ {
SystemCheck = new Hashtable(); SystemCheck = new Hashtable();
@@ -124,75 +122,18 @@ namespace arDev
return bComplete; return bComplete;
} }
public class Dataframe
{
public byte STX { get; private set; }
public byte ETX { get; private set; }
public byte[] Data { get; private set; }
public string DataString { get; private set; }
public byte[] checksum { get; private set; } = new byte[2];
public bool Valid { get; private set; } = false;
public string Message { get; private set; } = string.Empty;
public byte[] Buffer { get; private set; }
public string Cmd { get; private set; } = string.Empty;
public bool Parse(byte[] data, int MinRecvLength = 0)
{
if (data == null || data.Any() == false)
{
this.Message = string.Format("수신 데이터가 없습니다");
return false;
}
else if (data.Length < 5)
{
this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
return false;
}
else if (MinRecvLength > 0 && data.Length < MinRecvLength)
{
this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
return false;
}
else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
{
this.Message = $"STX/ETX Error";
return false;
}
Buffer = new byte[data.Length];
Array.Copy(data, Buffer, data.Length);
STX = data[0];
ETX = data[data.Length - 1];
Array.Copy(data, data.Length - 3, checksum, 0, 2);
Data = new byte[data.Length - 4];
Array.Copy(data, 1, Data, 0, data.Length - 4);
if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
this.DataString = System.Text.Encoding.Default.GetString(Data);
Valid = true;
return true;
}
public Dataframe(byte[] buffer = null, int minlen = 0)
{
if (buffer != null) Parse(buffer);
}
}
public override bool ProcessRecvData(byte[] data) public override bool ProcessRecvData(byte[] data)
{ {
//LastReceiveBuffer //LastReceiveBuffer
var frame = new Dataframe(data, MinRecvLength); var frame = new Dataframe(data, MinRecvLength);
if (frame.Valid == false) if (frame.Valid == false)
{ {
RaiseMessage(arRS232.MessageType.Error, frame.Message); RaiseMessage(MessageType.Error, frame.Message);
return false; return false;
} }
else if (frame.DataString.StartsWith("$") == false && CheckSum(data) == false) else if (frame.DataString.StartsWith("$") == false && CheckSum(data) == false)
{ {
RaiseMessage(arRS232.MessageType.Error, "Checksum Error MSG=" + frame.DataString); RaiseMessage(MessageType.Error, "Checksum Error MSG=" + frame.DataString);
return false; return false;
} }
@@ -218,7 +159,7 @@ namespace arDev
// $로 시작되는 AGV 상태 표시 // $로 시작되는 AGV 상태 표시
//var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리 //var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
//var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
RaiseMessage(arRS232.MessageType.Normal, "$메세지수신:" + frame.DataString); RaiseMessage(MessageType.Normal, "$메세지수신:" + frame.DataString);
} }
else else
{ {
@@ -228,7 +169,7 @@ namespace arDev
} }
catch (Exception ex) catch (Exception ex)
{ {
RaiseMessage(arRS232.MessageType.Error, ex.Message); RaiseMessage(MessageType.Error, ex.Message);
retval = false; retval = false;
} }
} }

494
Cs_HMI/SubProject/AGV/NarumiSerialComm.cs Normal file
View File

@@ -0,0 +1,494 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading;
namespace arDev
{
public abstract class NarumiSerialComm : ISerialComm, IDisposable
{
protected System.IO.Ports.SerialPort _device;
protected ManualResetEvent _mre;
protected byte[] LastReceiveBuffer = new byte[] { };
/// <summary>
/// 최종 전송 메세지
/// </summary>
public byte[] lastSendBuffer = new byte[] { };
//public int ValidCheckTimeMSec { get; set; } = 5000;
protected List<byte> tempBuffer = new List<byte>();
protected Boolean findSTX = false;
public string ErrorMessage { get; set; }
public DateTime LastConnTime { get; set; }
public DateTime LastConnTryTime { get; set; }
public DateTime lastSendTime;
/// <summary>
/// 메세지 수신시 사용하는 내부버퍼
/// </summary>
protected List<byte> _buffer = new List<byte>();
/// <summary>
/// 데이터조회간격(초)
/// </summary>
public float ScanInterval { get; set; }
// public byte[] LastRecvData;
public string LastRecvString
{
get
{
if (LastReceiveBuffer == null) return String.Empty;
else return System.Text.Encoding.Default.GetString(LastReceiveBuffer);
}
}
/// <summary>
/// 마지막으로 데이터를 받은 시간
/// </summary>
public DateTime lastRecvTime;
public int WriteError = 0;
public string WriteErrorMessage = string.Empty;
public int WaitTimeout { get; set; } = 1000;
public int MinRecvLength { get; set; } = 1;
/// <summary>
/// 포트이름
/// </summary>
[Description("시리얼 포트 이름")]
[Category("설정"), DisplayName("Port Name")]
public string PortName
{
get
{
if (_device == null) return string.Empty;
else return _device.PortName;
}
set
{
if (this.IsOpen)
{
Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 포트이름을 변경할 수 없습니다", true));
}
else if (String.IsNullOrEmpty(value) == false)
_device.PortName = value;
else
{
Message?.Invoke(this, new MessageEventArgs("No PortName", true));
}
}
}
public int BaudRate
{
get
{
if (_device == null) return 0;
else return _device.BaudRate;
}
set
{
if (this.IsOpen)
{
Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 BaudRate(를) 변경할 수 없습니다", true));
}
else if (value != 0)
_device.BaudRate = value;
else Message?.Invoke(this, new MessageEventArgs("No baud rate", true));
}
}
public NarumiSerialComm()
{
_device = new System.IO.Ports.SerialPort();
this.BaudRate = 9600;
ScanInterval = 10;
_device.DataReceived += barcode_DataReceived;
_device.ErrorReceived += this.barcode_ErrorReceived;
_device.WriteTimeout = 3000;
_device.ReadTimeout = 3000;
_device.ReadBufferSize = 8192;
_device.WriteBufferSize = 8192;
//_device.DiscardInBuffer();
//_device.DiscardOutBuffer();
ErrorMessage = string.Empty;
lastRecvTime = DateTime.Parse("1982-11-23");
LastConnTime = DateTime.Parse("1982-11-23");
LastConnTryTime = DateTime.Parse("1982-11-23");
lastRecvTime = DateTime.Parse("1982-11-23");
this._mre = new ManualResetEvent(true);
}
~NarumiSerialComm()
{
Dispose(false);
}
// Flag: Has Dispose already been called?
bool disposed = false;
// Public implementation of Dispose pattern callable by consumers.
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
// Protected implementation of Dispose pattern.
protected virtual void Dispose(bool disposing)
{
if (disposed)
return;
if (disposing)
{
// Free any other managed objects here.
//
}
_device.DataReceived -= barcode_DataReceived;
_device.ErrorReceived -= this.barcode_ErrorReceived;
// Free any unmanaged objects here.
//
disposed = true;
}
public Boolean Open()
{
try
{
_device.Open();
return IsOpen;
}
catch (Exception ex)
{
ErrorMessage = ex.Message;
Message.Invoke(this, new MessageEventArgs(ex.Message, true));
return false;
}
}
public string GetHexString(Byte[] input)
{
System.Text.StringBuilder sb = new System.Text.StringBuilder();
foreach (byte b in input)
sb.Append(" " + b.ToString("X2"));
return sb.ToString();
}
/// <summary>
/// 포트가 열려있는지 확인
/// </summary>
[Description("현재 시리얼포트가 열려있는지 확인합니다")]
[Category("정보"), DisplayName("Port Open")]
public Boolean IsOpen
{
get
{
if (_device == null) return false;
return _device.IsOpen;
}
}
public virtual bool Close()
{
if (_device != null && _device.IsOpen)
{
_device.DiscardInBuffer();
_device.DiscardOutBuffer();
_device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
return true;
}
else return false;
}
protected Boolean RaiseRecvData()
{
return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
}
/// <summary>
/// 수신받은 메세지를 발생 시킵니다
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public virtual Boolean RaiseRecvData(byte[] Data, bool udpatelastbuffer)
{
//181206 - 최종수신 메세지 기록
lastRecvTime = DateTime.Now;
if (udpatelastbuffer && Data != null)
{
if (LastReceiveBuffer == null || LastReceiveBuffer.Length != Data.Length)
{
LastReceiveBuffer = new byte[Data.Length];
Array.Copy(Data, LastReceiveBuffer, Data.Length);
}
}
try
{
Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
if (ProcessRecvData(Data) == false)
{
//Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
Message?.Invoke(this, new MessageEventArgs(this.ErrorMessage, true)); //errormessage
return false;
}
else
{
return true;
}
}
catch (Exception ex)
{
this.ErrorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
return false;
}
}
/// <summary>
/// 수신받은 자료를 처리한다
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public abstract bool ProcessRecvData(byte[] data);
#region "Internal Events"
void barcode_ErrorReceived(object sender, System.IO.Ports.SerialErrorReceivedEventArgs e)
{
Message?.Invoke(this, new MessageEventArgs(e.ToString(), true));
}
byte[] buffer = new byte[] { };
void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
int ReadCount = _device.BytesToRead;
buffer = new byte[ReadCount];
_device.Read(buffer, 0, buffer.Length);
System.Text.StringBuilder LogMsg = new StringBuilder();
byte[] remainBuffer;
Repeat:
if (CustomParser(buffer, out remainBuffer))
{
//분석완료이므로 받은 데이터를 버퍼에 기록한다
if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
tempBuffer.Clear();
//수신메세지발생
RaiseRecvData();
if (remainBuffer != null && remainBuffer.Length > 0)
{
//버퍼를 변경해서 다시 전송을 해준다.
Array.Resize(ref buffer, remainBuffer.Length);
Array.Copy(remainBuffer, buffer, remainBuffer.Length);
goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
}
}
}
catch (Exception ex)
{
//if (IsOpen)
//{
// //_device.DiscardInBuffer();
// //_device.DiscardOutBuffer();
//}
ErrorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
}
}
#endregion
#region "External Events"
/// <summary>
/// 오류 및 기타 일반 메세지
/// </summary>
public event EventHandler<MessageEventArgs> Message;
#endregion
#region "Event Args"
/// <summary>
/// 데이터를 수신할떄 사용함(RAW 포함)
/// </summary>
public class ReceiveDataEventArgs : EventArgs
{
private byte[] _buffer = null;
/// <summary>
/// 바이트배열의 버퍼값
/// </summary>
public byte[] Value { get { return _buffer; } }
/// <summary>
/// 버퍼(바이트배열)의 데이터를 문자로 반환합니다.
/// </summary>
public string StrValue
{
get
{
//return string.Empty;
if (_buffer == null || _buffer.Length < 1) return string.Empty;
else return System.Text.Encoding.Default.GetString(_buffer);
}
}
public ReceiveDataEventArgs(byte[] buffer)
{
_buffer = buffer;
}
}
/// <summary>
/// 메세지를 강제 발생
/// </summary>
/// <param name="mt"></param>
/// <param name="message"></param>
protected virtual void RaiseMessage(MessageType mt, string message)
{
this.Message?.Invoke(this, new MessageEventArgs(mt, message));
}
public enum MessageType
{
Normal,
Error,
Send,
Recv,
}
public class MessageEventArgs : EventArgs
{
public MessageType MsgType { get; set; }
private string _message = string.Empty;
/// <summary>
/// Recv,Send,Normal,Error 모두 지원
/// </summary>
public string Message { get { return _message; } }
private byte[] _data = null;
/// <summary>
/// Recv,Send에서만 값이 존재 합니다
/// </summary>
public byte[] Data { get { return _data; } }
public MessageEventArgs(string Message, bool isError = false)
{
if (isError) MsgType = MessageType.Error;
else MsgType = MessageType.Normal;
_message = Message;
}
public MessageEventArgs(MessageType msgtype, string Message)
{
MsgType = msgtype;
_message = Message;
_data = System.Text.Encoding.Default.GetBytes(Message);
}
public MessageEventArgs(byte[] buffer, bool isRecv = true)
{
if (isRecv) MsgType = MessageType.Recv;
else MsgType = MessageType.Send;
_data = new byte[buffer.Length];
Array.Copy(buffer, _data, Data.Length);
_message = System.Text.Encoding.Default.GetString(_data);
}
}
#endregion
protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
/// <summary>
/// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
/// </summary>
public Boolean IsValid
{
get
{
if (IsOpen == false) return false;
if (lastRecvTime.Year == 1982) return false;
var ts = DateTime.Now - lastRecvTime;
if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
return true;
}
}
protected bool WriteData(string cmd)
{
return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
}
/// <summary>
/// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
/// </summary>
protected Boolean WriteData(byte[] data)
{
Boolean bRet = false;
//171205 : 타임아웃시간추가
if (!_mre.WaitOne(WaitTimeout))
{
ErrorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
this.Message?.Invoke(this, new MessageEventArgs(ErrorMessage, true));
return false;
}
_mre.Reset();
//Array.Resize(ref data, data.Length + 2);
try
{
lastSendTime = DateTime.Now;
if (lastSendBuffer == null) lastSendBuffer = new byte[data.Length]; //171113
else Array.Resize(ref lastSendBuffer, data.Length);
Array.Copy(data, lastSendBuffer, data.Length);
for (int i = 0; i < data.Length; i++)
_device.Write(data, i, 1);
//_device.Write(data, 0, data.Length);
//171113
this.Message?.Invoke(this, new MessageEventArgs(data, false));
bRet = true;
WriteError = 0;
WriteErrorMessage = string.Empty;
}
catch (Exception ex)
{
// this.isinit = false;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
bRet = false;
WriteError += 1; //연속쓰기오류횟수
WriteErrorMessage = ex.Message;
}
finally
{
_mre.Set();
}
return bRet;
}
}
}

1
Cs_HMI/SubProject/CommData/CommData.csproj
View File

@@ -44,6 +44,7 @@
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="Flag.cs" /> <Compile Include="Flag.cs" />
<Compile Include="ISerialComm.cs" />
<Compile Include="RS232.cs" /> <Compile Include="RS232.cs" />
<Compile Include="Var.cs" /> <Compile Include="Var.cs" />
<Compile Include="Enum.cs" /> <Compile Include="Enum.cs" />

18
Cs_HMI/SubProject/CommData/ISerialComm.cs Normal file
View File

@@ -0,0 +1,18 @@
using System;
namespace arDev
{
/// <summary>
/// 시리얼통신모듈의기본형태정의
/// </summary>
public interface ISerialComm
{
string PortName { get; set; }
int BaudRate { get; set; }
bool IsOpen { get; }
string ErrorMessage { get; set; }
Boolean Open();
Boolean Close();
}
}

25
Cs_HMI/SubProject/CommData/RS232.cs
View File

@@ -7,7 +7,8 @@ using System.Threading;
namespace arDev namespace arDev
{ {
public abstract partial class arRS232 : IDisposable
public abstract partial class arRS232 : ISerialComm, IDisposable
{ {
protected System.IO.Ports.SerialPort _device; protected System.IO.Ports.SerialPort _device;
protected ManualResetEvent _mre; protected ManualResetEvent _mre;
@@ -19,7 +20,7 @@ namespace arDev
//public int ValidCheckTimeMSec { get; set; } = 5000; //public int ValidCheckTimeMSec { get; set; } = 5000;
protected List<byte> tempBuffer = new List<byte>(); protected List<byte> tempBuffer = new List<byte>();
protected Boolean findSTX = false; protected Boolean findSTX = false;
public string errorMessage { get; set; } public string ErrorMessage { get; set; }
public DateTime LastConnTime { get; set; } public DateTime LastConnTime { get; set; }
public DateTime LastConnTryTime { get; set; } public DateTime LastConnTryTime { get; set; }
public DateTime lastSendTime; public DateTime lastSendTime;
@@ -111,7 +112,7 @@ namespace arDev
_device.ReadBufferSize = 8192; _device.ReadBufferSize = 8192;
_device.WriteBufferSize = 8192; _device.WriteBufferSize = 8192;
errorMessage = string.Empty; ErrorMessage = string.Empty;
lastRecvTime = DateTime.Parse("1982-11-23"); lastRecvTime = DateTime.Parse("1982-11-23");
LastConnTime = DateTime.Parse("1982-11-23"); LastConnTime = DateTime.Parse("1982-11-23");
LastConnTryTime = DateTime.Parse("1982-11-23"); LastConnTryTime = DateTime.Parse("1982-11-23");
@@ -164,7 +165,7 @@ namespace arDev
} }
catch (Exception ex) catch (Exception ex)
{ {
errorMessage = ex.Message; ErrorMessage = ex.Message;
Message.Invoke(this, new MessageEventArgs(ex.Message, true)); Message.Invoke(this, new MessageEventArgs(ex.Message, true));
return false; return false;
} }
@@ -191,14 +192,16 @@ namespace arDev
} }
} }
public virtual void Close(Boolean PortClose = true) public virtual bool Close()
{ {
if (_device != null && _device.IsOpen) if (_device != null && _device.IsOpen)
{ {
_device.DiscardInBuffer(); _device.DiscardInBuffer();
_device.DiscardOutBuffer(); _device.DiscardOutBuffer();
if (PortClose) _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다. _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
return true;
} }
else return false;
} }
protected Boolean RaiseRecvData() protected Boolean RaiseRecvData()
{ {
@@ -228,7 +231,7 @@ namespace arDev
if (ProcessRecvData(Data) == false) if (ProcessRecvData(Data) == false)
{ {
//Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage //Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
Message?.Invoke(this, new MessageEventArgs(this.errorMessage, true)); //errormessage Message?.Invoke(this, new MessageEventArgs(this.ErrorMessage, true)); //errormessage
return false; return false;
} }
else else
@@ -239,7 +242,7 @@ namespace arDev
} }
catch (Exception ex) catch (Exception ex)
{ {
this.errorMessage = ex.Message; this.ErrorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true)); this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
return false; return false;
} }
@@ -301,7 +304,7 @@ namespace arDev
// //_device.DiscardInBuffer(); // //_device.DiscardInBuffer();
// //_device.DiscardOutBuffer(); // //_device.DiscardOutBuffer();
//} //}
errorMessage = ex.Message; ErrorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true)); this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
} }
@@ -444,8 +447,8 @@ namespace arDev
//171205 : 타임아웃시간추가 //171205 : 타임아웃시간추가
if (!_mre.WaitOne(WaitTimeout)) if (!_mre.WaitOne(WaitTimeout))
{ {
errorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms"; ErrorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
this.Message?.Invoke(this, new MessageEventArgs(errorMessage, true)); this.Message?.Invoke(this, new MessageEventArgs(ErrorMessage, true));
return false; return false;
} }

2
Cs_HMI/SubProject/EnigProtocol

Submodule Cs_HMI/SubProject/EnigProtocol updated: 2a5bb77dab...283910459e

26
Cs_HMI/TestProject/Test_ACS/MainForm.cs
View File

@@ -61,6 +61,14 @@ namespace Test_ACS
case AGVCommandEH.Status: case AGVCommandEH.Status:
UpdateAGVStatus(e.ReceivedPacket.Data); UpdateAGVStatus(e.ReceivedPacket.Data);
break; break;
case AGVCommandEH.Error:
var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
break;
default:
AddLog($"unknown command:{command}", LogType.Error);
break;
} }
} }
@@ -153,6 +161,7 @@ namespace Test_ACS
serialPort.Close(); serialPort.Close();
btnConnect.Text = "연결"; btnConnect.Text = "연결";
AddLog("포트 닫힘", LogType.Info); AddLog("포트 닫힘", LogType.Info);
} }
else else
{ {
@@ -163,6 +172,7 @@ namespace Test_ACS
serialPort.Open(); serialPort.Open();
btnConnect.Text = "해제"; btnConnect.Text = "해제";
AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info); AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info);
SaveSettings();
} }
catch (Exception ex) catch (Exception ex)
{ {
@@ -178,22 +188,22 @@ namespace Test_ACS
private void cmbPort_SelectedIndexChanged(object sender, EventArgs e) private void cmbPort_SelectedIndexChanged(object sender, EventArgs e)
{ {
SaveSettings(); //SaveSettings();
} }
private void txtBaudRate_TextChanged(object sender, EventArgs e) private void txtBaudRate_TextChanged(object sender, EventArgs e)
{ {
SaveSettings(); //SaveSettings();
} }
private void txtRFID_TextChanged(object sender, EventArgs e) private void txtRFID_TextChanged(object sender, EventArgs e)
{ {
SaveSettings(); //SaveSettings();
} }
private void txtAlias_TextChanged(object sender, EventArgs e) private void txtAlias_TextChanged(object sender, EventArgs e)
{ {
SaveSettings(); //SaveSettings();
} }
private void rbAGV1_CheckedChanged(object sender, EventArgs e) private void rbAGV1_CheckedChanged(object sender, EventArgs e)
@@ -201,7 +211,7 @@ namespace Test_ACS
if (rbAGV1.Checked) if (rbAGV1.Checked)
{ {
selectedAGV = 11; selectedAGV = 11;
SaveSettings(); //SaveSettings();
} }
} }
@@ -210,7 +220,7 @@ namespace Test_ACS
if (rbAGV2.Checked) if (rbAGV2.Checked)
{ {
selectedAGV = 12; selectedAGV = 12;
SaveSettings(); //SaveSettings();
} }
} }
@@ -250,6 +260,7 @@ namespace Test_ACS
var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2"))); var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2")));
var dataStr = targetID + aliasHex; var dataStr = targetID + aliasHex;
SendCommand(AGVCommandHE.GotoAlias, dataStr); SendCommand(AGVCommandHE.GotoAlias, dataStr);
SaveSettings();
} }
private void btnStop_Click(object sender, EventArgs e) private void btnStop_Click(object sender, EventArgs e)
@@ -524,9 +535,6 @@ namespace Test_ACS
protected override void OnFormClosing(FormClosingEventArgs e) protected override void OnFormClosing(FormClosingEventArgs e)
{ {
// 설정 저장
SaveSettings();
if (serialPort != null && serialPort.IsOpen) if (serialPort != null && serialPort.IsOpen)
{ {
serialPort.Close(); serialPort.Close();