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

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

15
Cs_HMI/Project/StateMachine/_AGV.cs
View File

@@ -9,6 +9,7 @@ using Project.StateMachine;
using COMM;
using AR;
using AGVNavigationCore.Models;
using AGVNavigationCore.Controls;
namespace Project
{
@@ -60,6 +61,20 @@ namespace Project
//if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';
// [Sync] Update VirtualAGV Direction
var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
if (PUB._virtualAGV.CurrentDirection != syncDir)
PUB.UpdateAGVDirection(syncDir);
// [Sync] Update VirtualAGV State
AGVState syncState = AGVState.Idle;
if (PUB.AGV.error.Value > 0) syncState = AGVState.Error;
else if (PUB.AGV.system1.Battery_charging) syncState = AGVState.Charging;
else if (PUB.AGV.system1.agv_run) syncState = AGVState.Moving;
if (PUB._virtualAGV.GetCurrentState() != syncState)
PUB.UpdateAGVState(syncState);
if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
{
VAR.BOOL[eVarBool.AGV_ERROR] = (agv_err > 0);