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

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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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24
Cs_HMI/Project/ViewForm/fManual.cs
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@@ -85,6 +85,12 @@ namespace Project.ViewForm
if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.BS, spd, ss);
PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
// [Manual Safety] Clear previous auto-task state
PUB._virtualAGV.TargetNode = null;
PUB._virtualAGV.CurrentPath = null;
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Clear ACS Command
PUB.sm.ClearRunStep(); // Clear RunStep sequence
}
private void arLabel2_Click(object sender, EventArgs e)
@@ -108,6 +114,12 @@ namespace Project.ViewForm
if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.FS, spd, ss);
PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
// [Manual Safety] Clear previous auto-task state
PUB._virtualAGV.TargetNode = null;
PUB._virtualAGV.CurrentPath = null;
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
PUB.sm.ClearRunStep();
}
private void arLabel3_Click(object sender, EventArgs e)
@@ -131,6 +143,12 @@ namespace Project.ViewForm
if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, spd, ss);
PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
// [Manual Safety] Clear previous auto-task state
PUB._virtualAGV.TargetNode = null;
PUB._virtualAGV.CurrentPath = null;
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
PUB.sm.ClearRunStep();
}
private void arLabel4_Click(object sender, EventArgs e)
@@ -154,6 +172,12 @@ namespace Project.ViewForm
if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, spd, ss);
PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
// [Manual Safety] Clear previous auto-task state
PUB._virtualAGV.TargetNode = null;
PUB._virtualAGV.CurrentPath = null;
PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
PUB.sm.ClearRunStep();
}
private void arLabel11_Click(object sender, EventArgs e)