파일정리

HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs

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+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>
+        /// 장비엣 빠젼나온다.
+        /// </summary>
+        public Boolean _SM_RUN_EXIT(bool isFirst, TimeSpan seqTime)
+        {
+            var idx = 1;
+            var funcname = PUB.sm.RunStep.ToString();
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHARGE_GOFF(isFirst, seqTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("OUT작업-시작");
+                PUB.Speak("작업을 시작합니다");
+                PUB.AGV.AGVMoveStop(funcname);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //작업형태에 따라서. 리프트를 제어한다.
+                var liftCmd = arDev.Narumi.LiftCommand.DN;
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
+
+                PUB.AGV.LiftControl(liftCmd);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                var liftCmd = arDev.Narumi.LiftCommand.DN;
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
+
+                //리프트 센서 확인 
+                var liftdnok = (PUB.AGV.signal1.lift_down == true && PUB.AGV.signal1.lift_up == false);
+                var liiftupok = (PUB.AGV.signal1.lift_up == true && PUB.AGV.signal1.lift_down == false);
+
+                if (liftCmd == arDev.Narumi.LiftCommand.DN && liftdnok)
+                {
+                    //정상조건
+                }
+                else if (liftCmd == arDev.Narumi.LiftCommand.UP && liftdnok)
+                {
+                    //정상조건
+                }
+                else
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}] 리프트({liftCmd})이 확인되지 않습니다");
+                    }
+                    return false;
+                }
+
+                PUB.log.Add("리프트 동작 확인 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //빈 상태로 아웃해야한다.
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    if (ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
+                    }
+                    return false;
+                }
+
+                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++)
+            {
+                //AGV구동을 확인하고 마크스탑을 설정한다.
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    if (seqTime.TotalMilliseconds > 1000)
+                    {
+                        //구동이확인되지 않으면 오류처리를 한다.
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
+                    }
+                    return false;
+                }
+                //마크스탑설정
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑신호가 3초이내로 들어와야 한다
+                if (PUB.AGV.data.Speed != 'S')
+                {
+                    if (seqTime.TotalMilliseconds > 3000)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
+                    }
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV가 멈출때까지 기다린다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    if (seqTime.TotalSeconds > 10)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_STOP_FAIL);
+                    }
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크센서입력을 확인한다.
+                if (PUB.AGV.signal1.mark_sensor == false)
+                {
+                    if (seqTime.TotalSeconds > 5)
+                    {
+                        SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL);
+                    }
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다.
+                PUB.log.Add("진출 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            return true;
+        }
+    }
+}