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This commit is contained in:
backuppc
2026-02-26 11:40:57 +09:00
parent 1948eda7ea
commit 2e9b7973c7
8 changed files with 33 additions and 5 deletions
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3
HMI/Project/StateMachine/Step/_SM_RUN.cs
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@@ -40,6 +40,7 @@ namespace Project
//스텝이 변경되었다면?
if (PUB.sm.RunStep != PUB.sm.RunStepNew)
{
PUB.logdebug.Add($"[AI_TRACE] RunStep Transition: {PUB.sm.RunStep} -> {PUB.sm.RunStepNew}");
runStepisFirst = true;
PUB.sm.ApplyRunStep();
}
@@ -72,6 +73,7 @@ namespace Project
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.logdebug.Add($"[AI_TRACE] Blocking: stop_by_front_detect=true (LIDAR Obstacle)");
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
@@ -84,6 +86,7 @@ namespace Project
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.logdebug.Add($"[AI_TRACE] Blocking: runerror_by_no_magent_line=true (Magnetic Line Lost)");
PUB.Speak(Lang.선로를이탈했습니다);
LastSpeakTime = DateTime.Now;
}