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경로로직

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This commit is contained in:
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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4
HMI/Project/StateMachine/_AGV.cs
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@@ -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;