Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ing...

Browse Source
This commit is contained in:
backuppc
2025-12-12 17:27:50 +09:00
parent 07ddc0425f
commit 4e9d29d22f
44 changed files with 7173 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files

92
Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
View File

@@ -171,7 +171,7 @@ namespace Project
}
break;
case ERunStep.MARKSTROPB: //후진방향으로 마크스탑
case ERunStep.MARKSTOPB: //후진방향으로 마크스탑
case ERunStep.MARKSTOPF: //전진방향으로 마크스탑
//이동중이지 않다면 먼저 이동을 진행한다
@@ -249,6 +249,96 @@ namespace Project
}
}
break;
case ERunStep.LOADER_OUT: //로더아웃
if (_SM_RUN_LOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
PUB.XBE.LoaderInComplete = false;
PUB.XBE.LoaderOutComplete = true;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.LOADER_IN: //로더도킹
if (_SM_RUN_LOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
PUB.XBE.LoaderInComplete = true;
//로더아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
return;
}
break;
case ERunStep.UNLOADER_OUT: //언로더아웃
if (_SM_RUN_UNLOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
PUB.XBE.UnloaderInComplete = false;
PUB.XBE.UnloaderOutComplete = true;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.UNLOADER_IN: //언로더도킹
if (_SM_RUN_UNLOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
PUB.XBE.UnloaderInComplete = true;
//언로더아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
return;
}
break;
case ERunStep.CLEANER_OUT: //클리너아웃
if (_SM_RUN_CLEANER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
PUB.XBE.CleanerInComplete = false;
PUB.XBE.CleanerOutComplete = true;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.CLEANER_IN: //클리너도킹
if (_SM_RUN_CLEANER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
PUB.XBE.CleanerInComplete = true;
//클리너아웃으로 자동 진행 합니다
PUB.sm.ClearRunStep();
PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
return;
}
break;
case ERunStep.BUFFER_OUT: //버퍼아웃
if (_SM_RUN_BUFFER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{

34
Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
View File

@@ -22,40 +22,14 @@ namespace Project
var funcname = "_SM_RUN_BUFFER_IN";
var idx = 1;
if (runStepisFirst)
{
//PUB.flag.set(EFlag.FLAG_NEXTSTOP_ALIGN, false);
VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//
//VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
}
//HW 연결오류
if (PUB.AGV.IsOpen == false)
{
PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
return false;
}
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
return false;
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
if (PUB.AGV.system1.stop_by_front_detect == true)
{
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
return false;
}
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
return false;
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
/*
* 버퍼IN시퀀스

30
Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -14,37 +14,15 @@ namespace Project
public Boolean _SM_RUN_BUFFER_OUT(bool isFirst, TimeSpan stepTime)
{
if (runStepisFirst)
{
}
//HW 연결오류
if (PUB.AGV.IsOpen == false)
{
PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
return false;
}
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
return false;
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
if (PUB.AGV.system1.stop_by_front_detect == true)
{
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
return false;
}
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
return false;
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)

155
Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_IN.cs Normal file
View File

@@ -0,0 +1,155 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 클리너 진입
/// </summary>
public Boolean _SM_RUN_CLEANER_IN(bool isFirst, TimeSpan stepTime)
{
var funcname = "_SM_RUN_CLEANER_IN";
var idx = 1;
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
/*
* 클리너 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("클리너진입시작");
PUB.Speak("클리너 작업을 시작합니다");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트를 내린다.
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트다운센서를 확인한다.
var liftdown = true;
if (liftdown == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.log.Add("리프트 하강 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//저속이동
var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
if (moveset == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 3)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
return false;
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("클리너진입완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
PUB.AddEEDB($"클리너진입완료({PUB.Result.TargetPos})");
return true;
}
}
}

80
Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_OUT.cs Normal file
View File

@@ -0,0 +1,80 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 클리너 배출
/// </summary>
public Boolean _SM_RUN_CLEANER_OUT(bool isFirst, TimeSpan stepTime)
{
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Forward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑
PUB.AGV.AGVMoveStop("cleaner out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
return true;
}
}
}

155
Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_IN.cs Normal file
View File

@@ -0,0 +1,155 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 로더 진입
/// </summary>
public Boolean _SM_RUN_LOADER_IN(bool isFirst, TimeSpan stepTime)
{
var funcname = "_SM_RUN_LOADER_IN";
var idx = 1;
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
/*
* 로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("로더진입시작");
PUB.Speak("로더 작업을 시작합니다"); // Lang resource might not exist, using string
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트를 내린다.
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트다운센서를 확인한다.
var liftdown = true; // 센서 확인 로직이 주석처리되어 있거나 하드코딩되어 있었음 (버퍼 코드 참조)
if (liftdown == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.log.Add("리프트 하강 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//저속이동
var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
if (moveset == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 3)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
return false;
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("로더진입완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
PUB.AddEEDB($"로더진입완료({PUB.Result.TargetPos})");
return true;
}
}
}

82
Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_OUT.cs Normal file
View File

@@ -0,0 +1,82 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 로더 배출
/// </summary>
public Boolean _SM_RUN_LOADER_OUT(bool isFirst, TimeSpan stepTime)
{
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Forward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑
PUB.AGV.AGVMoveStop("loader out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
// 턴 제거됨
return true;
}
}
}

155
Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_IN.cs Normal file
View File

@@ -0,0 +1,155 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 언로더 진입
/// </summary>
public Boolean _SM_RUN_UNLOADER_IN(bool isFirst, TimeSpan stepTime)
{
var funcname = "_SM_RUN_UNLOADER_IN";
var idx = 1;
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
/*
* 언로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("언로더진입시작");
PUB.Speak("언로더 작업을 시작합니다");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트를 내린다.
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트다운센서를 확인한다.
var liftdown = true;
if (liftdown == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.log.Add("리프트 하강 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//저속이동
var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
if (moveset == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 3)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
return false;
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("언로더진입완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
PUB.AddEEDB($"언로더진입완료({PUB.Result.TargetPos})");
return true;
}
}
}

81
Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_OUT.cs Normal file
View File

@@ -0,0 +1,81 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 언로더 배출
/// </summary>
public Boolean _SM_RUN_UNLOADER_OUT(bool isFirst, TimeSpan stepTime)
{
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
//현재 위치가 결정되어있는지 체크한다
if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Forward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑
PUB.AGV.AGVMoveStop("unloader out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
return true;
}
}
}

20
Cs_HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -17,6 +17,26 @@ namespace Project
return true;
}
/// <summary>
/// 라이더멈춤이 설정되어있다면 음성으로 알려준다
/// </summary>
/// <returns></returns>
public bool CheckLiderStop()
{
if (PUB.AGV.system1.stop_by_front_detect == true)
{
var tsSpeak = DateTime.Now - LastSpeakTime;
if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
{
PUB.Speak(Lang.전방에물체가감지되었습니다);
LastSpeakTime = DateTime.Now;
}
return false;
}
return true;
}
/// <summary>
/// 설정된 목적지까지 이동을 완료 한 후 True를 반환합니다.
/// 목적지 : PUB._virtualAGV.TargetNode

24
Cs_HMI/Project/StateMachine/_TMDisplay.cs
View File

@@ -714,6 +714,30 @@ namespace Project
}
else UpdateStatusMessage(String.Format("상차 이동 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.LOADER_IN)
{
UpdateStatusMessage(String.Format("로더 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.LOADER_OUT)
{
UpdateStatusMessage(String.Format("로더 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.UNLOADER_IN)
{
UpdateStatusMessage(String.Format("언로더 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.UNLOADER_OUT)
{
UpdateStatusMessage(String.Format("언로더 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.CLEANER_IN)
{
UpdateStatusMessage(String.Format("클리너 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.CLEANER_OUT)
{
UpdateStatusMessage(String.Format("클리너 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
}
else if (PUB.sm.RunStep == ERunStep.GOCHARGE)
{
if (PUB.Result.result_message.isEmpty() == true)