"refactor:Switch-serial-comm-to-polling"

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/SubProject/AGV/Narumi.cs

@@ -267,8 +267,12 @@ namespace arDev
                 nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
                 signal1.SetValue(nDataTemp);  idx += 2;
 
+                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;
@@ -158,9 +178,25 @@ namespace arDev
         public Boolean Open()
         {
             try
+            {
+                if (_device.IsOpen == false)
                 {
                     _device.Open();
-                return IsOpen;
+                }
+
+                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)
             {
@@ -193,6 +229,18 @@ namespace arDev
 
         public virtual bool Close()
         {
+            try
+            {
+                _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();
@@ -202,6 +250,11 @@ namespace arDev
                 }
                 else return false;
             }
+            catch (Exception)
+            {
+                return false;
+            }
+        }
         protected Boolean RaiseRecvData()
         {
             return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
@@ -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