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backuppc
2025-12-22 16:02:57 +09:00
parent 5a4c73e4df
commit 3408e3fc30
8 changed files with 123 additions and 8 deletions
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85
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
View File

@@ -815,6 +815,9 @@ namespace AGVNavigationCore.Controls
case StationType.Charger:
DrawTriangleNodeShape(g, node, brush);
break;
case StationType.Limit:
DrawRectangleNodeShape(g, node, brush);
break;
default:
DrawCircleNodeShape(g, node, brush);
break;
@@ -823,6 +826,83 @@ namespace AGVNavigationCore.Controls
}
private void DrawRectangleNodeShape(Graphics g, MapNode node, Brush brush)
{
// 드래그 중인 노드는 약간 크게 그리기
bool isDraggingThisNode = _isDragging && node == _selectedNode;
int sizeAdjustment = isDraggingThisNode ? 4 : 0;
var rect = new Rectangle(
node.Position.X - NODE_RADIUS - sizeAdjustment,
node.Position.Y - NODE_RADIUS - sizeAdjustment,
NODE_SIZE + sizeAdjustment * 2,
NODE_SIZE + sizeAdjustment * 2
);
// 드래그 중인 노드의 그림자 효과
if (isDraggingThisNode)
{
var shadowRect = new Rectangle(rect.X + 3, rect.Y + 3, rect.Width, rect.Height);
using (var shadowBrush = new SolidBrush(Color.FromArgb(100, 0, 0, 0)))
{
g.FillRectangle(shadowBrush, shadowRect);
}
}
// 노드 그리기
g.FillRectangle(brush, rect);
g.DrawRectangle(Pens.Black, rect);
// 드래그 중인 노드 강조 (가장 강력한 효과)
if (isDraggingThisNode)
{
// 청록색 두꺼운 테두리
g.DrawRectangle(new Pen(Color.Cyan, 3), rect);
// 펄스 효과
var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8);
g.DrawRectangle(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect);
}
// 선택된 노드 강조 (단일 또는 다중)
else if (node == _selectedNode || (_selectedNodes != null && _selectedNodes.Contains(node)))
{
g.DrawRectangle(_selectedNodePen, rect);
}
// 목적지 노드 강조
if (node == _destinationNode)
{
// 금색 테두리로 목적지 강조
g.DrawRectangle(_destinationNodePen, rect);
// 펄싱 효과를 위한 추가 원 그리기
var pulseRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
g.DrawRectangle(new Pen(Color.Gold, 2) { DashStyle = DashStyle.Dash }, pulseRect);
}
// 호버된 노드 강조 (드래그 중이 아닐 때만)
if (node == _hoveredNode && !isDraggingThisNode)
{
var hoverRect = new Rectangle(rect.X - 2, rect.Y - 2, rect.Width + 4, rect.Height + 4);
g.DrawRectangle(new Pen(Color.Orange, 2), hoverRect);
}
// RFID 중복 노드 표시 (빨간 X자)
if (_duplicateRfidNodes.Contains(node.Id))
{
DrawDuplicateRfidMarker(g, node);
}
// CanCross 가능 노드 표시 (교차지점으로 사용 가능)
if (node.DisableCross == true)
{
var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
g.DrawRectangle(new Pen(Color.DeepSkyBlue, 3), crossRect);
}
g.DrawLine(Pens.Black, rect.X, rect.Y, rect.Right, rect.Bottom);
g.DrawLine(Pens.Black, rect.Right, rect.Top, rect.X, rect.Bottom);
}
private void DrawCircleNodeShape(Graphics g, MapNode node, Brush brush)
{
// 드래그 중인 노드는 약간 크게 그리기
@@ -1472,9 +1552,10 @@ namespace AGVNavigationCore.Controls
case StationType.Normal: bgColor = Color.DeepSkyBlue; break;
case StationType.Charger: bgColor = Color.Tomato; break;
case StationType.Loader:
case StationType.UnLoader: bgColor = Color.Gold ; break;
case StationType.Clearner: bgColor = Color.DeepSkyBlue ; break;
case StationType.UnLoader: bgColor = Color.Gold; break;
case StationType.Clearner: bgColor = Color.DeepSkyBlue; break;
case StationType.Buffer: bgColor = Color.WhiteSmoke; break;
case StationType.Limit: bgColor = Color.Red; break;
default: bgColor = Color.White; break;
}

8
Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs
View File

@@ -73,7 +73,13 @@ namespace AGVNavigationCore.Models
/// <summary>버퍼</summary>
Buffer,
/// <summary>충전기</summary>
Charger
Charger,
/// <summary>
/// 끝점(더이상 이동불가)
/// </summary>
Limit,
}
/// <summary>

2
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs
View File

@@ -149,7 +149,7 @@ namespace AGVNavigationCore.Models
public override string ToString()
{
return $"{RfidId}({Id}): {AliasName} ({Type}) at ({Position.X}, {Position.Y})";
return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
}
public bool IsNavigationNode()

2
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
View File

@@ -464,6 +464,8 @@ namespace AGVNavigationCore.PathFinding.Planning
{
nodeInfo.Speed = mapNode.SpeedLimit;
}
detailedPath1.Add(nodeInfo);
}
// path1에 상세 경로 정보 설정

2
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
View File

@@ -108,7 +108,7 @@ namespace AGVNavigationCore.PathFinding.Planning
/// </summary>
public override string ToString()
{
var result = $"{RfidId}[{NodeId}]:{MotorDirection}";
var result = $"R{RfidId}[N{NodeId}]:{MotorDirection}";
// 마그넷 방향이 직진이 아닌 경우 표시
if (MagnetDirection != MagnetDirection.Straight)

13
Cs_HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -117,6 +117,11 @@ namespace Project
PUB.sm.SetNewRunStep(ERunStep.READY);
return false;
}
else
{
PUB._mapCanvas.CurrentPath = PathResult.result;
PUB._virtualAGV.SetPath(PathResult.result);
}
PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
}
@@ -133,8 +138,16 @@ namespace Project
return false;
}
//predict 를 이용하여 다음 이동을 모두 확인한다.
var nextAction = PUB._virtualAGV.Predict();
if(nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
{
//경로이탈
PUB._virtualAGV.CurrentPath.DetailedPath.Clear();
return false;
}
var message = $"[다음 행동 예측]\n\n" +
$"모터: {nextAction.Motor}\n" +

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

@@ -72,7 +72,7 @@ namespace Project
else if (PUB.BMS.IsValid == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
if (ts.TotalSeconds > ( Math.Max(10,PUB.setting.interval_bms) * 2.5))
{
this.BeginInvoke(new Action(() =>
{

17
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -113,7 +113,7 @@ namespace Project
case ENIGProtocol.AGVCommandHE.GotoAlias:
case ENIGProtocol.AGVCommandHE.Goto: //move to tag
var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 1 : 4;
var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
if (data.Length > datalength)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
@@ -255,7 +255,7 @@ namespace Project
break;
default:
PUB.logagv.AddE($"Unknown Command : {cmd}");
PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
break;
}
@@ -301,6 +301,19 @@ namespace Project
if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
//마지막대상이 버퍼라면 시퀀스처리를 해야한다
if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
{
var lastDetailPath = advancedResult.DetailedPath.Last();
if (lastDetailPath.NodeId == targetNode.Id) //마지막노드 재확인
{
//버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
}
}
_simulatorCanvas.CurrentPath = advancedResult;
//_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
//_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";