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fix

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This commit is contained in:
backuppc
2025-11-10 14:43:47 +09:00
parent 68745f23bb
commit 6e54633c08
57 changed files with 4432 additions and 1018 deletions
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4
Cs_HMI/Project/AGV4.csproj
View File

@@ -523,6 +523,10 @@
</BootstrapperPackage>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
<Project>{c5f7a8b2-8d3e-4a1b-9c6e-7f4d5e2a9b1c}</Project>
<Name>AGVNavigationCore</Name>
</ProjectReference>
<ProjectReference Include="..\StateMachine\StateMachine.csproj">
<Project>{bbc9bccf-6262-4355-9cc2-37ff678ac499}</Project>
<Name>StateMachine</Name>

46
Cs_HMI/Project/CSetting.cs
View File

@@ -87,24 +87,26 @@ namespace Project
#region "Communication"
[Category("Commnunication Setting"), DisplayName("XBee PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
[Browsable(false), Category("Commnunication Setting"), DisplayName("XBee PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
public string Port_XBE { get; set; }
[Category("Commnunication Setting"), DisplayName("RFID PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
[Browsable(false), Category("Commnunication Setting"), DisplayName("RFID PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
public string Port_AGV { get; set; }
[Category("Commnunication Setting"), DisplayName("Xbee ID"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
public byte XBE_ID { get; set; }
[Category("Commnunication Setting"), DisplayName("BMS PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
[Browsable(false), Category("Commnunication Setting"), DisplayName("BMS PortName"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
public string Port_BAT { get; set; }
public int ChargerID { get; set; }
[Browsable(false)]
public int Baud_AGV { get; set; }
[Browsable(false)]
public int Baud_BAT { get; set; }
//public int Baud_PLC { get; set; }
[Browsable(false)]
public int Baud_XBE { get; set; }
//public int QueryInterval_BAT { get; set; }
@@ -219,6 +221,8 @@ namespace Project
#region "AGV"
public bool AutoModeOffAndClearPosition { get; set; }
[Browsable(false)]
public string musicfile { get; set; }
/// <summary>
@@ -235,8 +239,11 @@ namespace Project
//public double ChargeLimitLow { get; set; }
//public double ChargeLimitHigh { get; set; }
[Browsable(false)]
public string AGV_PANID { get; set; }
[Browsable(false)]
public string AGV_CHANNEL { get; set; }
[Browsable(false)]
public string AGV_ADDRESS { get; set; }
public int SCK { get; set; }
@@ -269,31 +276,19 @@ namespace Project
public int PID_DS { get; set; }
public double WheelSpeedCharge { get; set; }
//public byte MotorUpTime { get; set; }
//public double AlignSensorThreshold { get; set; }
// public byte BalanceThreshold { get; set; }
// public byte BalanceThresholdUp { get; set; }
// public byte MarkSensorThreshold { get; set; }
//public Boolean Opt_LidarStop { get; set; }
//public Boolean Opt_SlowUp { get; set; }
//public Boolean Opt_Magnet { get; set; }
public byte HomePositionValue { get; set; }
public byte HomeKitNo { get; set; }
//public Single interval_bms { get; set; }
public Single interval_xbe { get; set; }
public int interval_bms { get; set; }
//public byte interval_iostate { get; set; }
//public Boolean Enable_AutoZDnUp { get; set; }
public int doorSoundTerm { get; set; }
[Browsable(false)]
public int musicvol { get; set; }
public bool Enable_Music { get; set; }
#endregion
[Category("Report"),
[Category("Report"), Browsable(false),
Description("상태기록시 장비 식별코드(4자리)"),
DisplayName("M/C ID")]
public string MCID { get; set; }
@@ -349,8 +344,8 @@ namespace Project
TAG_F3_F4 = 9650;
TAG_F4_F5 = 9750;
}
if(TAG_F4_F5 == 0)
if (TAG_F4_F5 == 0)
{
TAG_F4_F5 = 9750;
TAGF5B = 9800;
@@ -368,10 +363,7 @@ namespace Project
if (ChargeStartLevel == 0) ChargeStartLevel = 85;
if (ChargeMaxLevel == 0) ChargeMaxLevel = 85;
if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30;
if (interval_bms == 0) interval_bms = 1000;
//충전은 대기상태 5분이 경과하면 진행한다
if (interval_bms == 0) interval_bms = 10;
//충전은 10분간격으로 재시도 한다
if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
@@ -379,7 +371,7 @@ namespace Project
if (ChargeSearchTime == 0) ChargeSearchTime = 25;
//최대 충전진행 시간(기본 1시간)
if (ChargeMaxTime == 0) ChargeMaxTime = 3600;
// if (interval_iostate == 0 || interval_iostate == 255) interval_iostate = 100;
// if (interval_iostate == 0 || interval_iostate == 255) interval_iostate = 100;
if (ZSpeed == 0) ZSpeed = 20;
if (interval_xbe == 0) interval_xbe = 5.0f;
if (HomePositionValue == 0) HomePositionValue = 4;
@@ -419,7 +411,7 @@ namespace Project
if (string.IsNullOrEmpty(Port_AGV)) Port_AGV = "COM1";
// if (string.IsNullOrEmpty(Port_PLC)) Port_PLC = "COM2";
// if (string.IsNullOrEmpty(Port_PLC)) Port_PLC = "COM2";
if (string.IsNullOrEmpty(Port_XBE)) Port_XBE = "COM4";
if (string.IsNullOrEmpty(Port_BAT)) Port_BAT = "COM7";

108
Cs_HMI/Project/Class/EEMStatus.cs
View File

@@ -99,6 +99,114 @@ public static partial class EEMStatus
queryok = true;
}
/// <summary>
/// 배터리데이터수신시 값을 기록한다.
/// </summary>
public static void MakeBMSInformation_INFO()
{
if (PUB.BMS.Current_DataTime.Year == 1982 || LastBMSIFTime == PUB.BMS.Current_DataTime || PUB.setting.MCID.isEmpty()) return;
try
{
// BMS 데이터 취득 (실제 BMS 객체에서 데이터를 가져와야 함)
// 예시: var bms = Project.Device.BMS.Instance;
var mcid = Project.PUB.setting.MCID;
var timestr = PUB.BMS.Current_DataTime.ToString("yyyy-MM-dd HH:mm:ss");
// BMS 데이터 (실제 값으로 교체 필요)
var info_volt = PUB.BMS.Current_Volt;// "null"; // bms.Voltage
var info_current = PUB.BMS.Current_Amp;// "null"; // bms.Current
var info_capa = PUB.BMS.Current_MaxAmp;// "null"; // bms.Capacity
var info_level = PUB.BMS.Current_Level;// "null"; // bms.Level
var info_temp1 = PUB.BMS.Current_temp1;// "null"; // bms.Temp1
var info_temp2 = PUB.BMS.Current_temp2;// "null"; // bms.Temp2
var cell_volt1 = PUB.BMS.CellVoltage[0];// "null"; // bms.CellVolt1
var cell_volt2 = PUB.BMS.CellVoltage[1]; // bms.CellVolt2
var cell_volt3 = PUB.BMS.CellVoltage[2]; // bms.CellVolt3
var cell_volt4 = PUB.BMS.CellVoltage[3]; // bms.CellVolt4
var cell_volt5 = PUB.BMS.CellVoltage[4]; // bms.CellVolt5
var cell_volt6 = PUB.BMS.CellVoltage[5]; // bms.CellVolt6
var cell_volt7 = PUB.BMS.CellVoltage[6]; // bms.CellVolt7
var cell_volt8 = PUB.BMS.CellVoltage[7]; // bms.CellVolt8
// Status 폴더에 SQL 파일 생성
var path = System.IO.Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Status");
if (System.IO.Directory.Exists(path) == false)
System.IO.Directory.CreateDirectory(path);
var file = System.IO.Path.Combine(path, $"{DateTime.Now.ToString("HHmmssfff")}_BMS_INF.sql");
var sql = "insert into AGV_Shuttle_BMS(MCID,wdate,info_volt,info_current,info_capa,info_level,info_temp1,info_temp2) " +
"values('{0}','{1}',{2},{3},{4},{5},{6},{7})";
sql = string.Format(sql, mcid, timestr, info_volt, info_current, info_capa, info_level, info_temp1, info_temp2);
System.IO.File.WriteAllText(file, sql, System.Text.Encoding.Default);
LastBMSIFTime = DateTime.Now;
}
catch (Exception ex)
{
// 오류 로깅 (필요시 PUB.log.Add 등으로 처리)
Console.WriteLine($"MakeBMSInformation Error: {ex.Message}");
}
}
static DateTime LastBMSIFTime = DateTime.Now;
static DateTime LastBMSCVTime = DateTime.Now;
/// <summary>
/// 배터리데이터수신시 값을 기록한다.
/// </summary>
public static void MakeBMSInformation_Cell()
{
if (PUB.BMS.Current_CellTime.Year == 1982 || LastBMSCVTime == PUB.BMS.Current_CellTime || PUB.setting.MCID.isEmpty()) return;
try
{
// BMS 데이터 취득 (실제 BMS 객체에서 데이터를 가져와야 함)
// 예시: var bms = Project.Device.BMS.Instance;
var mcid = Project.PUB.setting.MCID;
var timestr = PUB.BMS.Current_CellTime.ToString("yyyy-MM-dd HH:mm:ss");
// BMS 데이터 (실제 값으로 교체 필요)
var info_volt = PUB.BMS.Current_Volt;// "null"; // bms.Voltage
var info_current = PUB.BMS.Current_Amp;// "null"; // bms.Current
var info_capa = PUB.BMS.Current_MaxAmp;// "null"; // bms.Capacity
var info_level = PUB.BMS.Current_Level;// "null"; // bms.Level
var info_temp1 = PUB.BMS.Current_temp1;// "null"; // bms.Temp1
var info_temp2 = PUB.BMS.Current_temp2;// "null"; // bms.Temp2
var cell_volt1 = PUB.BMS.CellVoltage[0];// "null"; // bms.CellVolt1
var cell_volt2 = PUB.BMS.CellVoltage[1]; // bms.CellVolt2
var cell_volt3 = PUB.BMS.CellVoltage[2]; // bms.CellVolt3
var cell_volt4 = PUB.BMS.CellVoltage[3]; // bms.CellVolt4
var cell_volt5 = PUB.BMS.CellVoltage[4]; // bms.CellVolt5
var cell_volt6 = PUB.BMS.CellVoltage[5]; // bms.CellVolt6
var cell_volt7 = PUB.BMS.CellVoltage[6]; // bms.CellVolt7
var cell_volt8 = PUB.BMS.CellVoltage[7]; // bms.CellVolt8
// Status 폴더에 SQL 파일 생성
var path = System.IO.Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Status");
if (System.IO.Directory.Exists(path) == false)
System.IO.Directory.CreateDirectory(path);
var file = System.IO.Path.Combine(path, $"{DateTime.Now.ToString("HHmmssfff")}_BMS_CV.sql");
var sql = "insert into AGV_Shuttle_BMS(MCID,wdate," +
"cell_volt1,cell_volt2,cell_volt3,cell_volt4,cell_volt5,cell_volt6,cell_volt7,cell_volt8) " +
"values('{0}','{1}',{2},{3},{4},{5},{6},{7},{8},{9})";
sql = string.Format(sql, mcid, timestr,
cell_volt1, cell_volt2, cell_volt3, cell_volt4,
cell_volt5, cell_volt6, cell_volt7, cell_volt8);
System.IO.File.WriteAllText(file, sql, System.Text.Encoding.Default);
LastBMSCVTime = DateTime.Now;
}
catch (Exception ex)
{
// 오류 로깅 (필요시 PUB.log.Add 등으로 처리)
Console.WriteLine($"MakeBMSInformation Error: {ex.Message}");
}
}
public static void UpdateStatusSQL(eSMStep status, bool _extrun = false, string remark = "")
{
var tsrun = DateTime.Now - StatusChecktime;

147
Cs_HMI/Project/PUB.cs
View File

@@ -12,6 +12,10 @@ using Microsoft.Speech.Synthesis;
using System.Threading.Tasks;
using System.Data.SqlClient;
using System.Linq;
using AGVNavigationCore.Models;
using AGVNavigationCore.Controls;
using System.Collections.Generic;
using System.Drawing;
namespace Project
{
@@ -22,7 +26,13 @@ namespace Project
public static bool Automodeonreboot = false;
public static bool AutRebootAlreay = false;
public static bool DriveSpeed = false;
public static AGVControl.MapControl mapctl;
public static AGVNavigationCore.Controls.UnifiedAGVCanvas _mapCanvas;
public static List<MapNode> _mapNodes;
/// <summary>
/// 가상 AGV (시뮬레이션용)
/// </summary>
public static VirtualAGV _virtualAGV;
#region "Hardware"
@@ -570,5 +580,140 @@ namespace Project
}
#region VirtualAGV 실제 데이터 동기화
/// <summary>
/// RFID 읽기 시 해당 노드 위치로 AGV 업데이트
/// </summary>
/// <param name="rfidId">읽은 RFID ID</param>
/// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
/// <returns>업데이트 성공 여부</returns>
public static bool UpdateAGVFromRFID(string rfidId, AgvDirection motorDirection = AgvDirection.Forward)
{
if (_virtualAGV == null || _mapNodes == null) return false;
// RFID에 해당하는 노드 찾기
var node = _mapNodes.FirstOrDefault(n => n.RfidId == rfidId);
if (node != null)
{
_virtualAGV.SetPosition(node, motorDirection);
RefreshAGVCanvas();
log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.NodeId} 위치 업데이트 (방향: {motorDirection})");
return true;
}
log.Add($"[AGV] RFID {rfidId}에 해당하는 노드를 찾을 수 없음");
return false;
}
/// <summary>
/// 노드ID로 AGV 위치 업데이트
/// </summary>
/// <param name="nodeId">노드 ID</param>
/// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
/// <returns>업데이트 성공 여부</returns>
public static bool UpdateAGVToNode(string nodeId, AgvDirection motorDirection = AgvDirection.Forward)
{
if (_virtualAGV == null || _mapNodes == null) return false;
var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
if (node != null)
{
_virtualAGV.SetPosition(node, motorDirection);
RefreshAGVCanvas();
log.Add($"[AGV] 노드 {nodeId} 위치로 이동 (방향: {motorDirection})");
return true;
}
return false;
}
/// <summary>
/// AGV 방향 업데이트
/// </summary>
/// <param name="direction">새로운 방향</param>
public static void UpdateAGVDirection(AgvDirection direction)
{
if (_virtualAGV == null) return;
_virtualAGV.CurrentDirection = direction;
RefreshAGVCanvas();
}
/// <summary>
/// AGV 상태 업데이트
/// </summary>
/// <param name="state">새로운 상태</param>
public static void UpdateAGVState(AGVState state)
{
if (_virtualAGV == null) return;
_virtualAGV.CurrentState = state;
RefreshAGVCanvas();
}
/// <summary>
/// AGV 배터리 레벨 업데이트
/// </summary>
/// <param name="batteryLevel">배터리 레벨 (0.0 ~ 100.0)</param>
public static void UpdateAGVBattery(float batteryLevel)
{
if (_virtualAGV == null) return;
_virtualAGV.BatteryLevel = batteryLevel;
RefreshAGVCanvas();
}
/// <summary>
/// 맵 캔버스 강제 갱신 (AGV 위치 표시 업데이트)
/// </summary>
public static void RefreshAGVCanvas()
{
if (_mapCanvas != null && _mapCanvas.IsHandleCreated)
{
_mapCanvas.Invalidate();
}
}
/// <summary>
/// 현재 AGV의 노드 ID 가져오기
/// </summary>
/// <returns>현재 노드 ID</returns>
public static string GetCurrentAGVNodeId()
{
return _virtualAGV?.CurrentNodeId ?? string.Empty;
}
/// <summary>
/// 현재 AGV 위치 가져오기
/// </summary>
/// <returns>현재 위치</returns>
public static Point GetCurrentAGVPosition()
{
return _virtualAGV?.CurrentPosition ?? Point.Empty;
}
/// <summary>
/// 현재 AGV 방향 가져오기
/// </summary>
/// <returns>현재 방향</returns>
public static AgvDirection GetCurrentAGVDirection()
{
return _virtualAGV?.CurrentDirection ?? AgvDirection.Forward;
}
/// <summary>
/// 현재 AGV 상태 가져오기
/// </summary>
/// <returns>현재 상태</returns>
public static AGVState GetCurrentAGVState()
{
return _virtualAGV?.CurrentState ?? AGVState.Idle;
}
#endregion
}
}

4
Cs_HMI/Project/Properties/AssemblyInfo.cs
View File

@@ -5,11 +5,11 @@ using System.Runtime.InteropServices;
// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해
// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
// 이러한 특성 값을 변경하세요.
[assembly: AssemblyTitle("(OTP) 2D Reading System")]
[assembly: AssemblyTitle("ENIG Shuttle Narmi")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("Amkor K4")]
[assembly: AssemblyProduct("(OTP) 2D Reading System")]
[assembly: AssemblyProduct("ENIG Shuttle Narmi")]
[assembly: AssemblyCopyright("Copyright ©Amkor-EET 2020")]
[assembly: AssemblyTrademark("EET")]
[assembly: AssemblyCulture("")]

476
Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs
View File

@@ -30,259 +30,259 @@ namespace Project
}
//목적지가 설정되었는지 체크한다.
if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
{
//최대 5초간 설정여부를 확인하고
if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5)
{
//실패시에는 READY로 전환한다.
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.Speak(Lang.목적지가없어대기상태로전환합니다);
}
return false;
}
//Z if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
// {
// //최대 5초간 설정여부를 확인하고
// if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5)
// {
// //실패시에는 READY로 전환한다.
// PUB.sm.SetNewRunStep(ERunStep.READY);
// PUB.Speak(Lang.목적지가없어대기상태로전환합니다);
// }
// return false;
// }
var idx = 1;
var BeforePredictIdx = -1;
var predict = PUB.mapctl.Manager.PredictResult;
if (PUB.sm.RunStepSeq == idx++)
{
PUB.Speak(Lang.위치로이동합니다);
PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})");
VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1));
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춰야하는경우
if (predict.MoveState == AGVControl.AGVMoveState.Stop)
{
if (PUB.AGV.system1.agv_run)
{
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
{
PUB.Speak("AGV Stop");
PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
VAR.TIME.Update(eVarTime.SendGotoCommand);
}
return false;
}
else
{
//완료되었거나 턴을진행해야한다
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{
GotoTurnStep = 0;
GotoTurnSetTime = DateTime.Now.AddDays(-1);
PUB.sm.UpdateRunStepSeq();
}
return false;
}
}
else //이동해야하는 경우
{
//속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
//var idx = 1;
//var BeforePredictIdx = -1;
//var predict = PUB.mapctl.Manager.PredictResult;
//if (PUB.sm.RunStepSeq == idx++)
//{
// PUB.Speak(Lang.위치로이동합니다);
// PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})");
// VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
// VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1));
// PUB.sm.UpdateRunStepSeq();
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// //멈춰야하는경우
// if (predict.MoveState == AGVControl.AGVMoveState.Stop)
// {
// if (PUB.AGV.system1.agv_run)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
// {
// PUB.Speak("AGV Stop");
// PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
// else
// {
// //완료되었거나 턴을진행해야한다
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// GotoTurnStep = 0;
// GotoTurnSetTime = DateTime.Now.AddDays(-1);
// PUB.sm.UpdateRunStepSeq();
// }
// return false;
// }
// }
// else //이동해야하는 경우
// {
// //속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
// AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
// AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
// AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
//상태값이 바뀌었다면 전송을 해야한다
if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
{
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
{
arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
if (predict.MoveDiv == AGVControl.AgvSts.Straight) v_bunki = arDev.Narumi.eBunki.Strate;
else if (predict.MoveDiv == AGVControl.AgvSts.Left) v_bunki = arDev.Narumi.eBunki.Left;
else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
// //상태값이 바뀌었다면 전송을 해야한다
// if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
// {
// arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
// if (predict.MoveDiv == AGVControl.AgvSts.Straight) v_bunki = arDev.Narumi.eBunki.Strate;
// else if (predict.MoveDiv == AGVControl.AgvSts.Left) v_bunki = arDev.Narumi.eBunki.Left;
// else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
arDev.Narumi.eMoveDir v_dir = arDev.Narumi.eMoveDir.Backward;
if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eMoveDir.Forward;
else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
// arDev.Narumi.eMoveDir v_dir = arDev.Narumi.eMoveDir.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eMoveDir.Forward;
// else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
arDev.Narumi.eMoveSpd v_spd = arDev.Narumi.eMoveSpd.Low;
if (predict.MoveSpeed == AGVControl.AgvSpeed.Middle) v_spd = arDev.Narumi.eMoveSpd.Middle;
else if (predict.MoveSpeed == AGVControl.AgvSpeed.High) v_spd = arDev.Narumi.eMoveSpd.High;
else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
// arDev.Narumi.eMoveSpd v_spd = arDev.Narumi.eMoveSpd.Low;
// if (predict.MoveSpeed == AGVControl.AgvSpeed.Middle) v_spd = arDev.Narumi.eMoveSpd.Middle;
// else if (predict.MoveSpeed == AGVControl.AgvSpeed.High) v_spd = arDev.Narumi.eMoveSpd.High;
// else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
//이동셋팅을 해준다
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = v_bunki,
Direction = v_dir,
PBSSensor = 1,
Speed = v_spd,
});
// //이동셋팅을 해준다
// PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
// {
// Bunki = v_bunki,
// Direction = v_dir,
// PBSSensor = 1,
// Speed = v_spd,
// });
if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
{
PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
}
VAR.TIME.Update(eVarTime.SendGotoCommand);
}
return false;
}
// if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
// {
// PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
// }
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
//정지상태라면 이동 명령을 전달한다
if (PUB.AGV.system1.agv_run == false)
{
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
{
PUB.Speak("AGV Start");
// //정지상태라면 이동 명령을 전달한다
// if (PUB.AGV.system1.agv_run == false)
// {
// if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
// {
// PUB.Speak("AGV Start");
arDev.Narumi.eRunOpt v_dir = arDev.Narumi.eRunOpt.Backward;
if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eRunOpt.Forward;
else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
// arDev.Narumi.eRunOpt v_dir = arDev.Narumi.eRunOpt.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eRunOpt.Forward;
// else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
PUB.AGV.AGVMoveRun(v_dir);
VAR.TIME.Update(eVarTime.SendGotoCommand);
}
return false;
}
}
// PUB.AGV.AGVMoveRun(v_dir);
// VAR.TIME.Update(eVarTime.SendGotoCommand);
// }
// return false;
// }
// }
//예측이 업데이트되지 않으면 오류 처리해야한다
if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
else if (BeforePredictIdx != predict.Idx) //이전사용한 IDX와 다르다면 예측이 실행된 경우이다
BeforePredictIdx = (int)predict.Idx;
else
{
//5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
var tsPredict = DateTime.Now - predict.CreateTime;
if (tsPredict.TotalSeconds > 5)
{
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
PUB.sm.SetNewRunStep(ERunStep.READY);
}
}
// //예측이 업데이트되지 않으면 오류 처리해야한다
// if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
// else if (BeforePredictIdx != predict.Idx) //이전사용한 IDX와 다르다면 예측이 실행된 경우이다
// BeforePredictIdx = (int)predict.Idx;
// else
// {
// //5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
// var tsPredict = DateTime.Now - predict.CreateTime;
// if (tsPredict.TotalSeconds > 5)
// {
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
// PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
// }
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
{
PUB.Speak(Lang.목적지이동이완료되었습니다);
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.sm.UpdateRunStepSeq();
}
else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{
//턴을 해야하는 경우이다
//좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
if (GotoTurnStep == 0)
{
//턴을 한적이 없으므로 턴을 먼저 진행한다
arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward;
if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
{
//셋팅이 다르다면 3초간격으로 전송한다
var tsTurnSet = DateTime.Now - GotoTurnSetTime;
if (tsTurnSet.TotalSeconds > 3)
{
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Left,
Direction = moveDir,
PBSSensor = 1,
Speed = arDev.Narumi.eMoveSpd.Low,
});
GotoTurnSetTime = DateTime.Now;
PUB.log.Add("Turn Bunki Set");
}
}
else
{
PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
GotoTurnStep += 1;
}
}
}
else PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//턴이완료되길 기다린다.
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{
//(최소5초는 기다리고 판단한다)
if (stepTime.TotalSeconds < 5) return false;
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
// {
// PUB.Speak(Lang.목적지이동이완료되었습니다);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// PUB.sm.UpdateRunStepSeq();
// }
// else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// //턴을 해야하는 경우이다
// //좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
// if (GotoTurnStep == 0)
// {
// //턴을 한적이 없으므로 턴을 먼저 진행한다
// arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
// if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward;
// if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
// {
// //셋팅이 다르다면 3초간격으로 전송한다
// var tsTurnSet = DateTime.Now - GotoTurnSetTime;
// if (tsTurnSet.TotalSeconds > 3)
// {
// PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
// {
// Bunki = arDev.Narumi.eBunki.Left,
// Direction = moveDir,
// PBSSensor = 1,
// Speed = arDev.Narumi.eMoveSpd.Low,
// });
// GotoTurnSetTime = DateTime.Now;
// PUB.log.Add("Turn Bunki Set");
// }
// }
// else
// {
// PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
// PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
// PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
// GotoTurnStep += 1;
// }
// }
// }
// else PUB.sm.UpdateRunStepSeq();
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// //턴이완료되길 기다린다.
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// //(최소5초는 기다리고 판단한다)
// if (stepTime.TotalSeconds < 5) return false;
//최대30초는 기다려준다
if (stepTime.TotalSeconds > 30)
{
var ermsg = "Turn Timeout(30sec)";
PUB.log.AddE(ermsg);
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
PUB.sm.SetNewRunStep(ERunStep.READY);
}
// //최대30초는 기다려준다
// if (stepTime.TotalSeconds > 30)
// {
// var ermsg = "Turn Timeout(30sec)";
// PUB.log.AddE(ermsg);
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
//모션이 멈추었다면 턴이완료된것이다.
if (PUB.AGV.system1.agv_stop)
{
if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
{
PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
}
GotoTurnStep += 1;
PUB.sm.UpdateRunStepSeq();
}
else
{
//아직 이동중이므로 대기한다
}
}
else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{
if (GotoTurnStep < 2)
{
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
PUB.sm.SetNewRunStep(ERunStep.READY);
}
else
{
PUB.log.AddI("Turn Complete");
}
// //모션이 멈추었다면 턴이완료된것이다.
// if (PUB.AGV.system1.agv_stop)
// {
// if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
// {
// PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
// }
// GotoTurnStep += 1;
// PUB.sm.UpdateRunStepSeq();
// }
// else
// {
// //아직 이동중이므로 대기한다
// }
// }
// else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
// return false;
//}
//else if (PUB.sm.RunStepSeq == idx++)
//{
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
// predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
// {
// if (GotoTurnStep < 2)
// {
// PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
// PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
// PUB.sm.SetNewRunStep(ERunStep.READY);
// }
// else
// {
// PUB.log.AddI("Turn Complete");
// }
//방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
{
var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
//원래방향에서 반대로 처리한다
var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
}
else
{
//이동용 RFID에서 턴명령이 들어있는경우였다
PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
}
// //방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
// if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
// {
// var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
// var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
// //원래방향에서 반대로 처리한다
// var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
// PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
// }
// else
// {
// //이동용 RFID에서 턴명령이 들어있는경우였다
// PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
// PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
// }
PUB.sm.UpdateRunStepSeq();
}
else PUB.sm.UpdateRunStepSeq();
return false;
}
// PUB.sm.UpdateRunStepSeq();
// }
// else PUB.sm.UpdateRunStepSeq();
// return false;
//}
//좌턴이동명령 전송

95
Cs_HMI/Project/StateMachine/_AGV.cs
View File

@@ -56,33 +56,33 @@ namespace Project
VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
else
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
////모터방향 입력
//if (PUB.AGV.data.Direction == 'B')
// PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
//else
// PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
//현재 속도
if (PUB.AGV.data.Speed == 'H')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
else if (PUB.AGV.data.Speed == 'M')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
else if (PUB.AGV.data.Speed == 'L')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
else if (PUB.AGV.data.Speed == 'S')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
////현재 속도
//if (PUB.AGV.data.Speed == 'H')
// PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
//else if (PUB.AGV.data.Speed == 'M')
// PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
//else if (PUB.AGV.data.Speed == 'L')
// PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
//else if (PUB.AGV.data.Speed == 'S')
// PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
//이동방향
if (PUB.AGV.data.Sts == 'S')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
else if (PUB.AGV.data.Sts == 'L')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
else if (PUB.AGV.data.Sts == 'R')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
////이동방향
//if (PUB.AGV.data.Sts == 'S')
// PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
//else if (PUB.AGV.data.Sts == 'L')
// PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
//else if (PUB.AGV.data.Sts == 'R')
// PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
//PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
//PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
if (PUB.AGV.signal.mark_sensor == false)
{
@@ -184,41 +184,18 @@ namespace Project
PUB.log.AddE(logEMsg);
}
//맵데이터에서 현재 위치를 찾는다
if (PUB.mapctl.SetCurrentPosition(PUB.AGV.data.TagNo) == false)
//virtual agv setting
var CurrentNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
if (CurrentNode == null)
{
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] && PUB.AGV.system1.agv_run)
PUB.AGV.AGVMoveStop("unknown tag no");
//존재하지 않는 태그가 읽히면 관련 오류를 표시한다.
}
else
{
//위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
PUB.log.AddE($"RFID:{PUB.Result.LastTAG} 의 노드를 찾을 수 없습니다");
return;
}
////자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
//if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
// PUB.Result.CurrentPos == PUB.Result.TargetPos &&
// PUB.Result.TargetPos != ePosition.NONE &&
// (PUB.sm.RunStep == ERunStep.GODOWN ||
// PUB.sm.RunStep == ERunStep.GOUP ||
// PUB.sm.RunStep == ERunStep.GOHOME ||
// PUB.sm.RunStep == ERunStep.GOCHARGE))
//{
// if (PUB.AGV.data.Sts == 'F' && dirForward == "0") //아래로 내려오고있음
// {
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak( Lang.다음마크위치에서정지합니다);
// }
// else if (PUB.AGV.data.Sts == 'B' && dirForward == "1")
// {
// //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = true;
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak(Lang.다음마크위치에서정지합니다);
// }
//}
//모터방향 확인해서 UI와 AGV클래스에 적용한다
var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward;
PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
PUB._mapCanvas.SetAGVPosition("AGV", CurrentNode, MotDireciton);
}
break;
case arDev.Narumi.DataType.ACK:
@@ -231,12 +208,8 @@ namespace Project
}
//이 후 상황을 예측한다
if (PUB.mapctl != null)
{
var rlt = PUB.mapctl.Manager.PredictNextAction();
if (rlt.Changed)
Console.WriteLine($"[new] predict idx:{rlt.Idx}");
}
var command = PUB._virtualAGV.Predict();
var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
}
catch (Exception ex)
{

13
Cs_HMI/Project/StateMachine/_BMS.cs
View File

@@ -25,7 +25,7 @@ namespace Project
DateTime lastbmstime = DateTime.Now;
private void Bms_Message(object sender, arDev.BMS.MessageEventArgs e)
{
if (e.MsgType == arRS232.MessageType.Error) PUB.logbms.AddE( e.Message);
if (e.MsgType == arDev.arRS232.MessageType.Error) PUB.logbms.AddE( e.Message);
else
{
var hexstr = e.Data.GetHexString().Trim();
@@ -159,9 +159,9 @@ namespace Project
private void Bms_BMSDataReceive(object sender, EventArgs e)
{
PUB.mapctl.Manager.agv.BatteryLevel = PUB.BMS.Current_Level;
PUB.mapctl.Manager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
PUB.mapctl.Manager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
//PUB.mapctl.Manager.agv.BatteryLevel = PUB.BMS.Current_Level;
//PUB.mapctl.Manager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
//PUB.mapctl.Manager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
if (PUB.BMS.Current_Level <= PUB.setting.ChargeStartLevel)
{
//배터리 레벨이 기준보다 낮다면 경고를 활성화 한다
@@ -180,6 +180,11 @@ namespace Project
PUB.log.AddAT("배터리 부족 경고 비활성화");
}
}
EEMStatus.MakeBMSInformation_INFO();
}
private void BMS_BMSCellDataReceive(object sender, arDev.BMSCelvoltageEventArgs e)
{
EEMStatus.MakeBMSInformation_Cell();
}
}
}

9
Cs_HMI/Project/StateMachine/_SPS.cs
View File

@@ -117,10 +117,6 @@ namespace Project
Console.WriteLine($"bms connect to {PUB.setting.Port_BAT}");
PUB.BMS.PortName = PUB.setting.Port_BAT;
PUB.BMS.Open();
PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
PUB.BMS.Message += Bms_Message;
PUB.BMS.ChargeDetect += BMS_ChargeDetect;
VAR.TIME.Update(eVarTime.LastConn_BAT);
VAR.TIME.Update(eVarTime.LastConnTry_BAT);
@@ -132,9 +128,6 @@ namespace Project
if (ts.TotalSeconds > 10)
{
Console.WriteLine("bms auto disconnect");
PUB.BMS.BMSDataReceive -= Bms_BMSDataReceive;
PUB.BMS.Message -= Bms_Message;
PUB.BMS.ChargeDetect -= BMS_ChargeDetect;
PUB.BMS.Close();
VAR.TIME.Set(eVarTime.LastConn_BAT,DateTime.Now.AddSeconds(5));
}
@@ -159,7 +152,7 @@ namespace Project
{
if (PUB.BMS.lastSendTime.Year == 1982) PUB.BMS.lastSendTime = DateTime.Now.AddSeconds(1);
var ts = DateTime.Now - PUB.BMS.lastSendTime;
if (ts.TotalMilliseconds >= PUB.setting.interval_bms)
if (ts.TotalSeconds >= PUB.setting.interval_bms)
{
PUB.BMS.SendQuery();
}

3
Cs_HMI/Project/StateMachine/_TMDisplay.cs
View File

@@ -65,9 +65,6 @@ namespace Project
lbBat.CurA = PUB.BMS.Current_Amp;
lbBat.IsOpen = PUB.BMS.IsOpen;
if (PUB.mapctl != null)
PUB.mapctl.Invalidate();
//쓰레드로인해서 메인에서 진행하게한다. SPS는 메인쓰레드에서 진행 됨
//팝을 제거 혹은 표시하는 기능
if (PUB.popup.needShow) PUB.popup.showMessage();

20
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -60,11 +60,11 @@ namespace Project
{
if (ushort.TryParse(targstr, out ushort tagno))
{
if (PUB.mapctl.SetCurrentPosition(tagno) == true)
{
PUB.log.AddI($"Set Position:{tagno}");
}
else PUB.log.AddE($"Position Set Error:{tagno}");
//if (PUB.mapctl.SetCurrentPosition(tagno) == true)
//{
// PUB.log.AddI($"Set Position:{tagno}");
//}
//else PUB.log.AddE($"Position Set Error:{tagno}");
}
else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}");
}
@@ -79,11 +79,11 @@ namespace Project
case ENIGProtocol.AGVCommandHE.Goto: //move to tag
if (uint.TryParse(dataStr, out uint tagno2))
{
var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(;
if (PUB.mapctl.SetTargetPosition(tagno2))
PUB.log.AddI($"New Target {tagno2}");
else
PUB.log.AddE($"Path Error {tagno2}");
//var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(;
//if (PUB.mapctl.SetTargetPosition(tagno2))
// PUB.log.AddI($"New Target {tagno2}");
//else
// PUB.log.AddE($"Path Error {tagno2}");
}
else PUB.log.AddE($"Path Param Error :{dataStr}");
break;

150
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -10,12 +10,13 @@ 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();
@@ -26,46 +27,143 @@ namespace Project.ViewForm
this.ctlAuto1.Scean = CtlAuto.eScean.Progress;
else
this.ctlAuto1.Scean = CtlAuto.eScean.Normal;
PUB.mapctl = new AGVControl.MapControl();
PUB.mapctl.Dock = DockStyle.Fill;
PUB.mapctl.Visible = true;
PUB.mapctl.Font = this.panel1.Font;
PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32);
this.panel1.Controls.Add(PUB.mapctl);
InitializeMapCanvas();
//PUB.mapctl = new AGVControl.MapControl();
//PUB.mapctl.Dock = DockStyle.Fill;
//PUB.mapctl.Visible = true;
//PUB.mapctl.Font = this.panel1.Font;
//PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32);
//this.panel1.Controls.Add(PUB.mapctl);
}
private void InitializeMapCanvas()
{
PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
PUB._mapCanvas.Dock = DockStyle.Fill;
PUB._mapCanvas.ShowGrid = false;
PUB._mapCanvas.BackColor = Color.FromArgb(32,32,32);
PUB._mapCanvas.ForeColor = Color.White;
// RfidMappings 제거 - MapNode에 통합됨
// 이벤트 연결
//PUB._mapCanvas.NodeAdded += OnNodeAdded;
//PUB._mapCanvas.NodeSelected += OnNodeSelected;
//PUB._mapCanvas.NodeMoved += OnNodeMoved;
//PUB._mapCanvas.NodeDeleted += OnNodeDeleted;
//PUB._mapCanvas.ConnectionDeleted += OnConnectionDeleted;
//PUB._mapCanvas.ImageNodeDoubleClicked += OnImageNodeDoubleClicked;
//PUB._mapCanvas.MapChanged += OnMapChanged;
// 스플리터 패널에 맵 캔버스 추가
panel1.Controls.Add(PUB._mapCanvas);
// 툴바 버튼 이벤트 연결
//WireToolbarButtonEvents();
}
private void fAuto_Load(object sender, EventArgs e)
{
ctlAuto1.dev_agv = PUB.AGV;
// ctlAuto1.dev_plc = PUB.PLC;
ctlAuto1.dev_bms = PUB.BMS;
ctlAuto1.dev_xbe = PUB.XBE;
PUB.AGV.DataReceive += AGV_DataReceive;
//auto load
var path = new System.IO.DirectoryInfo("route");
if (path.Exists == false) path.Create();
var files = path.GetFiles("*.route");
var fn = string.Empty;
if (files.Any() == false)
//맵파일로딩
var filePath = new System.IO.FileInfo(@".\route\NewMap.agvmap");
if (filePath.Exists)
{
fn = AR.UTIL.MakePath("sample.route");
}
else if (files.Count() == 1)
{
fn = files.First().FullName;
}
if(fn.isEmpty()==false)
{
var fi = new System.IO.FileInfo(AR.UTIL.CurrentPath + "\\sample.route");
if (fi.Exists)
var result = MapLoader.LoadMapFromFile(filePath.FullName);
if (result.Success)
{
PUB.log.Add($"autoload : {fi.FullName}");
var rlt = PUB.mapctl.LoadFromFile(fi.FullName,out string errmsg);
if (rlt == false) AR.UTIL.MsgE(errmsg);
if (PUB._mapNodes == null) PUB._mapNodes = new List<MapNode>();
else PUB._mapNodes.Clear();
PUB._mapNodes.AddRange(result.Nodes);
// 맵 캔버스에 데이터 설정
PUB._mapCanvas.Nodes = PUB._mapNodes;
// 🔥 맵 설정 적용 (배경색, 그리드 표시)
if (result.Settings != null)
{
PUB._mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
PUB._mapCanvas.ShowGrid = result.Settings.ShowGrid;
}
// 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
if (PUB._virtualAGV == null && PUB._mapNodes.Count > 0)
{
var startNode = PUB._mapNodes.FirstOrDefault(n => n.IsNavigationNode());
if (startNode != null)
{
PUB._virtualAGV = new VirtualAGV("AGV-01", startNode.Position, AgvDirection.Forward);
PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
// 캔버스에 AGV 리스트 설정
var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
PUB._mapCanvas.AGVList = agvList;
PUB.log.Add($"가상 AGV 생성: {startNode.NodeId} 위치");
}
}
else if (PUB._virtualAGV != null)
{
// 기존 AGV가 있으면 캔버스에 다시 연결
var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
PUB._mapCanvas.AGVList = agvList;
}
// 맵 로드 후 자동으로 맵에 맞춤
PUB._mapCanvas.FitToNodes();
PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
}
else
{
PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else
{
PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
}
//var fn = string.Empty;
//if (files.Any() == false)
//{
// fn = AR.UTIL.MakePath("sample.route");
//}
//else if (files.Count() == 1)
//{
// fn = files.First().FullName;
//}
//if (fn.isEmpty() == false)
//{
// var fi = new System.IO.FileInfo(AR.UTIL.CurrentPath + "\\sample.route");
// if (fi.Exists)
// {
// PUB.log.Add($"autoload : {fi.FullName}");
// var rlt = PUB.mapctl.LoadFromFile(fi.FullName, out string errmsg);
// if (rlt == false) AR.UTIL.MsgE(errmsg);
// }
//}
this.timer1.Start();
}
@@ -107,7 +205,7 @@ namespace Project.ViewForm
}
bool tmrun = false;
private void fAuto_VisibleChanged(object sender, EventArgs e)
{
this.timer1.Enabled = this.Visible;

33
Cs_HMI/Project/fMain.Designer.cs generated
View File

@@ -294,7 +294,7 @@ namespace Project
this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
this.btAutoRun.GradientRepeatBG = false;
this.btAutoRun.isButton = true;
this.btAutoRun.Location = new System.Drawing.Point(0, 274);
this.btAutoRun.Location = new System.Drawing.Point(0, 288);
this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
@@ -315,7 +315,7 @@ namespace Project
this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
this.btAutoRun.Size = new System.Drawing.Size(259, 139);
this.btAutoRun.Size = new System.Drawing.Size(259, 145);
this.btAutoRun.TabIndex = 22;
this.btAutoRun.Text = "수동";
this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -362,7 +362,7 @@ namespace Project
this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btChargeA.SignColor = System.Drawing.Color.Yellow;
this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
this.btChargeA.Size = new System.Drawing.Size(143, 137);
this.btChargeA.Size = new System.Drawing.Size(143, 144);
this.btChargeA.TabIndex = 141;
this.btChargeA.Text = "자동충전";
this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -388,7 +388,7 @@ namespace Project
this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
this.lbTime.GradientRepeatBG = false;
this.lbTime.isButton = false;
this.lbTime.Location = new System.Drawing.Point(5, 554);
this.lbTime.Location = new System.Drawing.Point(5, 574);
this.lbTime.Margin = new System.Windows.Forms.Padding(0);
this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -416,7 +416,6 @@ namespace Project
this.lbTime.TextShadow = false;
this.lbTime.TextVisible = true;
this.toolTip1.SetToolTip(this.lbTime, "현재 시간");
this.lbTime.Click += new System.EventHandler(this.lbTime_Click);
//
// btDebug
//
@@ -978,7 +977,7 @@ namespace Project
this.panRight.Location = new System.Drawing.Point(1015, 146);
this.panRight.Name = "panRight";
this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
this.panRight.Size = new System.Drawing.Size(264, 579);
this.panRight.Size = new System.Drawing.Size(264, 599);
this.panRight.TabIndex = 131;
//
// tableLayoutPanel1
@@ -997,7 +996,7 @@ namespace Project
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 413);
this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 433);
this.tableLayoutPanel1.TabIndex = 0;
//
// btHome
@@ -1039,7 +1038,7 @@ namespace Project
this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btHome.SignColor = System.Drawing.Color.Yellow;
this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
this.btHome.Size = new System.Drawing.Size(116, 274);
this.btHome.Size = new System.Drawing.Size(116, 288);
this.btHome.TabIndex = 141;
this.btHome.Text = "홈";
this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1064,7 +1063,7 @@ namespace Project
this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
this.btChargeM.GradientRepeatBG = false;
this.btChargeM.isButton = true;
this.btChargeM.Location = new System.Drawing.Point(116, 137);
this.btChargeM.Location = new System.Drawing.Point(116, 144);
this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1085,7 +1084,7 @@ namespace Project
this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btChargeM.SignColor = System.Drawing.Color.Yellow;
this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
this.btChargeM.Size = new System.Drawing.Size(143, 137);
this.btChargeM.Size = new System.Drawing.Size(143, 144);
this.btChargeM.TabIndex = 141;
this.btChargeM.Text = "수동충전";
this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1494,7 +1493,7 @@ namespace Project
//
this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
this.panel5.Location = new System.Drawing.Point(5, 549);
this.panel5.Location = new System.Drawing.Point(5, 569);
this.panel5.Name = "panel5";
this.panel5.Size = new System.Drawing.Size(259, 5);
this.panel5.TabIndex = 142;
@@ -1716,10 +1715,10 @@ namespace Project
//
this.pandBottomDIO.Controls.Add(this.panel9);
this.pandBottomDIO.Dock = System.Windows.Forms.DockStyle.Bottom;
this.pandBottomDIO.Location = new System.Drawing.Point(1, 725);
this.pandBottomDIO.Location = new System.Drawing.Point(1, 745);
this.pandBottomDIO.Margin = new System.Windows.Forms.Padding(0);
this.pandBottomDIO.Name = "pandBottomDIO";
this.pandBottomDIO.Size = new System.Drawing.Size(1278, 55);
this.pandBottomDIO.Size = new System.Drawing.Size(1278, 35);
this.pandBottomDIO.TabIndex = 136;
//
// panel9
@@ -1730,7 +1729,7 @@ namespace Project
this.panel9.Location = new System.Drawing.Point(0, 0);
this.panel9.Margin = new System.Windows.Forms.Padding(0);
this.panel9.Name = "panel9";
this.panel9.Size = new System.Drawing.Size(1278, 55);
this.panel9.Size = new System.Drawing.Size(1278, 35);
this.panel9.TabIndex = 0;
//
// IOState
@@ -1797,7 +1796,7 @@ namespace Project
this.IOState.ShadowColor = System.Drawing.Color.Transparent;
this.IOState.showDebugInfo = false;
this.IOState.ShowIndexString = false;
this.IOState.Size = new System.Drawing.Size(1151, 55);
this.IOState.Size = new System.Drawing.Size(1151, 35);
this.IOState.TabIndex = 6;
this.IOState.Tags = null;
this.IOState.Text = "gridView2";
@@ -1870,7 +1869,7 @@ namespace Project
this.SSInfo.ShadowColor = System.Drawing.Color.Transparent;
this.SSInfo.showDebugInfo = false;
this.SSInfo.ShowIndexString = false;
this.SSInfo.Size = new System.Drawing.Size(127, 55);
this.SSInfo.Size = new System.Drawing.Size(127, 35);
this.SSInfo.TabIndex = 10;
this.SSInfo.Tags = null;
this.SSInfo.Text = "gridView3";
@@ -1892,7 +1891,7 @@ namespace Project
this.panDlg.Location = new System.Drawing.Point(1, 146);
this.panDlg.Margin = new System.Windows.Forms.Padding(0);
this.panDlg.Name = "panDlg";
this.panDlg.Size = new System.Drawing.Size(1014, 579);
this.panDlg.Size = new System.Drawing.Size(1014, 599);
this.panDlg.TabIndex = 146;
//
// arPanel2

23
Cs_HMI/Project/fMain.cs
View File

@@ -64,9 +64,6 @@ namespace Project
if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
lbTime.Click += (s1,e1) => {
PUB.mapctl.ShowDesign();
};
}
protected override void WndProc(ref Message m)
@@ -108,7 +105,7 @@ namespace Project
this.ctlPos1.Invalidate();
}
private void __Closing(object sender, FormClosingEventArgs e)
{
PUB.popup.needClose = true;
@@ -216,9 +213,10 @@ namespace Project
//배터리관리시스템
PUB.BMS = new arDev.BMS();
PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
PUB.BMS.BMSCellDataReceive += BMS_BMSCellDataReceive;
PUB.BMS.Message += Bms_Message;
PUB.BMS.ChargeDetect += BMS_ChargeDetect;
PUB.BMS.ScanInterval = PUB.setting.interval_bms;//
//디버그메세지 출력용 소켓
PUB.sock_debug = new Device.Socket();
@@ -243,11 +241,12 @@ namespace Project
PUB.sm.SPS += sm_SPS;
PUB.sm.Start();
tmDisplay.Tick += tmDisplay_Tick;
tmDisplay.Start(); //start Display
this.btDebug.Visible = PUB.setting.UseDebugMode;
PUB.log.Add("Program Start");
//수량표시
PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
@@ -263,6 +262,8 @@ namespace Project
}
#region "Mouse Form Move"
private Boolean fMove = false;
@@ -303,7 +304,7 @@ namespace Project
}
PUB.log.Add("WS << " + e.rawData);
}
void socket_RecvMessage(object sender, Device.Socket.SocketMessageEventArgs e)
{
if (e.Message.isError)
@@ -640,7 +641,7 @@ namespace Project
}
VAR.BOOL[eVarBool.FLAG_SETUP] = false;// VAR.BOOL[eVarBool.FLAG_SETUP] = false;//VAR.BOOL[eVarBool.FLAG_SETUP] = false;
if (popmsg) PUB.popup.Visible = true;
}
@@ -714,7 +715,7 @@ namespace Project
SetScreen(form_flag);
MenuFlag.ForeColor = Color.Gold;
}
private void btLog_Click(object sender, EventArgs e)
{
if (form_log == null || form_log.IsDisposed || form_log.Disposing)
@@ -886,9 +887,5 @@ namespace Project
}
}
private void lbTime_Click(object sender, EventArgs e)
{
PUB.mapctl.ShowDesign();
}
}
}

247
Cs_HMI/Project/fMain.resx
View File

@@ -126,163 +126,160 @@
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28
Cs_HMI/Project/fSetup.Designer.cs generated
View File

@@ -1270,7 +1270,7 @@
this.label30.AutoSize = true;
this.label30.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.label30.ForeColor = System.Drawing.Color.WhiteSmoke;
this.label30.Location = new System.Drawing.Point(946, 273);
this.label30.Location = new System.Drawing.Point(946, 188);
this.label30.Name = "label30";
this.label30.Size = new System.Drawing.Size(49, 24);
this.label30.TabIndex = 33;
@@ -1281,15 +1281,15 @@
this.label12.AutoSize = true;
this.label12.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.label12.ForeColor = System.Drawing.Color.WhiteSmoke;
this.label12.Location = new System.Drawing.Point(946, 194);
this.label12.Location = new System.Drawing.Point(946, 109);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(36, 24);
this.label12.Size = new System.Drawing.Size(49, 24);
this.label12.TabIndex = 33;
this.label12.Text = "ms";
this.label12.Text = "sec";
//
// button2
//
this.button2.Location = new System.Drawing.Point(383, 178);
this.button2.Location = new System.Drawing.Point(383, 93);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(89, 56);
this.button2.TabIndex = 28;
@@ -1309,7 +1309,7 @@
"46800",
"115200",
"250000"});
this.tbBaudBAT.Location = new System.Drawing.Point(478, 181);
this.tbBaudBAT.Location = new System.Drawing.Point(478, 96);
this.tbBaudBAT.Name = "tbBaudBAT";
this.tbBaudBAT.Size = new System.Drawing.Size(217, 51);
this.tbBaudBAT.TabIndex = 27;
@@ -1319,7 +1319,7 @@
//
this.tbportBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
this.tbportBMS.Font = new System.Drawing.Font("궁서체", 32F, System.Drawing.FontStyle.Bold);
this.tbportBMS.Location = new System.Drawing.Point(161, 178);
this.tbportBMS.Location = new System.Drawing.Point(161, 93);
this.tbportBMS.Name = "tbportBMS";
this.tbportBMS.Size = new System.Drawing.Size(216, 56);
this.tbportBMS.TabIndex = 26;
@@ -1330,7 +1330,7 @@
this.label27.AutoSize = true;
this.label27.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.label27.ForeColor = System.Drawing.Color.WhiteSmoke;
this.label27.Location = new System.Drawing.Point(38, 194);
this.label27.Location = new System.Drawing.Point(38, 109);
this.label27.Name = "label27";
this.label27.Size = new System.Drawing.Size(114, 24);
this.label27.TabIndex = 25;
@@ -1387,7 +1387,7 @@
//
// btSelXbee
//
this.btSelXbee.Location = new System.Drawing.Point(383, 257);
this.btSelXbee.Location = new System.Drawing.Point(383, 172);
this.btSelXbee.Name = "btSelXbee";
this.btSelXbee.Size = new System.Drawing.Size(89, 56);
this.btSelXbee.TabIndex = 13;
@@ -1407,7 +1407,7 @@
"46800",
"115200",
"250000"});
this.tbBaudXBE.Location = new System.Drawing.Point(478, 260);
this.tbBaudXBE.Location = new System.Drawing.Point(478, 175);
this.tbBaudXBE.Name = "tbBaudXBE";
this.tbBaudXBE.Size = new System.Drawing.Size(217, 51);
this.tbBaudXBE.TabIndex = 8;
@@ -1417,7 +1417,7 @@
//
this.tbPortXBE.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
this.tbPortXBE.Font = new System.Drawing.Font("궁서체", 32F, System.Drawing.FontStyle.Bold);
this.tbPortXBE.Location = new System.Drawing.Point(161, 257);
this.tbPortXBE.Location = new System.Drawing.Point(161, 172);
this.tbPortXBE.Name = "tbPortXBE";
this.tbPortXBE.Size = new System.Drawing.Size(216, 56);
this.tbPortXBE.TabIndex = 3;
@@ -1428,7 +1428,7 @@
this.label5.AutoSize = true;
this.label5.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.label5.ForeColor = System.Drawing.Color.WhiteSmoke;
this.label5.Location = new System.Drawing.Point(38, 273);
this.label5.Location = new System.Drawing.Point(38, 188);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(114, 24);
this.label5.TabIndex = 1;
@@ -1444,7 +1444,7 @@
this.valIntervalBMS.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.valIntervalBMS.ForeColor = System.Drawing.Color.White;
this.valIntervalBMS.ForeColorButton = System.Drawing.Color.Black;
this.valIntervalBMS.Location = new System.Drawing.Point(701, 181);
this.valIntervalBMS.Location = new System.Drawing.Point(701, 96);
this.valIntervalBMS.MaxValue = 999999D;
this.valIntervalBMS.MinValue = 0D;
this.valIntervalBMS.Name = "valIntervalBMS";
@@ -1467,7 +1467,7 @@
this.valIntervalXBE.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.valIntervalXBE.ForeColor = System.Drawing.Color.White;
this.valIntervalXBE.ForeColorButton = System.Drawing.Color.Black;
this.valIntervalXBE.Location = new System.Drawing.Point(701, 260);
this.valIntervalXBE.Location = new System.Drawing.Point(701, 175);
this.valIntervalXBE.MaxValue = 100D;
this.valIntervalXBE.MinValue = 0D;
this.valIntervalXBE.Name = "valIntervalXBE";

61
Cs_HMI/Project/fSetup.resx
View File

@@ -120,41 +120,40 @@
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