파일정리
This commit is contained in:
ChiKyun Kim
271
HMI/Project/ViewForm/fAuto.cs
Normal file
271
HMI/Project/ViewForm/fAuto.cs
Normal file
@@ -0,0 +1,271 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Data;
|
||||
using System.Drawing;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows.Forms;
|
||||
using Project.StateMachine;
|
||||
using COMM;
|
||||
using AR;
|
||||
using AGVNavigationCore.Models;
|
||||
|
||||
namespace Project.ViewForm
|
||||
{
|
||||
public partial class fAuto : Form
|
||||
{
|
||||
|
||||
public fAuto()
|
||||
{
|
||||
InitializeComponent();
|
||||
this.FormClosed += FAuto_FormClosed;
|
||||
PUB.sm.StepChanged += Sm_StepChanged;
|
||||
this.ctlAuto1.ButtonClick += CtlAuto1_ButtonClick;
|
||||
if (PUB.sm.Step == eSMStep.INIT || PUB.sm.Step == eSMStep.SYNC)
|
||||
this.ctlAuto1.Scean = CtlAuto.eScean.Progress;
|
||||
else
|
||||
this.ctlAuto1.Scean = CtlAuto.eScean.Normal;
|
||||
|
||||
InitializeMapCanvas();
|
||||
|
||||
}
|
||||
|
||||
private void InitializeMapCanvas()
|
||||
{
|
||||
PUB._mapCanvas.NodeSelect += OnNodeSelected;;
|
||||
// 스플리터 패널에 맵 캔버스 추가
|
||||
panel1.Controls.Add(PUB._mapCanvas);
|
||||
}
|
||||
|
||||
|
||||
private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
|
||||
{
|
||||
if (node == null) return;
|
||||
var mapnode = node as MapNode;
|
||||
if (mapnode == null) return;
|
||||
|
||||
// [Run Mode] Left Click: AGV Operation
|
||||
if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
|
||||
{
|
||||
HandleRunModeClick(mapnode);
|
||||
return;
|
||||
}
|
||||
|
||||
if (e.Button != MouseButtons.Right) return;
|
||||
|
||||
// 도킹 가능한 노드인지 또는 작업 노드인지 확인
|
||||
if (mapnode.isDockingNode == false) return;
|
||||
|
||||
ContextMenuStrip menu = new ContextMenuStrip();
|
||||
|
||||
// PickOn
|
||||
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
|
||||
pickOn.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOnEnter);
|
||||
menu.Items.Add(pickOn);
|
||||
|
||||
// PickOff
|
||||
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
|
||||
pickOff.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOffEnter);
|
||||
menu.Items.Add(pickOff);
|
||||
|
||||
// Charge
|
||||
if (mapnode.StationType == StationType.Charger1 || mapnode.StationType == StationType.Charger2)
|
||||
{
|
||||
var charge = new ToolStripMenuItem("Charge (Move & Charge)");
|
||||
charge.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.Charger);
|
||||
menu.Items.Add(charge);
|
||||
}
|
||||
|
||||
menu.Show(Cursor.Position);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
private void ExecuteManualCommand(MapNode targetNode, ENIGProtocol.AGVCommandHE cmd)
|
||||
{
|
||||
if (PUB._virtualAGV.CurrentNode == null)
|
||||
{
|
||||
MessageBox.Show("AGV의 현재 위치를 알 수 없습니다.");
|
||||
return;
|
||||
}
|
||||
if (PUB.sm.Step == eSMStep.IDLE)
|
||||
{
|
||||
if (MessageBox.Show("현재 대기상태가 아닙니다. 강제로 실행하시겠습니까?", "Warning", MessageBoxButtons.YesNo) == DialogResult.No) return;
|
||||
}
|
||||
|
||||
if (targetNode.isDockingNode == false)
|
||||
{
|
||||
UTIL.MsgE("이동 가능한 노드가 아닙니다");
|
||||
}
|
||||
|
||||
// 1. 경로 생성
|
||||
var pathFinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(PUB._mapCanvas.Nodes);
|
||||
|
||||
//// 현재위치에서 목표위치까지
|
||||
//var result = pathFinder.FindBasicPath(PUB._virtualAGV.CurrentNode, targetNode);
|
||||
|
||||
//if (!result.Success || result.Path == null || result.Path.Count == 0)
|
||||
//{
|
||||
// MessageBox.Show("경로를 찾을 수 없습니다.");
|
||||
// return;
|
||||
//}
|
||||
|
||||
// 2. 상태 설정
|
||||
|
||||
// 2. 상태 설정
|
||||
if (targetNode is MapNode mapno)
|
||||
PUB.log.AddI($"[Manual Command] {cmd} to {mapno.RfidId}({targetNode.Id})");
|
||||
else
|
||||
PUB.log.AddI($"[Manual Command] {cmd} to ({targetNode.Id})");
|
||||
|
||||
// FindPathResult contains DetailedPath already.
|
||||
// PUB._virtualAGV.SetPath(result);
|
||||
PUB._virtualAGV.TargetNode = targetNode as MapNode;
|
||||
|
||||
// 3. 작업 설정
|
||||
PUB.NextWorkCmd = cmd;
|
||||
|
||||
// 4. 실행
|
||||
PUB.sm.SetNewRunStep(ERunStep.GOTO); // GOTO -> Arrive -> _IN sequence execution
|
||||
}
|
||||
|
||||
|
||||
private void fAuto_Load(object sender, EventArgs e)
|
||||
{
|
||||
ctlAuto1.dev_agv = PUB.AGV;
|
||||
ctlAuto1.dev_bms = PUB.BMS;
|
||||
ctlAuto1.dev_xbe = PUB.XBE;
|
||||
|
||||
PUB.AGV.DataReceive += AGV_DataReceive;
|
||||
|
||||
this.timer1.Start();
|
||||
}
|
||||
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
|
||||
{
|
||||
switch (e.DataType)
|
||||
{
|
||||
case arDev.Narumi.DataType.TAG:
|
||||
//_AGV 파일에서 위치조정을 함
|
||||
//var tagno = PUB.AGV.data.TagNo;
|
||||
//PUB.mapctl.SetCurrentPosition(tagno);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
private void CtlAuto1_ButtonClick(CtlAuto.UIButton idx)
|
||||
{
|
||||
if (idx.cmd.Equals("EMG"))
|
||||
{
|
||||
PUB.log.Add("ui reset click");
|
||||
PUB.AGV.AGVErrorReset();
|
||||
}
|
||||
}
|
||||
|
||||
private void Sm_StepChanged(object sender, StateMachine.StateMachine.StepChangeEventArgs e)
|
||||
{
|
||||
if (e.New == eSMStep.INIT || e.New == eSMStep.SYNC)
|
||||
this.ctlAuto1.Scean = CtlAuto.eScean.Progress;
|
||||
else
|
||||
this.ctlAuto1.Scean = CtlAuto.eScean.Normal;
|
||||
}
|
||||
|
||||
private void FAuto_FormClosed(object sender, FormClosedEventArgs e)
|
||||
{
|
||||
timer1.Stop();
|
||||
PUB.sm.StepChanged -= Sm_StepChanged;
|
||||
this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
|
||||
PUB.AGV.DataReceive -= AGV_DataReceive;
|
||||
}
|
||||
|
||||
bool tmrun = false;
|
||||
|
||||
private void fAuto_VisibleChanged(object sender, EventArgs e)
|
||||
{
|
||||
this.timer1.Enabled = this.Visible;
|
||||
if (timer1.Enabled)
|
||||
{
|
||||
timer1.Start();
|
||||
}
|
||||
else timer1.Stop();
|
||||
}
|
||||
|
||||
private void timer1_Tick_1(object sender, EventArgs e)
|
||||
{
|
||||
//if (this.Visible == false) return;
|
||||
//if (tmrun == true) return;
|
||||
//tmrun = true;
|
||||
|
||||
//this.ctlAuto1.OnUpdateMode = true;
|
||||
|
||||
//if (this.ctlAuto1.Scean == CtlAuto.eScean.Progress)
|
||||
//{
|
||||
// ctlAuto1.ProgressVal = PUB.Result.SMSG_ProgressValue;
|
||||
// ctlAuto1.ProgressMax = PUB.Result.SMSG_ProgressMax;
|
||||
// ctlAuto1.StatusMessage = VAR.STR?.Get(eVarString.StatusMessage) ?? string.Empty;
|
||||
//}
|
||||
//this.ctlAuto1.StopMessage = string.Empty;
|
||||
|
||||
//if (PUB.sm.Step == StateMachine.eSMStep.RUN)
|
||||
//{
|
||||
// this.ctlAuto1.runStep = PUB.sm.RunStep;
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
// this.ctlAuto1.runStep = ERunStep.READY;
|
||||
//}
|
||||
//this.ctlAuto1.OnUpdateMode = false;
|
||||
//this.ctlAuto1.Invalidate();
|
||||
|
||||
//PUB.mapctl.PredictNextAction();
|
||||
|
||||
//tmrun = false;
|
||||
}
|
||||
|
||||
private void HandleRunModeClick(MapNode targetNode)
|
||||
{
|
||||
if (targetNode == null) return;
|
||||
|
||||
ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
|
||||
string confirmMsg = "";
|
||||
|
||||
if (targetNode.StationType == StationType.Charger1 || targetNode.StationType == StationType.Charger2)
|
||||
{
|
||||
if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
|
||||
{
|
||||
targetCmd = ENIGProtocol.AGVCommandHE.Charger;
|
||||
ExecuteManualCommand(targetNode, targetCmd);
|
||||
}
|
||||
return;
|
||||
}
|
||||
else if (targetNode.isDockingNode)
|
||||
{
|
||||
// Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
|
||||
ContextMenuStrip menu = new ContextMenuStrip();
|
||||
|
||||
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
|
||||
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOnEnter);
|
||||
menu.Items.Add(pickOn);
|
||||
|
||||
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
|
||||
pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOffEnter);
|
||||
menu.Items.Add(pickOff);
|
||||
|
||||
menu.Show(Cursor.Position);
|
||||
return;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Normal Node
|
||||
if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
|
||||
{
|
||||
targetCmd = ENIGProtocol.AGVCommandHE.Goto;
|
||||
ExecuteManualCommand(targetNode, targetCmd);
|
||||
}
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user