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"feat:Implement-Canvas-Run-Mode-and-Logic"

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tindevil
2025-12-18 00:38:59 +09:00
parent 384f2affcb
commit 4bdc36040d
4 changed files with 119 additions and 2 deletions
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60
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -43,11 +43,19 @@ namespace Project.ViewForm
private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
{
if (e.Button != MouseButtons.Right) return;
if (node == null) return;
var mapnode = node as MapNode;
if (mapnode == null) return;
// [Run Mode] Left Click: AGV Operation
if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
{
HandleRunModeClick(mapnode);
return;
}
if (e.Button != MouseButtons.Right) return;
// 도킹 가능한 노드인지 또는 작업 노드인지 확인
if (mapnode.isDockingNode == false) return;
@@ -158,6 +166,9 @@ namespace Project.ViewForm
//}
this.timer1.Start();
// Set Run Mode
PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
}
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
{
@@ -194,6 +205,9 @@ namespace Project.ViewForm
PUB.sm.StepChanged -= Sm_StepChanged;
this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
PUB.AGV.DataReceive -= AGV_DataReceive;
// Reset Mode to Edit
PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Edit;
}
bool tmrun = false;
@@ -236,5 +250,49 @@ namespace Project.ViewForm
//tmrun = false;
}
private void HandleRunModeClick(MapNode targetNode)
{
if (targetNode == null) return;
ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
string confirmMsg = "";
if (targetNode.StationType == StationType.Charger)
{
if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Charger;
ExecuteManualCommand(targetNode, targetCmd);
}
return;
}
else if (targetNode.isDockingNode)
{
// Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
ContextMenuStrip menu = new ContextMenuStrip();
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
menu.Items.Add(pickOn);
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
menu.Items.Add(pickOff);
menu.Show(Cursor.Position);
return;
}
else
{
// Normal Node
if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Goto;
ExecuteManualCommand(targetNode, targetCmd);
}
return;
}
}
}
}

55
Cs_HMI/Project/ViewForm/fAuto.cs.new Normal file
View File

@@ -0,0 +1,55 @@
private void HandleRunModeClick(MapNode targetNode)
{
if (targetNode == null) return;
ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Move;
string confirmMsg = "";
if (targetNode.StationType == StationType.Charger)
{
if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Charger;
ExecuteManualCommand(targetNode, targetCmd);
}
return;
}
else if (targetNode.isDockingNode)
{
// Loader, Unloader, Buffer, Cleaner
// Custom Dialog needed for PickOn / PickOff
// For now, let's use a simple MessageBox or just a ContextMenu like logic?
// User said: "click -> PickOn/Off selection -> Execute"
// A context menu at cursor position is good for selection.
ContextMenuStrip menu = new ContextMenuStrip();
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
menu.Items.Add(pickOn);
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
menu.Items.Add(pickOff);
menu.Show(Cursor.Position);
return;
}
else
{
// Normal Node
if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
targetCmd = ENIGProtocol.AGVCommandHE.Move; // Or PickOff as default move? usually just Move logic inside ExecuteManualCommand handles GOTO.
// But ExecuteManualCommand takes AGVCommandHE.
// Let's check ENIGProtocol.AGVCommandHE.
// If not present, we might need to modify ExecuteManualCommand or just pass PickOff as dummy?
// Actually ExecuteManualCommand uses 'cmd' for log and 'PUB.NextWorkCmd'.
// If 'Move', just GOTO.
// Let's assume 'Move' exists or we use 'PickOff' (Move & Drop often implies MoveTo).
// Or we check `ENIGProtocol.AGVCommandHE`.
ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.Move);
}
return;
}
}