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

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -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)

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -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>

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;
+            }
+        }
     }
 }

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -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));
 

Cs_HMI/SubProject/AGV/NarumiSerialComm.cs

@@ -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)
                 {
@@ -262,6 +318,9 @@ namespace arDev
         }
 
         byte[] buffer = new byte[] { };
+        
+        // Replaced with ReadPort Loop
+        /*
         void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
         {
             
@@ -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