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"refactor:Improve-map-loading-and-use-canvas-nodes"

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This commit is contained in:
tindevil
2025-12-14 22:55:09 +09:00
parent 764fbbd204
commit 3c8eae889c
13 changed files with 218 additions and 199 deletions
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26
Cs_HMI/Project/StateMachine/_AGV.cs
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@@ -60,11 +60,15 @@ 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';
var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
// [Sync] Update VirtualAGV Direction
var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
if (PUB._virtualAGV.CurrentDirection != syncDir)
PUB.UpdateAGVDirection(syncDir);
if (PUB._virtualAGV != null)
{
if (PUB._virtualAGV.CurrentDirection != syncDir)
PUB.UpdateAGVDirection(syncDir);
}
// [Sync] Update VirtualAGV State
AGVState syncState = AGVState.Idle;
@@ -72,7 +76,7 @@ namespace Project
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)
if (PUB._virtualAGV != null && PUB._virtualAGV.GetCurrentState() != syncState)
PUB.UpdateAGVState(syncState);
if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
@@ -156,9 +160,9 @@ namespace Project
case arDev.Narumi.DataType.TAG:
{
//자동 실행 중이다.
PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo}");
PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString("0000");
PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo} LastTag:{PUB.Result.LastTAG}");
//POT/NOT 보면 일단 바로 멈추게한다
if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
{
@@ -168,7 +172,7 @@ namespace Project
}
//virtual agv setting
var CurrentNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
var CurrentNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
if (CurrentNode == null)
{
//없는 노드는 자동으로 추가한다
@@ -184,10 +188,10 @@ namespace Project
};
// 맵 노드 리스트에 추가
PUB._mapNodes.Add(newNode);
PUB._mapCanvas.Nodes.Add(newNode);
// 캔버스에 노드 반영 (재설정)
PUB._mapCanvas.Nodes = PUB._mapNodes;
PUB._mapCanvas.Nodes = PUB._mapCanvas.Nodes;
// 로그 기록
PUB.log.AddI($"RFID:{PUB.Result.LastTAG} 노드를 자동 추가했습니다 (NodeId: {newNodeId})");
@@ -217,7 +221,7 @@ namespace Project
}
//이 후 상황을 예측한다
if (PUB._mapCanvas != null)
if (PUB._mapCanvas != null && PUB._virtualAGV != null)
{
var nextAction = PUB._virtualAGV.Predict();
var message = $"[다음 행동 예측]\n\n" +