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This commit is contained in:
backuppc
2025-07-14 16:32:56 +09:00
parent fb8c488890
commit 4a45ae15d6
20 changed files with 663 additions and 153 deletions
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18
Cs_HMI/SubProject/AGV/Structure/AgvData.cs
View File

@@ -7,8 +7,26 @@ namespace arDev
public class AgvData
{
/// <summary>
/// S: Straight
/// L: Left
/// R: Right
/// </summary>
public char Sts { get; set; }
/// <summary>
/// H : High
/// M : Middle
/// L : Low
/// S : Mark Stop
/// </summary>
public char Speed { get; set; }
/// <summary>
/// F : Front
/// B : Back
/// </summary>
public char Direction { get; set; }
public int guidesensor { get; set; }

20
Cs_HMI/SubProject/AGVControl/MapControl.cs
View File

@@ -712,13 +712,13 @@ namespace AGVControl
/// </summary>
/// <param name="rfidTagNo">RFID TagNo</param>
/// <returns></returns>
public bool SetCurrentPosition(UInt16 rfidTagNo)
public bool SetCurrentPosition(ushort rfidTagNo)
{
var rfidPoint = Manager.FindRFIDPoint(rfidTagNo);
if (rfidPoint != null)
{
// 이동 경로에 추가 (위치 업데이트보다 먼저)
Manager.agv.AddToMovementHistory(rfidTagNo, rfidPoint.Location, Manager.agv.CurrentMOTDirection);
Manager.agv.AddToMovementHistory(rfidTagNo, rfidPoint.Location, Manager.agv.Current_Motor_Direction);
// AGV 위치 업데이트
Manager.agv.CurrentRFID = rfidPoint;
@@ -1053,7 +1053,7 @@ namespace AGVControl
// 고정방향이 있으면 테두리 색상 표시
if (rfid.FixedDirection.HasValue)
{
Color borderColor = rfid.FixedDirection.Value == Direction.Forward ? Color.DeepSkyBlue : Color.Gold;
Color borderColor = rfid.FixedDirection.Value == AgvDir.Forward ? Color.DeepSkyBlue : Color.Gold;
using (var pen = new Pen(borderColor, 2))
{
g.DrawEllipse(pen, rfid.Bounds.Expand(5, 5));
@@ -1098,7 +1098,7 @@ namespace AGVControl
RFIDPoint TargetPT = null;
//뒤로이동하는경우라면 이전위치에 리프트가 있다.
if (lstpt.Direction == Direction.Backward)
if (lstpt.Direction == AgvDir.Backward)
{
TargetPT = prept;
}
@@ -1134,7 +1134,7 @@ namespace AGVControl
g.DrawEllipse(circlePen, circleRect);
//motor direction
var str = Manager.agv.CurrentMOTDirection.ToString().Substring(0, 1);
var str = Manager.agv.Current_Motor_Direction.ToString().Substring(0, 1);
var strsize = g.MeasureString(str, this.Font);
g.DrawString(str, this.Font, Brushes.White, circleRect, new StringFormat
{
@@ -1430,7 +1430,7 @@ namespace AGVControl
if (connection.MoveDirectionP != null)
{
// if (DriveMethod.isEmpty() == false) DriveMethod += "|";
DriveMethod += ((AgvRunDirection)connection.MoveDirectionP).ToString()[0];
DriveMethod += ((AgvSts)connection.MoveDirectionP).ToString()[0];
}
else DriveMethod += nulChar;
if (connection.MoveSpeedP != null)
@@ -1442,7 +1442,7 @@ namespace AGVControl
if (connection.LiftDirectionP != null)
{
//if (DriveMethod.isEmpty() == false) DriveMethod += "|";
DriveMethod += ((AgvRunDirection)connection.LiftDirectionP).ToString()[0];
DriveMethod += ((AgvSts)connection.LiftDirectionP).ToString()[0];
}
else DriveMethod += nulChar;
@@ -1482,7 +1482,7 @@ namespace AGVControl
if (connection.MoveDirectionN != null)
{
//if (DriveMethod.isEmpty() == false) DriveMethod += "|";
DriveMethod += ((AgvRunDirection)connection.MoveDirectionN).ToString()[0];
DriveMethod += ((AgvSts)connection.MoveDirectionN).ToString()[0];
}
else DriveMethod += nulChar;
if (connection.MoveSpeedN != null)
@@ -1494,7 +1494,7 @@ namespace AGVControl
if (connection.LiftDirectionN != null)
{
//if (DriveMethod.isEmpty() == false) DriveMethod += "|";
DriveMethod += ((AgvRunDirection)connection.LiftDirectionN).ToString()[0];
DriveMethod += ((AgvSts)connection.LiftDirectionN).ToString()[0];
}
else DriveMethod += nulChar;
@@ -1779,7 +1779,7 @@ namespace AGVControl
rfidPoint.IsRotatable = isRotatable;
}
if (rfidParts.Length >= 5 && !string.IsNullOrEmpty(rfidParts[4]))
rfidPoint.FixedDirection = (Direction)Enum.Parse(typeof(Direction), rfidParts[4]);
rfidPoint.FixedDirection = (AgvDir)Enum.Parse(typeof(AgvDir), rfidParts[4]);
if (rfidParts.Length >= 6)
{
bool isTerminal;

101
Cs_HMI/SubProject/AGVControl/MapControlManager.cs
View File

@@ -64,7 +64,7 @@ namespace AGVControl
PredictResult = CreatePrediction("이전 작업이 완료되지 않았습니다",
AGVActionReasonCode.busy,
AGVMoveState.Stop,
agv.CurrentMOTDirection, false);
agv.Current_Motor_Direction, false);
return PredictResult;
}
@@ -80,9 +80,9 @@ namespace AGVControl
PredictResult = CreatePrediction("AGV 위치 미확정(처음 기동)",
AGVActionReasonCode.NoPosition,
AGVMoveState.Run,
Direction.Backward, true,
AgvDir.Backward, true,
moveSpeed: AgvSpeed.Low,
moveDiv: AgvRunDirection.Straight);
moveDiv: AgvSts.Straight);
return PredictResult;
}
@@ -92,9 +92,9 @@ namespace AGVControl
PredictResult = CreatePrediction("AGV이동방향 알수없음",
AGVActionReasonCode.NoDirection,
AGVMoveState.Run,
Direction.Backward, true,
AgvDir.Backward, true,
moveSpeed: AgvSpeed.Low,
moveDiv: AgvRunDirection.Straight);
moveDiv: AgvSts.Straight);
return PredictResult;
}
@@ -107,7 +107,7 @@ namespace AGVControl
PredictResult = CreatePrediction("경로 없음 또는 현재 위치 미확정",
AGVActionReasonCode.NoPath,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true);
agv.Current_Motor_Direction, true);
return PredictResult;
}
else
@@ -117,10 +117,10 @@ namespace AGVControl
var prlt = CalculatePath(CurPt, agv.TargetRFID);
if (prlt.Success == false)
{
PredictResult = CreatePrediction("목적지 경로 예측 실패",
PredictResult = CreatePrediction("목적지 경로 예측 실패",
AGVActionReasonCode.Unknown,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true,
agv.Current_Motor_Direction, true,
nextRFID: agv.TargetRFID);
return PredictResult;
}
@@ -140,12 +140,10 @@ namespace AGVControl
PredictResult = CreatePrediction("현재 위치가 경로에 없음",
AGVActionReasonCode.NotOnPath,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true);
agv.Current_Motor_Direction, true);
return PredictResult;
}
// 4. 목적지 도달 전, 회전이 필요한경우인가?
// 목적지 RFID 정보
var destRFID = agv.MainPath.Last();
@@ -163,7 +161,7 @@ namespace AGVControl
if (IsLiftDir == false)
{
AgvSpeed? agv_spd = null;
AgvRunDirection? agv_dir = null;
AgvSts? agv_dir = null;
//회전가능한 위치로 이동을 해야한다
@@ -174,7 +172,7 @@ namespace AGVControl
PredictResult = CreatePrediction("회전 가능한 위치가 없습니다",
AGVActionReasonCode.NoTurnPoint,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true);
agv.Current_Motor_Direction, true);
return PredictResult;
}
@@ -195,7 +193,7 @@ namespace AGVControl
PredictResult = CreatePrediction("회전 위치까지의 경로를 계산할 수 없습니다",
AGVActionReasonCode.PathCalcError,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true,
agv.Current_Motor_Direction, true,
nextRFID: nearTurnPoint);
return PredictResult;
}
@@ -205,7 +203,7 @@ namespace AGVControl
//현재 모터방향을 확인하여 대상까지 이동하도록 해야한다
var curidx = agv.SubPath.FindIndex(t => t.Value == curPT.Value);
var preidx = agv.SubPath.FindIndex(t => t.Value == PrePT.Value);
Direction newdirection = agv.CurrentMOTDirection;
AgvDir newdirection = agv.Current_Motor_Direction;
string message = "턴위치로 이동중";
@@ -213,13 +211,11 @@ namespace AGVControl
if (preidx > curidx)
{
//지정경로를 거꾸로 이동하고 있다
if (agv.CurrentMOTDirection == Direction.Forward)
newdirection = Direction.Backward;
if (agv.Current_Motor_Direction == AgvDir.Forward)
newdirection = AgvDir.Backward;
else
newdirection = Direction.Forward;
newdirection = AgvDir.Forward;
message += "(방향전환)";
}
//도로정보를 확인하여 속도와 분기명령을 실행한다
@@ -232,7 +228,7 @@ namespace AGVControl
AGVMoveState.Run,
newdirection, true,
moveSpeed: agv_spd,
moveDiv: agv_dir,
moveDiv: agv_dir,
nextRFID: nearTurnPoint);
return PredictResult;
}
@@ -242,10 +238,10 @@ namespace AGVControl
agv_dir = roadinfo2.dir;
PredictResult = CreatePrediction("턴 완료 대기",
AGVActionReasonCode.NeedTurn,
PredictResult = CreatePrediction("턴(이동) 완료 대기",
AGVActionReasonCode.NeedTurnMove,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true,
agv.Current_Motor_Direction, true,
moveSpeed: agv_spd,
moveDiv: agv_dir,
nextRFID: nearTurnPoint);
@@ -256,21 +252,53 @@ namespace AGVControl
if (agv.SubPath != null && agv.SubPath.Any())
agv.SubPath.Clear();
//현재위치의 RFID에서 턴이 필요한경우
if (agv.CurrentRFID.NeedTurn)
{
//Turn이 완료되지 않았다면 턴 완료를 대기한다.
if (agv.CurrentRFID.TurnOK == false)
{
//아직 턴위치에 멈추지 않았다
if (agv.CurrentRFID.TurnStop == false)
{
//현재위치로 마크스탑이동을 하게한다
PredictResult = CreatePrediction("Wait for Turn(P)-Mark Stop",
AGVActionReasonCode.WaitForMarkStop,
AGVMoveState.Run,
agv.Current_Motor_Direction, true,
moveSpeed: agv.CurrentSpeed,
moveDiv: agv.CurrentSTS);
}
else
{
//턴위치에 정지했으니. 턴완료를 기다려야 한다
PredictResult = CreatePrediction("Wait for Turn(P)",
AGVActionReasonCode.NeedTurnPoint,
AGVMoveState.Run,
agv.Current_Motor_Direction, true,
moveSpeed: agv.CurrentSpeed,
moveDiv: agv.CurrentSTS);
}
return PredictResult;
}
}
//3. 목적지위치까지 이동이 완료되지 않았다면 계속 이동을 하게한다
if (agv.CurrentRFID.Value != destRFID.Value)
{
//현재 모터방향을 확인하여 대상까지 이동하도록 해야한다
var curidx = agv.MainPath.FindIndex(t => t.Value == curPT.Value);
var preidx = agv.MainPath.FindIndex(t => t.Value == PrePT.Value);
Direction newdirection = agv.CurrentMOTDirection;
AgvDir newdirection = agv.Current_Motor_Direction;
string message = "목적지 이동중";
if (preidx > curidx)
{
//지정경로를 거꾸로 이동하고 있다
if (agv.CurrentMOTDirection == Direction.Forward)
newdirection = Direction.Backward;
if (agv.Current_Motor_Direction == AgvDir.Forward)
newdirection = AgvDir.Backward;
else
newdirection = Direction.Forward;
newdirection = AgvDir.Forward;
message += "(방향전환)";
}
@@ -294,7 +322,7 @@ namespace AGVControl
PredictResult = CreatePrediction("경로의 마지막 지점(목적지 도달)",
AGVActionReasonCode.Arrived,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true,
agv.Current_Motor_Direction, true,
nextRFID: destRFID);
return PredictResult;
}
@@ -304,7 +332,7 @@ namespace AGVControl
PredictResult = CreatePrediction($"ERR:{ex.Message}",
AGVActionReasonCode.Unknown,
AGVMoveState.Stop,
agv.CurrentMOTDirection, true);
agv.Current_Motor_Direction, true);
return PredictResult;
}
finally
@@ -314,11 +342,11 @@ namespace AGVControl
}
(AgvSpeed? spd, AgvRunDirection? dir, RFIDConnection info) GetRoadInfo(List<RFIDPoint> paths, RFIDPoint curPT)
(AgvSpeed? spd, AgvSts? dir, RFIDConnection info) GetRoadInfo(List<RFIDPoint> paths, RFIDPoint curPT)
{
//도로정보를 확인하여 속도와 분기명령을 실행한다
AgvSpeed? agv_spd = null;
AgvRunDirection? agv_div = null;
AgvSts? agv_div = null;
RFIDConnection info = null;
var nextpt = paths.Skip(paths.FindIndex(t => t.Value == curPT.Value) + 1).FirstOrDefault();
@@ -504,7 +532,7 @@ namespace AGVControl
var lstpt = agv.MovementHistory.Last();
//뒤로이동하는경우라면 이전위치에 리프트가 있다.
if (lstpt.Direction == Direction.Backward)
if (lstpt.Direction == AgvDir.Backward)
{
TargetPT = prept;
}
@@ -566,9 +594,9 @@ namespace AGVControl
string reason,
AGVActionReasonCode reasonCode,
AGVMoveState moveState,
Direction direction, bool IDXUpdate = true,
AgvDir direction, bool IDXUpdate = true,
AgvSpeed? moveSpeed = null,
AgvRunDirection? moveDiv = null,
AgvSts? moveDiv = null,
RFIDPoint nextRFID = null
)
{
@@ -581,7 +609,8 @@ namespace AGVControl
Direction = direction,
MoveSpeed = moveSpeed,
MoveDiv = moveDiv,
Idx = IDXUpdate ? (PredictResult?.Idx + 1 ?? 1) : (PredictResult?.Idx ?? 0)
Idx = IDXUpdate ? (PredictResult?.Idx + 1 ?? 1) : (PredictResult?.Idx ?? 0),
CreateTime = DateTime.Now,
};
newPrediction.Changed = IsPredictionChanged(newPrediction);

49
Cs_HMI/SubProject/AGVControl/Models/AGV.cs
View File

@@ -20,7 +20,7 @@ namespace AGVControl.Models
public class movehistorydata : RFIDPoint
{
public Direction Direction { get; set; }
public AgvDir Direction { get; set; }
public override string ToString()
{
@@ -58,22 +58,37 @@ namespace AGVControl.Models
public double BatteryTemp2 { get; set; } = 0;
/// <summary>
/// AGV
/// AGV Speed
/// </summary>
public Direction CurrentAGVDirection { get; set; }
public AgvSpeed CurrentSpeed { get; set; }
/// <summary>
/// AGV모터 방향
/// 외부에서 값이 상시 업데이트 됩니다.
/// AGV STS
/// </summary>
public Direction CurrentMOTDirection { get; set; }
public AgvSts CurrentSTS { get; set; }
/// <summary>
/// AGV Motor Direction
/// </summary>
public AgvDir Current_Motor_Direction { get; set; }
/// <summary>
/// 현재위치가 수산되면 목적지까지의 방향값이 계산됩니다.
/// </summary>
public Direction TargetDirection { get; set; } = Direction.Stop;
public AgvDir? TargetDirection { get; set; }
/// <summary>
/// AGV.System1.agv_Run
/// </summary>
public bool IsMoving { get; set; }
/// <summary>
/// AGV.System1.Mark1_Check | Mark2_Check
/// </summary>
public bool IsMarkCheck { get; set; }
/// <summary>
/// 이동대상과 AGV의 머리방향이 일치하는지?
/// </summary>
public bool IsTargetDirectionMatch { get; set; }
/// <summary>
@@ -104,13 +119,13 @@ namespace AGVControl.Models
CurrentRFID = new RFIDPoint();
TargetRFID = new RFIDPoint();
TargetDirection = Direction.Forward;
TargetDirection = AgvDir.Forward;
// BodyAngle = null;
}
// 이동 경로에 새로운 RFID 추가
public void AddToMovementHistory(UInt16 rfidValue, Point position, Direction direction)
public void AddToMovementHistory(UInt16 rfidValue, Point position, AgvDir direction)
{
// 중복 RFID가 연속으로 들어오는 경우 무시
if (MovementHistory.Count > 0 && MovementHistory.Last().Value == rfidValue)
@@ -134,7 +149,7 @@ namespace AGVControl.Models
}
// 연결 정보 기반 실제 이동 방향 계산
public Direction? CalculateActualDirectionByConnection(uint currentRFID, uint previousRFID, List<RFIDConnection> connections)
public AgvDir? CalculateActualDirectionByConnection(uint currentRFID, uint previousRFID, List<RFIDConnection> connections)
{
if (connections == null || connections.Count == 0)
return null;
@@ -150,16 +165,16 @@ namespace AGVControl.Models
// 연결 방향에 따라 실제 이동 방향 결정
if (connection.P1.Value == previousRFID && connection.P2.Value == currentRFID)
{
return Direction.Forward; // Start -> End 방향으로 이동
return AgvDir.Forward; // Start -> End 방향으로 이동
}
else
{
return Direction.Backward; // End -> Start 방향으로 이동
return AgvDir.Backward; // End -> Start 방향으로 이동
}
}
// 연결 정보 기반 방향 불일치 검증 및 정정
public bool ValidateAndCorrectDirectionByConnection(Direction expectedDirection, List<RFIDConnection> connections)
public bool ValidateAndCorrectDirectionByConnection(AgvDir expectedDirection, List<RFIDConnection> connections)
{
if (MovementHistory.Count < 2 || connections == null)
return true; // 검증 불가능한 경우
@@ -180,7 +195,7 @@ namespace AGVControl.Models
if (actualDirection.Value != expectedDirection)
{
// AGV 모터 방향을 실제 이동 방향으로 정정
CurrentAGVDirection = actualDirection.Value;
//CurrentAGVDirection = actualDirection.Value;
TargetDirection = actualDirection.Value;
return false; // 정정됨을 알림
@@ -190,7 +205,7 @@ namespace AGVControl.Models
}
// RFID 순서 기반 실제 이동 방향 계산 (기존 메서드 - 호환성 유지)
public Direction? CalculateActualDirectionByRFID()
public AgvDir? CalculateActualDirectionByRFID()
{
if (MovementHistory.Count < 2)
return null;
@@ -206,11 +221,11 @@ namespace AGVControl.Models
// RFID 값의 증가/감소로 방향 판단
if (currentRFID.Value > prevRFID.Value)
{
return Direction.Forward; // RFID 값이 증가하면 전진
return AgvDir.Forward; // RFID 값이 증가하면 전진
}
else if (currentRFID.Value < prevRFID.Value)
{
return Direction.Backward; // RFID 값이 감소하면 후진
return AgvDir.Backward; // RFID 값이 감소하면 후진
}
else
{

5
Cs_HMI/SubProject/AGVControl/Models/AGVActionPrediction.cs
View File

@@ -5,15 +5,16 @@ namespace AGVControl
{
public class AGVActionPrediction
{
public Direction Direction { get; set; }
public AgvDir Direction { get; set; }
public RFIDPoint NextRFID { get; set; }
public string Reason { get; set; }
public AGVActionReasonCode ReasonCode { get; set; }
public AGVMoveState MoveState { get; set; } // RUN 또는 STOP
public AgvSpeed? MoveSpeed { get; set; }
public AgvRunDirection? MoveDiv { get; set; }
public AgvSts? MoveDiv { get; set; }
public UInt32 Idx { get; set; }
public bool Changed { get; set; }
public DateTime CreateTime { get; set; }
// override object.Equals
public bool Equals(AGVActionPrediction obj)

4
Cs_HMI/SubProject/AGVControl/Models/MagnetLine.cs
View File

@@ -31,7 +31,7 @@ namespace AGVControl.Models
/// AGV<47><56> <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE><EFBFBD><EFBFBD>)
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1> <20><><EFBFBD><EFBFBD> <20>ش<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20>ֵ<EFBFBD>
/// </summary>
public Direction? LiftDirection { get; set; }
public AgvDir? LiftDirection { get; set; }
/// <summary>
/// AGV<47>̵<EFBFBD><CCB5><EFBFBD> <20>ӵ<EFBFBD> (high, middle, low)
@@ -43,7 +43,7 @@ namespace AGVControl.Models
/// <summary>
/// AGV<47>̵<EFBFBD><CCB5><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28>ºб<C2BA>, <20><><EFBFBD><EFBFBD>, <20><><EFBFBD>б<EFBFBD>)
/// </summary>
public AgvRunDirection? MoveDirection { get; set; }
public AgvSts? MoveDirection { get; set; }
public RoadInformation()
{

20
Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs
View File

@@ -28,8 +28,8 @@ namespace AGVControl
/// AGV의 이동방향(리프트방향)
/// 목적지 방향과의 일치를 위해 해당 방향을 설정할 수 있따
/// </summary>
public Direction? LiftDirectionP { get; set; }
public Direction? LiftDirectionN { get; set; }
public AgvDir? LiftDirectionP { get; set; }
public AgvDir? LiftDirectionN { get; set; }
/// <summary>
/// AGV이동시 속도 (high, middle, low)
@@ -40,8 +40,8 @@ namespace AGVControl
/// <summary>
/// AGV이동시 방향모드(좌분기, 전진, 우분기)
/// </summary>
public AgvRunDirection? MoveDirectionP { get; set; }
public AgvRunDirection? MoveDirectionN { get; set; }
public AgvSts? MoveDirectionP { get; set; }
public AgvSts? MoveDirectionN { get; set; }
/// <summary>
/// 파일저장 및 불러오기시 사용하는 문자열로 반환
@@ -112,38 +112,38 @@ namespace AGVControl
this.EnableP = StrP[0] == "1";
if (StrP[1].isEmpty()) LiftDirectionP = null;
else LiftDirectionP = (Direction)int.Parse(StrP[1]);
else LiftDirectionP = (AgvDir)int.Parse(StrP[1]);
if (StrP[2].isEmpty()) MoveSpeedP = null;
else MoveSpeedP = (AgvSpeed)int.Parse(StrP[2]);
if (StrP[3].isEmpty()) MoveDirectionP = null;
else MoveDirectionP = (AgvRunDirection)int.Parse(StrP[3]);
else MoveDirectionP = (AgvSts)int.Parse(StrP[3]);
//Negative
this.EnableN = StrN[0] == "1";
if (StrN[1].isEmpty()) LiftDirectionN = null;
else LiftDirectionN = (Direction)int.Parse(StrN[1]);
else LiftDirectionN = (AgvDir)int.Parse(StrN[1]);
if (StrN[2].isEmpty()) MoveSpeedN = null;
else MoveSpeedN = (AgvSpeed)int.Parse(StrN[2]);
if (StrN[3].isEmpty()) MoveDirectionN = null;
else MoveDirectionN = (AgvRunDirection)int.Parse(StrN[3]);
else MoveDirectionN = (AgvSts)int.Parse(StrN[3]);
}
else
{
this.EnableP = buf[6] == "1";
if (buf[7].isEmpty()) LiftDirectionP = null;
else LiftDirectionP = (Direction)int.Parse(buf[7]);
else LiftDirectionP = (AgvDir)int.Parse(buf[7]);
if (buf[8].isEmpty()) MoveSpeedP = null;
else MoveSpeedP = (AgvSpeed)int.Parse(buf[8]);
if (buf[9].isEmpty()) MoveDirectionP = null;
else MoveDirectionP = (AgvRunDirection)int.Parse(buf[9]);
else MoveDirectionP = (AgvSts)int.Parse(buf[9]);
this.EnableN = this.EnableP;
this.LiftDirectionN = this.LiftDirectionP;

14
Cs_HMI/SubProject/AGVControl/Models/RFIDPoint.cs
View File

@@ -7,12 +7,18 @@ namespace AGVControl.Models
public class RFIDPoint
{
public Point Location { get; set; }
public uint Value { get; set; }
public ushort Value { get; set; }
public string NextRFID { get; set; } // 다음 RFID 포인트의 값
public bool IsBidirectional { get; set; } // 양방향 연결 여부
public bool IsRotatable { get; set; } // 회전 가능 여부
public Direction? FixedDirection { get; set; } // 고정 방향(없으면 null)
public AgvDir? FixedDirection { get; set; } // 고정 방향(없으면 null)
public bool IsTerminal { get; set; } // 종단 여부
public bool NeedTurn { get; set; }
public bool TurnStop { get; set; }
public bool TurnOK { get; set; }
public DateTime TurnStart { get; set; }
public DateTime TurnEnd { get; set; }
[Browsable(false)]
public RectangleF Bounds { get; set; }
@@ -20,6 +26,10 @@ namespace AGVControl.Models
{
this.Location = Point.Empty;
this.Value = 0;
TurnStop = false;
TurnOK = false;
TurnStart = new DateTime(1982, 11, 23);
TurnEnd = new DateTime(1982, 11, 23);
}
public bool IsEmpty

51
Cs_HMI/SubProject/AGVControl/Models/enumStruct.cs
View File

@@ -6,31 +6,42 @@ using System.Threading.Tasks;
namespace AGVControl
{
public enum Direction
/// <summary>
/// 실제 AGV컨트롤러의 STS값에는 F,B의 값이 들어있고
/// 아래 항목은 해당 문자의 ASCII코드값이다 첫자를 byte로 변경하고 변환하면 된다
/// </summary>
public enum AgvDir : byte
{
Forward = 0,
Backward = 1,
Stop = 2
Forward = 0x46,
Backward = 0x42,
}
public enum AGVMoveState
{
Stop = 0,
Run
}
public enum AgvSpeed
/// <summary>
/// 실제 AGV컨트롤러의 STS값에는 H,L,M,S의 값이 들어있고
/// 아래 항목은 해당 문자의 ASCII코드값이다 첫자를 byte로 변경하고 변환하면 된다
/// </summary>
public enum AgvSpeed : byte
{
High,
Middle,
Low,
High = 0x48,
Middle = 0x4D,
Low = 0x4C,
MarkStop = 0x53,
}
public enum AgvRunDirection
/// <summary>
/// STS : S,L,R
/// </summary>
public enum AgvSts : byte
{
Straight,
Left,
Right,
Straight = 0x53,
Left = 0x4c,
Right = 0x052,
}
public enum AGVActionReasonCode
@@ -41,11 +52,21 @@ namespace AGVControl
NotOnPath, // 현재 위치가 경로에 없음
Arrived, // 경로의 마지막 지점(목적지 도달)
Normal, // 정상(다음 RFID 있음)
NeedTurn,
/// <summary>
/// 방향전환을 위한 턴이다
/// </summary>
NeedTurnMove,
/// <summary>
/// 지정된 RFID위치에서 TURN이 요청되었다
/// </summary>
NeedTurnPoint,
NoTurnPoint,
PathCalcError,
NoDirection,
MoveForTurn,
busy,
WaitForMarkStop,
}
}

3
Cs_HMI/SubProject/CommData/Enum.cs
View File

@@ -191,6 +191,9 @@ namespace COMM
BatWarnTime,
IdleStopTime,
StatusReporttime,
CheckGotoTargetSet,
SendGotoCommand,
}