..

Cs_HMI/Project/Device/Xbee.cs

@@ -24,15 +24,15 @@ namespace Project.Device
 
         public class MessageArgs : EventArgs
         {
-            public bool IsError { get; set; }   
+            public bool IsError { get; set; }
             public string Message { get; set; }
-            public MessageArgs(bool iserr,string m)
+            public MessageArgs(bool iserr, string m)
             {
                 this.IsError = iserr;
                 this.Message = m;
             }
         }
-        
+
         public event EventHandler<MessageArgs> MessageReceived;
         public event EventHandler<EEProtocol.DataEventArgs> ProtocReceived;
 
@@ -95,7 +95,7 @@ namespace Project.Device
 
             ProtocReceived?.Invoke(this, e);
 
-            
+
 
 
         }
@@ -119,7 +119,7 @@ namespace Project.Device
         public void SendMoveComplete(string tag)
         {
             var id = PUB.setting.XBE_ID;
-            byte cmd = 2;
+            byte cmd = (byte)ENIGProtocol.AGVCommandEH.Arrived;
             var data = System.Text.Encoding.Default.GetBytes(tag);
             var packet = proto.CreatePacket(id, cmd, data);
             Send(packet);
@@ -131,12 +131,28 @@ namespace Project.Device
         public void SendRFIDTag(string tag)
         {
             var id = PUB.setting.XBE_ID;
-            byte cmd = 3;
+            byte cmd = (byte)ENIGProtocol.AGVCommandEH.ReadRFID;
             var data = System.Text.Encoding.Default.GetBytes(tag);
             var packet = proto.CreatePacket(id, cmd, data);
             Send(packet);
         }
 
+        /// <summary>
+        /// 오류코드를 호스트에 전송합니다
+        /// </summary>
+        /// <param name="errcode"></param>
+        public void SendError(ENIGProtocol.AGVErrorCode errcode, string errormessage)
+        {
+            var id = PUB.setting.XBE_ID;
+            byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error;
+            if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
+
+            var data = new byte[] { (byte)errcode };
+            var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
+
+            var packet = proto.CreatePacket(id, cmd, data);
+            Send(packet);
+        }
 
 
 
@@ -208,7 +224,8 @@ namespace Project.Device
                 Array.Copy(tagBytes, 0, data, 7, 6);
 
                 // 데이터 전송
-                var packet = proto.CreatePacket(PUB.setting.XBE_ID, 9, data);
+                var cmd = (byte)ENIGProtocol.AGVCommandEH.Status;
+                var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data);
                 Send(packet);
                 LastStatusSendTime = DateTime.Now;
             }