Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'master' of https://git.tindevil.com/Amkor/ENIG

Browse Source
This commit is contained in:
backuppc
2025-12-18 10:32:48 +09:00
parent 9274727fa9 2a44ba28a8
commit 32217c8501
18 changed files with 208 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs
View File

@@ -119,6 +119,9 @@ namespace AGVNavigationCore.Controls
var worldPoint = ScreenToWorld(e.Location);
var hitNode = GetItemAt(worldPoint);
// 가동 모드에서는 더블클릭 편집 방지
if (_canvasMode == CanvasMode.Run) return;
if (hitNode == null) return;
if (hitNode.Type == NodeType.Normal)

3
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
View File

@@ -39,7 +39,8 @@ namespace AGVNavigationCore.Controls
{
Edit, // 편집 가능 (맵 에디터)
Sync, // 동기화 모드 (장비 설정 동기화)
Emulator // 에뮬레이터 모드
Emulator, // 에뮬레이터 모드
Run // 가동 모드 (User Request)
}
/// <summary>

2
Cs_HMI/Project/StateMachine/_SPS.cs
View File

@@ -207,7 +207,7 @@ namespace Project
//연결은 되었으나 통신이 지난지 10초가 지났다면 자동종료한다
var tsRecv = VAR.TIME.RUN(recvtime);
var tsConn = VAR.TIME.RUN(conntry);
if (tsRecv.TotalSeconds > 10 && tsConn.TotalSeconds > 5)
if (tsRecv.TotalSeconds > 30 && tsConn.TotalSeconds > 5)
{
this.BeginInvoke(new Action(() =>
{

70
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -43,11 +43,19 @@ namespace Project.ViewForm
private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
{
if (e.Button != MouseButtons.Right) return;
if (node == null) return;
var mapnode = node as MapNode;
if (mapnode == null) return;
// [Run Mode] Left Click: AGV Operation
if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
{
HandleRunModeClick(mapnode);
return;
}
if (e.Button != MouseButtons.Right) return;
// 도킹 가능한 노드인지 또는 작업 노드인지 확인
if (mapnode.isDockingNode == false) return;
@@ -158,6 +166,9 @@ namespace Project.ViewForm
//}
this.timer1.Start();
// Set Run Mode
PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
}
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
{
@@ -194,6 +205,9 @@ namespace Project.ViewForm
PUB.sm.StepChanged -= Sm_StepChanged;
this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
PUB.AGV.DataReceive -= AGV_DataReceive;
// Reset Mode to Edit
PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Edit;
}
bool tmrun = false;
@@ -201,7 +215,15 @@ namespace Project.ViewForm
private void fAuto_VisibleChanged(object sender, EventArgs e)
{
this.timer1.Enabled = this.Visible;
if (timer1.Enabled) timer1.Start();
if (timer1.Enabled)
{
timer1.Start();
// 화면이 보일 때 Run 모드로 강제 설정
if (PUB._mapCanvas.Mode != AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run)
{
PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
}
}
else timer1.Stop();
}
@@ -236,5 +258,49 @@ namespace Project.ViewForm
//tmrun = false;
}
private void HandleRunModeClick(MapNode targetNode)
{
if (targetNode == null) return;
ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
string confirmMsg = "";
if (targetNode.StationType == StationType.Charger)
{
if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Charger;
ExecuteManualCommand(targetNode, targetCmd);
}
return;
}
else if (targetNode.isDockingNode)
{
// Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
ContextMenuStrip menu = new ContextMenuStrip();
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
menu.Items.Add(pickOn);
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
menu.Items.Add(pickOff);
menu.Show(Cursor.Position);
return;
}
else
{
// Normal Node
if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Goto;
ExecuteManualCommand(targetNode, targetCmd);
}
return;
}
}
}
}

10
Cs_HMI/SubProject/AGV/Narumi.cs
View File

@@ -229,7 +229,7 @@ namespace arDev
private void RevSTS(Dataframe frame)
{
LastSTS = frame.DataString;
string rcvdNow = frame.DataString;
string rcvdNow = frame.DataString.Replace("\0","");
byte[] bRcvData = frame.Buffer;
var encoding = System.Text.Encoding.Default;
try
@@ -267,8 +267,12 @@ namespace arDev
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal1.SetValue(nDataTemp); idx += 2;
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal2.SetValue(nDataTemp);
if(idx <= rcvdNow.Length-2)
{
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal2.SetValue(nDataTemp);
}
DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));

137
Cs_HMI/SubProject/AGV/NarumiSerialComm.cs
View File

@@ -51,6 +51,12 @@ namespace arDev
public string WriteErrorMessage = string.Empty;
public int WaitTimeout { get; set; } = 1000;
public int MinRecvLength { get; set; } = 1;
// Polling Thread related
protected Thread _recvThread;
protected volatile bool _isReading = false;
/// <summary>
/// 포트이름
/// </summary>
@@ -103,7 +109,7 @@ namespace arDev
_device = new System.IO.Ports.SerialPort();
this.BaudRate = 9600;
ScanInterval = 10;
_device.DataReceived += barcode_DataReceived;
// _device.DataReceived += barcode_DataReceived; // Removed event handler
_device.ErrorReceived += this.barcode_ErrorReceived;
_device.WriteTimeout = 3000;
_device.ReadTimeout = 3000;
@@ -147,9 +153,23 @@ namespace arDev
//
}
_device.DataReceived -= barcode_DataReceived;
// Stop reading thread
_isReading = false;
// _device.DataReceived -= barcode_DataReceived; // Removed event handler
_device.ErrorReceived -= this.barcode_ErrorReceived;
if (_recvThread != null && _recvThread.IsAlive)
{
_recvThread.Join(500);
}
if (_device != null)
{
if (_device.IsOpen) _device.Close();
_device.Dispose();
}
// Free any unmanaged objects here.
//
disposed = true;
@@ -159,8 +179,24 @@ namespace arDev
{
try
{
_device.Open();
return IsOpen;
if (_device.IsOpen == false)
{
_device.Open();
}
if (_device.IsOpen)
{
// Start polling thread
if (_isReading == false)
{
_isReading = true;
_recvThread = new Thread(ReadPort);
_recvThread.IsBackground = true;
_recvThread.Start();
}
return true;
}
return false;
}
catch (Exception ex)
{
@@ -193,14 +229,31 @@ namespace arDev
public virtual bool Close()
{
if (_device != null && _device.IsOpen)
try
{
_device.DiscardInBuffer();
_device.DiscardOutBuffer();
_device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
return true;
_isReading = false; // Stop thread loop
if (_recvThread != null && _recvThread.IsAlive)
{
if (!_recvThread.Join(500)) // Wait for thread to finish
{
// _recvThread.Abort(); // Avoid Abort if possible
}
}
if (_device != null && _device.IsOpen)
{
_device.DiscardInBuffer();
_device.DiscardOutBuffer();
_device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
return true;
}
else return false;
}
catch (Exception)
{
return false;
}
else return false;
}
protected Boolean RaiseRecvData()
{
@@ -226,6 +279,9 @@ namespace arDev
try
{
// UI update might need Invoke if this event handler updates UI directly,
// but usually the subscriber handles Invoke.
// Since we are running on a background thread now, subscribers must be aware.
Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
if (ProcessRecvData(Data) == false)
{
@@ -262,9 +318,12 @@ namespace arDev
}
byte[] buffer = new byte[] { };
// Replaced with ReadPort Loop
/*
void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
int ReadCount = _device.BytesToRead;
@@ -308,6 +367,62 @@ namespace arDev
}
}
*/
void ReadPort()
{
while (_isReading)
{
try
{
if (_device == null || !_device.IsOpen)
{
Thread.Sleep(100);
continue;
}
int readCount = _device.BytesToRead;
if (readCount > 0)
{
byte[] buffer = new byte[readCount];
_device.Read(buffer, 0, buffer.Length);
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.
buffer = new byte[remainBuffer.Length]; // Reallocate buffer for remaining data
Array.Copy(remainBuffer, buffer, remainBuffer.Length);
goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
}
}
}
else
{
Thread.Sleep(20); // Data 없음, 대기
}
}
catch (Exception ex)
{
// Thread 상에서 Exception 발생 시 로그 남기고 계속 진행 여부 결정
// 여기서는 에러 메시지 발생시키고 Sleep
ErrorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
Thread.Sleep(1000);
}
}
}
#endregion

2
Cs_HMI/SubProject/CommUtil

Submodule Cs_HMI/SubProject/CommUtil updated: b070b711f0...ed05439991