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backuppc
2026-03-03 17:29:27 +09:00
parent 1a4b8a6a54
commit 30e1ce41ee
17 changed files with 462 additions and 598 deletions
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10
HMI/Project/StateMachine/Step/_SM_RUN.cs
View File

@@ -123,7 +123,7 @@ namespace Project
switch (target.StationType)
{
case AGVNavigationCore.Models.StationType.Buffer:
case AGVNavigationCore.Models.Station.Buffer:
var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
{
@@ -139,19 +139,19 @@ namespace Project
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
break;
case AGVNavigationCore.Models.StationType.Charger:
case AGVNavigationCore.Models.Station.Charger:
break;
case AGVNavigationCore.Models.StationType.Loader:
case AGVNavigationCore.Models.Station.Loder:
PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break;
case AGVNavigationCore.Models.StationType.Plating:
case AGVNavigationCore.Models.Station.Plating:
PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break;
case AGVNavigationCore.Models.StationType.Cleaner:
case AGVNavigationCore.Models.Station.Cleaner:
PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break;

2
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
View File

@@ -69,7 +69,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//버퍼 노드 여부 확인
if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.StationType.Buffer)
if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.Station.Buffer)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_BUFFERPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 버퍼가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
return false;

2
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -71,7 +71,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//버퍼 노드 여부 확인
if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.StationType.Buffer)
if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.Station.Buffer)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_BUFFERPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 버퍼가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
return false;

6
HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
View File

@@ -38,9 +38,9 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//장비 노드 여부 확인 (버퍼가 아닌 도킹 가능 노드여야 함)
if (PUB._virtualAGV.CurrentNode.StationType != StationType.Loader &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Plating &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Cleaner)
if (PUB._virtualAGV.CurrentNode.StationType != Station.Loder &&
PUB._virtualAGV.CurrentNode.StationType != Station.Plating &&
PUB._virtualAGV.CurrentNode.StationType != Station.Cleaner)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_EQUIPMENTPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 장비 노드가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
return false;

6
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
View File

@@ -39,9 +39,9 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//장비 노드 여부 확인 (버퍼가 아닌 도킹 가능 노드여야 함)
if (PUB._virtualAGV.CurrentNode.StationType != StationType.Loader &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Plating &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Cleaner)
if (PUB._virtualAGV.CurrentNode.StationType != Station.Loder &&
PUB._virtualAGV.CurrentNode.StationType != Station.Plating &&
PUB._virtualAGV.CurrentNode.StationType != Station.Cleaner)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_EQUIPMENTPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 장비 노드가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
return false;

2
HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -319,7 +319,7 @@ namespace Project
// 목적지 도착 여부 확인
if (PUB.AGV.signal1.mark_sensor == false)
{
if (PUB._virtualAGV.TargetNode.StationType != StationType.Normal)
if (PUB._virtualAGV.TargetNode.StationType != Station.Normal)
{
PUB.log.AddAT($"목표({PUB._virtualAGV.TargetNode.RfidId})도착되었으나 마크센서가 감지되지 않아 완료처리 하지않습니다");
return false;

4
HMI/Project/StateMachine/_AGV.cs
View File

@@ -72,7 +72,7 @@ namespace Project
PUB.log.Add($"AGV Turn Complete:{e.Direction}");
//일반노드에서 턴작업이 진행되었다면, 이전경로와 현재경로의 모터 방향을 바꿔준다(일반노드에서만 사용)
if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.CurrentNode.StationType == StationType.Normal)
if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.CurrentNode.StationType == Station.Normal)
{
var prevnodeid = PUB._virtualAGV.PrevNode;//.Id;
var currnodeid = PUB._virtualAGV.CurrentNode;//.Id;
@@ -270,7 +270,7 @@ namespace Project
PUB.SaveLastPosition();
//노드가 들어왔는데. 일반 노드라면.. 턴 정보를 제거한다.
if (CurrentNode.StationType != StationType.Buffer && PUB._virtualAGV.Turn != AGVTurn.None)
if (CurrentNode.StationType != Station.Buffer && PUB._virtualAGV.Turn != AGVTurn.None)
{
PUB.log.AddAT($"현재노드위치가 버퍼가 아니라서 턴정보를 초기화합니다{PUB._virtualAGV.Turn}");
PUB._virtualAGV.Turn = AGVTurn.None;

26
HMI/Project/StateMachine/_Xbee.cs
View File

@@ -109,16 +109,16 @@ namespace Project
//버퍼의 경우 직전에 멈추기 때문에 스테이션종류를 보정해준다
var StationType = currNode.StationType;
if (StationType == StationType.Normal && targetNode.StationType == StationType.Buffer)
StationType = StationType.Buffer;
if (StationType == Station.Normal && targetNode.StationType == Station.Buffer)
StationType = Station.Buffer;
ERunStep nextStep = ERunStep.READY;
switch (StationType)
{
case StationType.Loader: nextStep = ERunStep.LOADER_IN; break;
case StationType.Cleaner: nextStep = ERunStep.UNLOADER_IN; break;
case StationType.Buffer: nextStep = ERunStep.BUFFER_IN; break;
case StationType.Plating: nextStep = ERunStep.CLEANER_IN; break;
case Station.Loder: nextStep = ERunStep.LOADER_IN; break;
case Station.Cleaner: nextStep = ERunStep.UNLOADER_IN; break;
case Station.Buffer: nextStep = ERunStep.BUFFER_IN; break;
case Station.Plating: nextStep = ERunStep.CLEANER_IN; break;
default:
PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
return;
@@ -190,16 +190,16 @@ namespace Project
//버퍼의 경우 직전에 멈추기 때문에 스테이션종류를 보정해준다
var StationType = currNode.StationType;
if (StationType == StationType.Normal && targetNode.StationType == StationType.Buffer)
StationType = StationType.Buffer;
if (StationType == Station.Normal && targetNode.StationType == Station.Buffer)
StationType = Station.Buffer;
ERunStep nextStep = ERunStep.READY;
switch (StationType)
{
case StationType.Loader: nextStep = ERunStep.LOADER_OUT; break;
case StationType.Cleaner: nextStep = ERunStep.UNLOADER_OUT; break;
case StationType.Buffer: nextStep = ERunStep.BUFFER_OUT; break;
case StationType.Plating: nextStep = ERunStep.CLEANER_OUT; break;
case Station.Loder: nextStep = ERunStep.LOADER_OUT; break;
case Station.Cleaner: nextStep = ERunStep.UNLOADER_OUT; break;
case Station.Buffer: nextStep = ERunStep.BUFFER_OUT; break;
case Station.Plating: nextStep = ERunStep.CLEANER_OUT; break;
default:
PUB.logdebug.Add($"[AI_TRACE] REJECTED: Unsupported station type {StationType} for command {cmd}");
PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
@@ -287,7 +287,7 @@ namespace Project
//노드가 들어왔는데. 일반 노드라면.. 턴 정보를 제거한다.
if (PUB._virtualAGV.CurrentNode != null &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Buffer &&
PUB._virtualAGV.CurrentNode.StationType != Station.Buffer &&
PUB._virtualAGV.Turn != AGVTurn.None)
{
PUB.log.AddAT($"[{logPrefix}-Goto] 현재노드위치가 버퍼가 아니라서 턴정보를 초기화합니다{PUB._virtualAGV.Turn}");