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

Cs_HMI/Project/StateMachine/_SPS.cs

@@ -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(() =>
                     {

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -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;
+            }
+        }
     }
 }