파일정리

2026-01-29 14:03:17 +09:00
parent 00cc0ef5b7
commit 58ca67150d
440 changed files with 47236 additions and 99165 deletions
--- a/HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs
@@ -0,0 +1,159 @@
+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
+    {
+        public Boolean _SM_RUN_RESET(bool isFirst, TimeSpan stepTime)
+        {
+            if (runStepisFirst)
+            {
+                PUB.Speak(Lang.장비상태초기화);
+
+                //충전기검색시퀀스 OFF
+                //PUB.flag.set(EFlag.FLAG_GO_CHAGER_TEMP, false);
+            }
+
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                //충전중이라면 충전off코드를 넣는다
+                PUB.AGV.AGVCharge(PUB.setting.ChargerID, false,PUB.setting.ChargetWaitSec);
+                LastCommandTime = DateTime.Now;
+                PUB.AddEEDB($"초기화");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                UpdateProgressStatus(stepTime.TotalSeconds, 5, "SYNC : 수동 모드 확인 중");
+                if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                    PUB.sm.UpdateRunStepSeq();
+                else
+                {
+                    //일정시간동안 명령을 재전송한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999)
+                    {
+                        VAR.BOOL[eVarBool.FLAG_AUTORUN] = false;
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //모션을 멈춥니다
+                //PUB.PLC.Move(Device.PLC.Rundirection.Stop,"RESET");
+                PUB.AGV.AGVMoveStop("_sm_run_reset");
+                LastCommandTime = DateTime.Now;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //모션이 멈출때까지 기다린다
+                if (PUB.AGV.system1.agv_stop == false)
+                {
+                    PUB.sm.UpdateRunStepSeq();
+                }
+                else
+                {
+                    //모션이 멈추지 않는다면 멈춤코드를 계속 넣는다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999)
+                    {
+                        //PUB.PLC.Move(Device.PLC.Rundirection.Stop,"RESET(Re)");
+                        PUB.AGV.AGVMoveStop("_sm_run_reset");
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //대상위치 초기화
+                PUB.Result.TargetPos = ePosition.NONE;
+                PUB.Result.CurrentPos = ePosition.NONE;
+                PUB.Result.CurrentPosCW = "0";
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //자동 스탑 플래그 해제
+                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//"reset #6");
+                VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;
+
+                LastCommandTime = DateTime.Now;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                UpdateProgressStatus(stepTime.TotalSeconds, 5, "자동멈춤해제(ALIGN)");
+                if (VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] == false)
+                    PUB.sm.UpdateRunStepSeq();
+                else
+                {
+                    //일정시간동안 명령을 재전송한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999)
+                    {
+                        VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;// "reset #7");
+                        //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //자동 스탑 플래그 해제
+                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;// "reset #8");
+
+                LastCommandTime = DateTime.Now;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //설정모드가 되어있다면 해제 해준다
+                VAR.BOOL[eVarBool.FLAG_SETUP] = false;
+                VAR.BOOL[eVarBool.ITEMON] = false;
+                VAR.BOOL[eVarBool.WAIT_COVER_DOWN] = false;
+                VAR.BOOL[eVarBool.WAIT_COVER_UP] = false;
+
+                LastCommandTime = DateTime.Now;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                UpdateProgressStatus(stepTime.TotalSeconds, 5, "설정모드해제(MARK)");
+                
+                if (VAR.BOOL[eVarBool.FLAG_SETUP] == false)
+                    PUB.sm.UpdateRunStepSeq();
+                else
+                {
+                    //일정시간동안 명령을 재전송한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999)
+                    {
+                        VAR.BOOL[eVarBool.FLAG_SETUP] = false;
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                return false;
+            }
+            return true;
+        }
+    }
+}