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

2025-12-18 00:38:59 +09:00
parent 384f2affcb
commit 4bdc36040d
4 changed files with 119 additions and 2 deletions
--- a/Cs_HMI/Project/ViewForm/fAuto.cs.new
+++ b/Cs_HMI/Project/ViewForm/fAuto.cs.new
@@ -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;
+            }
+        }