ing...

2025-12-12 17:27:50 +09:00
parent 07ddc0425f
commit 4e9d29d22f
44 changed files with 7173 additions and 61 deletions
--- a/AGVEmulator/DevXBE.cs
+++ b/AGVEmulator/DevXBE.cs
@@ -0,0 +1,93 @@
+using ENIG;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement;
+
+namespace AGVEmulator
+{
+    public class DevXBE : AR.Dev.RS232
+    {
+        private EEProtocol proto;
+        public event EventHandler<EEProtocol.DataEventArgs> ProtocReceived;
+
+        public DevXBE()
+        {
+            proto = new EEProtocol();
+            proto.OnDataReceived += Proto_OnDataReceived;
+            proto.OnMessage += Proto_OnMessage;
+        }
+        ~DevXBE()
+        {
+            proto.OnDataReceived -= Proto_OnDataReceived;
+            proto.OnMessage -= Proto_OnMessage;
+        }
+
+        public override bool ProcessRecvData(byte[] data)
+        {
+            return true;
+        }
+
+        protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
+        {
+            //여기서 최초데이터를 파싱한다
+            remainBuffer = null;
+            this.proto.ProcessReceivedData(buf);
+            return false;
+
+        }
+
+
+        private void Proto_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
+        {
+            var hexstrRaw = e.ReceivedPacket.RawData.HexString();
+            var hexstr = e.ReceivedPacket.Data.HexString();
+            var cmd = e.ReceivedPacket.Command.ToString("X2");
+            var id = e.ReceivedPacket.ID.ToString("X2");
+
+            var dataStr = System.Text.Encoding.Default.GetString(e.ReceivedPacket.Data);
+            RaiseMessage(MessageType.Recv, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
+            ProtocReceived?.Invoke(this, e);
+        }
+        private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
+        {
+            RaiseMessage(e.IsError, e.Message);
+        }
+
+        /// <summary>
+        /// 목적지 태그번호 전송
+        /// </summary>
+        public void SendGotoTag(byte id, uint tag)
+        {
+            var idSTR = id.ToString("X2");
+            var tagSTR = tag.ToString("0000");
+            var dataStr = $"{idSTR}{tagSTR}";
+            Send(ENIGProtocol.AGVCommandHE.Goto, dataStr);
+        }
+        public void SendCurrentPos(byte id, uint tag)
+        {
+            var idSTR = id.ToString("X2");
+            var tagSTR = tag.ToString("0000");
+            var dataStr = $"{idSTR}{tagSTR}";
+            Send(ENIGProtocol.AGVCommandHE.SetCurrent, dataStr);
+        }
+        private void Send(ENIGProtocol.AGVCommandHE Command, string datastr)
+        {
+            byte id = 0;
+            byte cmd = (byte)Command; //move to target
+            byte[] data = null;
+            if (datastr != null && string.IsNullOrEmpty(datastr) == false)
+                data = System.Text.Encoding.Default.GetBytes(datastr);
+            var packet = proto.CreatePacket(id, cmd, data);
+            if (WriteData(packet, false))
+            {
+                var hexstr = System.Text.Encoding.Default.GetString(data);
+                RaiseMessage(MessageType.Send, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
+            }
+        }
+
+
+    }
+}