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Implement ACS Command Handlers (PickOn, PickOff, Charge), Manual Mode Safety, and Map UI Commands

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This commit is contained in:
tindevil
2025-12-13 02:40:55 +09:00
parent 703e1387bf
commit 34b038c4be
25 changed files with 1992 additions and 295 deletions
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87
Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
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@@ -19,20 +19,6 @@ namespace Project
private void _SM_RUN(Boolean isFirst, TimeSpan stepTime)
{
//중단기능이 동작이라면 처리하지 않는다.
if (PUB.sm.bPause)
{
System.Threading.Thread.Sleep(200);
return;
}
//가동불가 조건 확인
if (CheckStopCondition() == false)
{
PUB.sm.SetNewStep(eSMStep.IDLE);
return;
}
//HW 연결오류
if (PUB.AGV.IsOpen == false)
{
@@ -41,17 +27,16 @@ namespace Project
return;
}
//이머전시상태라면 stop 처리한다.
if (PUB.AGV.error.Emergency &&
PUB.AGV.system1.agv_stop == true &&
PUB.AGV.system1.stop_by_front_detect == false)
//가동불가 조건 확인
if (CheckStopCondition() == false) return;
//중단기능이 동작이라면 처리하지 않는다.
if (PUB.sm.bPause)
{
PUB.Speak(Lang.비상정지로인해작업을중단합니다);
PUB.sm.SetNewStep(eSMStep.IDLE);
System.Threading.Thread.Sleep(200);
return;
}
//스텝이 변경되었다면?
if (PUB.sm.RunStep != PUB.sm.RunStepNew)
{
@@ -272,9 +257,21 @@ namespace Project
//도킹완료상태를 업데이트한다.
PUB.XBE.LoaderInComplete = true;
//로더아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
//로더아웃으로 자동 진행하지 않음 (ACS 명령 대기)
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Command consumed
}
else
{
// Legacy behavior or Goto command: Auto-exit?
// User said separation is key. Let's Stop here too or keep legacy for GOTO?
// Assuming GOTO might rely on this, but safer to STOP if we want strict separation.
// However, let's keep legacy behavior for GOTO if possible, but for PickOn/Off we STOP.
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
}
return;
}
break;
@@ -302,9 +299,17 @@ namespace Project
//도킹완료상태를 업데이트한다.
PUB.XBE.UnloaderInComplete = true;
//언로더아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
//언로더아웃으로 자동 진행하지 않음
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
}
else
{
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
}
return;
}
break;
@@ -332,9 +337,17 @@ namespace Project
//도킹완료상태를 업데이트한다.
PUB.XBE.CleanerInComplete = true;
//클리너아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
//클리너아웃으로 자동 진행하지 않음
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
}
else
{
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
}
return;
}
break;
@@ -362,9 +375,17 @@ namespace Project
//도킹완료상태를 업데이트한다.
PUB.XBE.BufferInComplete = true;
//버퍼아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
//버퍼아웃으로 자동 진행하지 않음
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
}
else
{
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
}
return;
}
break;