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fix

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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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53
Cs_HMI/AGVCSharp.sln
View File

@@ -27,10 +27,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "SubProject\
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGV4", "Project\AGV4.csproj", "{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGV4", "Project\AGV4.csproj", "{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVMapEditor\AGVMapEditor.csproj", "{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
EndProject
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루션 항목", "{2A3A057F-5D22-31FD-628C-DF5EF75AEF1E}" Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루션 항목", "{2A3A057F-5D22-31FD-628C-DF5EF75AEF1E}"
ProjectSection(SolutionItems) = preProject ProjectSection(SolutionItems) = preProject
build.bat = build.bat build.bat = build.bat
@@ -40,10 +36,16 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루
TODO.md = TODO.md TODO.md = TODO.md
EndProjectSection EndProjectSection
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
EndProject
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Logic", "Logic", "{E5C75D32-5AD6-44DD-8F27-E32023206EBB}" Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Logic", "Logic", "{E5C75D32-5AD6-44DD-8F27-E32023206EBB}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVLogic\AGVMapEditor\AGVMapEditor.csproj", "{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVLogic\AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_Port", "TestProject\Test_Port\Test_Port.csproj", "{CCFA2CE7-A539-4ADC-B803-F759284C3463}"
EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU Debug|Any CPU = Debug|Any CPU
@@ -174,6 +176,18 @@ Global
{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x64.Build.0 = Release|Any CPU {D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x64.Build.0 = Release|Any CPU
{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x86.ActiveCfg = Release|x86 {D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x86.ActiveCfg = Release|x86
{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x86.Build.0 = Release|x86 {D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}.Release|x86.Build.0 = Release|x86
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.Build.0 = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x64.ActiveCfg = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x64.Build.0 = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x86.ActiveCfg = Debug|x86
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x86.Build.0 = Debug|x86
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.ActiveCfg = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x64.ActiveCfg = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x64.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.ActiveCfg = Release|x86
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.Build.0 = Release|x86
{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|Any CPU.ActiveCfg = Debug|Any CPU {A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|Any CPU.Build.0 = Debug|Any CPU {A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|Any CPU.Build.0 = Debug|Any CPU
{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|x64.ActiveCfg = Debug|Any CPU {A1B2C3D4-E5F6-7890-ABCD-EF1234567890}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -198,18 +212,18 @@ Global
{B2C3D4E5-0000-0000-0000-000000000000}.Release|x64.Build.0 = Release|Any CPU {B2C3D4E5-0000-0000-0000-000000000000}.Release|x64.Build.0 = Release|Any CPU
{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.ActiveCfg = Release|Any CPU {B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.ActiveCfg = Release|Any CPU
{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.Build.0 = Release|Any CPU {B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.Build.0 = Debug|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.Build.0 = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x64.ActiveCfg = Debug|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x64.ActiveCfg = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x64.Build.0 = Debug|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x64.Build.0 = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x86.ActiveCfg = Debug|x86 {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x86.ActiveCfg = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|x86.Build.0 = Debug|x86 {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x86.Build.0 = Debug|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.ActiveCfg = Release|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.ActiveCfg = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.Build.0 = Release|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x64.ActiveCfg = Release|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x64.ActiveCfg = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x64.Build.0 = Release|Any CPU {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x64.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.ActiveCfg = Release|x86 {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x86.ActiveCfg = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.Build.0 = Release|x86 {CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x86.Build.0 = Release|Any CPU
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE
@@ -222,9 +236,10 @@ Global
{14E8C9A5-013E-49BA-B435-EFEFC77DD623} = {C423C39A-44E7-4F09-B2F7-7943975FF948} {14E8C9A5-013E-49BA-B435-EFEFC77DD623} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
{EB77976F-4DE4-46A5-8B25-D07226204C32} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A} {EB77976F-4DE4-46A5-8B25-D07226204C32} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
{9365803B-933D-4237-93C7-B502C855A71C} = {C423C39A-44E7-4F09-B2F7-7943975FF948} {9365803B-933D-4237-93C7-B502C855A71C} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
{A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB} {A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
{B2C3D4E5-0000-0000-0000-000000000000} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB} {B2C3D4E5-0000-0000-0000-000000000000} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB} {CCFA2CE7-A539-4ADC-B803-F759284C3463} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
EndGlobalSection EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9} SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9}

2
Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj
View File

@@ -17,7 +17,7 @@
<DebugSymbols>true</DebugSymbols> <DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType> <DebugType>full</DebugType>
<Optimize>false</Optimize> <Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath> <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants> <DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>

216
Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs
View File

@@ -111,6 +111,7 @@ namespace AGVMapEditor.Forms
// 이벤트 연결 // 이벤트 연결
_mapCanvas.NodeAdded += OnNodeAdded; _mapCanvas.NodeAdded += OnNodeAdded;
_mapCanvas.NodeSelected += OnNodeSelected; _mapCanvas.NodeSelected += OnNodeSelected;
_mapCanvas.NodesSelected += OnNodesSelected; // 다중 선택 이벤트
_mapCanvas.NodeMoved += OnNodeMoved; _mapCanvas.NodeMoved += OnNodeMoved;
_mapCanvas.NodeDeleted += OnNodeDeleted; _mapCanvas.NodeDeleted += OnNodeDeleted;
_mapCanvas.ConnectionDeleted += OnConnectionDeleted; _mapCanvas.ConnectionDeleted += OnConnectionDeleted;
@@ -184,9 +185,47 @@ namespace AGVMapEditor.Forms
private void OnNodeSelected(object sender, MapNode node) private void OnNodeSelected(object sender, MapNode node)
{ {
_selectedNode = node; _selectedNode = node;
if (node == null)
{
// 빈 공간 클릭 시 캔버스 속성 표시
ShowCanvasProperties();
}
else
{
// 노드 클릭 시 노드 속성 표시
UpdateNodeProperties(); UpdateNodeProperties();
UpdateImageEditButton(); // 이미지 노드 선택 시 이미지 편집 버튼 활성화 UpdateImageEditButton(); // 이미지 노드 선택 시 이미지 편집 버튼 활성화
} }
}
private void OnNodesSelected(object sender, List<MapNode> nodes)
{
// 다중 선택 시 처리
if (nodes == null || nodes.Count == 0)
{
ShowCanvasProperties();
return;
}
if (nodes.Count == 1)
{
// 단일 선택은 기존 방식 사용
_selectedNode = nodes[0];
UpdateNodeProperties();
UpdateImageEditButton();
}
else
{
// 다중 선택: 상태바에 선택 개수 표시
toolStripStatusLabel1.Text = $"{nodes.Count}개 노드 선택됨 - PropertyGrid에서 공통 속성 일괄 변경 가능";
// 다중 선택 PropertyWrapper 표시
var multiWrapper = new MultiNodePropertyWrapper(nodes);
_propertyGrid.SelectedObject = multiWrapper;
_propertyGrid.Focus();
}
}
private void OnNodeMoved(object sender, MapNode node) private void OnNodeMoved(object sender, MapNode node)
{ {
@@ -589,6 +628,13 @@ namespace AGVMapEditor.Forms
_mapCanvas.Nodes = _mapNodes; _mapCanvas.Nodes = _mapNodes;
// RfidMappings 제거됨 - MapNode에 통합 // RfidMappings 제거됨 - MapNode에 통합
// 🔥 맵 설정 적용 (배경색, 그리드 표시)
if (result.Settings != null)
{
_mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
_mapCanvas.ShowGrid = result.Settings.ShowGrid;
}
// 현재 파일 경로 업데이트 // 현재 파일 경로 업데이트
_currentMapFile = filePath; _currentMapFile = filePath;
_hasChanges = false; _hasChanges = false;
@@ -614,7 +660,38 @@ namespace AGVMapEditor.Forms
private void SaveMapToFile(string filePath) private void SaveMapToFile(string filePath)
{ {
if (MapLoader.SaveMapToFile(filePath, _mapNodes)) // 🔥 백업 파일 생성 (기존 파일이 있을 경우)
if (File.Exists(filePath))
{
try
{
// 날짜시간 포함 백업 파일명 생성
var directory = Path.GetDirectoryName(filePath);
var fileNameWithoutExt = Path.GetFileNameWithoutExtension(filePath);
var extension = Path.GetExtension(filePath);
var timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
var backupFileName = $"{fileNameWithoutExt}_{timestamp}{extension}.bak";
var backupFilePath = Path.Combine(directory, backupFileName);
// 기존 파일을 백업 파일로 복사
File.Copy(filePath, backupFilePath, true);
}
catch (Exception ex)
{
// 백업 파일 생성 실패 시 경고만 표시하고 계속 진행
MessageBox.Show($"백업 파일 생성 실패: {ex.Message}\n원본 파일은 계속 저장됩니다.", "백업 경고",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
// 🔥 현재 캔버스 설정을 맵 파일에 저장
var settings = new MapLoader.MapSettings
{
BackgroundColorArgb = _mapCanvas.BackColor.ToArgb(),
ShowGrid = _mapCanvas.ShowGrid
};
if (MapLoader.SaveMapToFile(filePath, _mapNodes, settings))
{ {
// 현재 파일 경로 업데이트 // 현재 파일 경로 업데이트
_currentMapFile = filePath; _currentMapFile = filePath;
@@ -892,7 +969,7 @@ namespace AGVMapEditor.Forms
{ {
if (_selectedNode == null) if (_selectedNode == null)
{ {
ClearNodeProperties(); ShowCanvasProperties();
return; return;
} }
@@ -905,6 +982,16 @@ namespace AGVMapEditor.Forms
UpdateImageEditButton(); UpdateImageEditButton();
} }
/// <summary>
/// 캔버스 속성 표시 (배경색 등)
/// </summary>
private void ShowCanvasProperties()
{
var canvasWrapper = new CanvasPropertyWrapper(_mapCanvas);
_propertyGrid.SelectedObject = canvasWrapper;
DisableImageEditButton();
}
private void ClearNodeProperties() private void ClearNodeProperties()
{ {
_propertyGrid.SelectedObject = null; _propertyGrid.SelectedObject = null;
@@ -1010,6 +1097,9 @@ namespace AGVMapEditor.Forms
private void PropertyGrid_PropertyValueChanged(object s, PropertyValueChangedEventArgs e) private void PropertyGrid_PropertyValueChanged(object s, PropertyValueChangedEventArgs e)
{ {
// 변경된 속성명 디버그 출력
System.Diagnostics.Debug.WriteLine($"[PropertyGrid] 속성 변경됨: {e.ChangedItem.PropertyDescriptor.Name}");
// RFID 값 변경시 중복 검사 // RFID 값 변경시 중복 검사
if (e.ChangedItem.PropertyDescriptor.Name == "RFID") if (e.ChangedItem.PropertyDescriptor.Name == "RFID")
{ {
@@ -1031,14 +1121,39 @@ namespace AGVMapEditor.Forms
_hasChanges = true; _hasChanges = true;
UpdateTitle(); UpdateTitle();
// 현재 선택된 노드를 기억 // 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
bool isMultiSelect = _propertyGrid.SelectedObject is MultiNodePropertyWrapper;
List<MapNode> selectedNodes = null;
if (isMultiSelect)
{
// 캔버스에서 현재 선택된 노드들 가져오기
selectedNodes = new List<MapNode>(_mapCanvas.SelectedNodes);
System.Diagnostics.Debug.WriteLine($"[PropertyGrid] 다중 선택 노드 수: {selectedNodes.Count}");
}
// 현재 선택된 노드를 기억 (단일 선택인 경우만)
var currentSelectedNode = _selectedNode; var currentSelectedNode = _selectedNode;
RefreshNodeList(); RefreshNodeList();
RefreshMapCanvas(); RefreshMapCanvas();
// 선택된 노드를 다시 선택 // 🔥 캔버스 강제 갱신 (bool 타입 속성 변경 시 특히 필요)
if (currentSelectedNode != null) _mapCanvas.Invalidate();
_mapCanvas.Update();
// 🔥 다중 선택인 경우 MultiNodePropertyWrapper를 다시 생성하여 바인딩
if (isMultiSelect && selectedNodes != null && selectedNodes.Count > 0)
{
System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
_propertyGrid.SelectedObject = multiWrapper;
}
// PropertyGrid 새로고침
_propertyGrid.Refresh();
// 🔥 단일 선택인 경우에만 노드를 다시 선택 (다중 선택은 캔버스에서 유지)
if (!isMultiSelect && currentSelectedNode != null)
{ {
var nodeIndex = _mapNodes.IndexOf(currentSelectedNode); var nodeIndex = _mapNodes.IndexOf(currentSelectedNode);
if (nodeIndex >= 0) if (nodeIndex >= 0)
@@ -1162,5 +1277,96 @@ namespace AGVMapEditor.Forms
} }
} }
#region Multi-Node Selection
private void ShowMultiNodeContextMenu(List<MapNode> nodes)
{
// 다중 선택 시 간단한 다이얼로그 표시
var result = MessageBox.Show(
$"{nodes.Count}개의 노드가 선택되었습니다.\n\n" +
"일괄 속성 변경을 하시겠습니까?\n\n" +
"예: 글자색 변경\n" +
"아니오: 배경색 변경\n" +
"취소: 닫기",
"다중 노드 속성 변경",
MessageBoxButtons.YesNoCancel,
MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
BatchChangeForeColor();
}
else if (result == DialogResult.No)
{
BatchChangeBackColor();
}
}
/// <summary>
/// 선택된 노드들의 글자색 일괄 변경
/// </summary>
public void BatchChangeForeColor()
{
var selectedNodes = _mapCanvas.SelectedNodes;
if (selectedNodes == null || selectedNodes.Count == 0)
{
MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
using (var colorDialog = new ColorDialog())
{
colorDialog.Color = selectedNodes[0].ForeColor;
if (colorDialog.ShowDialog() == DialogResult.OK)
{
foreach (var node in selectedNodes)
{
node.ForeColor = colorDialog.Color;
node.ModifiedDate = DateTime.Now;
}
_hasChanges = true;
UpdateTitle();
RefreshMapCanvas();
MessageBox.Show($"{selectedNodes.Count}개 노드의 글자색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
}
/// <summary>
/// 선택된 노드들의 배경색 일괄 변경
/// </summary>
public void BatchChangeBackColor()
{
var selectedNodes = _mapCanvas.SelectedNodes;
if (selectedNodes == null || selectedNodes.Count == 0)
{
MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
using (var colorDialog = new ColorDialog())
{
colorDialog.Color = selectedNodes[0].DisplayColor;
if (colorDialog.ShowDialog() == DialogResult.OK)
{
foreach (var node in selectedNodes)
{
node.DisplayColor = colorDialog.Color;
node.ModifiedDate = DateTime.Now;
}
_hasChanges = true;
UpdateTitle();
RefreshMapCanvas();
MessageBox.Show($"{selectedNodes.Count}개 노드의 배경색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
}
#endregion
} }
} }

281
Cs_HMI/AGVLogic/AGVMapEditor/Models/NodePropertyWrapper.cs
View File

@@ -4,6 +4,7 @@ using System.ComponentModel;
using System.Drawing; using System.Drawing;
using System.Drawing.Design; using System.Drawing.Design;
using AGVNavigationCore.Models; using AGVNavigationCore.Models;
using AGVNavigationCore.Controls;
namespace AGVMapEditor.Models namespace AGVMapEditor.Models
{ {
@@ -521,6 +522,84 @@ namespace AGVMapEditor.Models
} }
} }
[Category("표시")]
[DisplayName("노드 배경색")]
[Description("노드 배경 색상")]
public Color DisplayColor
{
get => _node.DisplayColor;
set
{
_node.DisplayColor = value;
_node.ModifiedDate = DateTime.Now;
}
}
[Category("표시")]
[DisplayName("글자 색상")]
[Description("노드 텍스트 색상 (NodeId, Name 등)")]
public Color ForeColor
{
get => _node.ForeColor;
set
{
_node.ForeColor = value;
_node.ModifiedDate = DateTime.Now;
}
}
[Category("표시")]
[DisplayName("글자 크기")]
[Description("노드 텍스트 크기 (픽셀)")]
public float TextFontSize
{
get => _node.TextFontSize;
set
{
_node.TextFontSize = Math.Max(5.0f, Math.Min(20.0f, value));
_node.ModifiedDate = DateTime.Now;
}
}
[Category("표시")]
[DisplayName("글자 굵게")]
[Description("노드 텍스트 볼드 표시")]
public bool TextFontBold
{
get => _node.TextFontBold;
set
{
_node.TextFontBold = value;
_node.ModifiedDate = DateTime.Now;
}
}
[Category("표시")]
[DisplayName("이름 말풍선 배경색")]
[Description("노드 이름 말풍선(하단 표시) 배경색")]
public Color NameBubbleBackColor
{
get => _node.NameBubbleBackColor;
set
{
_node.NameBubbleBackColor = value;
_node.ModifiedDate = DateTime.Now;
}
}
[Category("표시")]
[DisplayName("이름 말풍선 글자색")]
[Description("노드 이름 말풍선(하단 표시) 글자색")]
public Color NameBubbleForeColor
{
get => _node.NameBubbleForeColor;
set
{
_node.NameBubbleForeColor = value;
_node.ModifiedDate = DateTime.Now;
}
}
[Category("정보")] [Category("정보")]
[DisplayName("생성 일시")] [DisplayName("생성 일시")]
[Description("노드가 생성된 일시")] [Description("노드가 생성된 일시")]
@@ -540,5 +619,207 @@ namespace AGVMapEditor.Models
} }
} }
/// <summary>
/// 다중 노드 선택 시 공통 속성 편집용 래퍼
/// </summary>
public class MultiNodePropertyWrapper
{
private List<MapNode> _nodes;
public MultiNodePropertyWrapper(List<MapNode> nodes)
{
_nodes = nodes ?? new List<MapNode>();
}
[Category("다중 선택")]
[DisplayName("선택된 노드 수")]
[Description("현재 선택된 노드의 개수")]
[ReadOnly(true)]
public int SelectedCount => _nodes.Count;
[Category("표시")]
[DisplayName("노드 배경색")]
[Description("선택된 모든 노드의 배경색을 일괄 변경")]
public Color DisplayColor
{
get => _nodes.Count > 0 ? _nodes[0].DisplayColor : Color.Blue;
set
{
foreach (var node in _nodes)
{
node.DisplayColor = value;
node.ModifiedDate = DateTime.Now;
}
}
}
[Category("표시")]
[DisplayName("글자 색상")]
[Description("선택된 모든 노드의 글자 색상을 일괄 변경")]
public Color ForeColor
{
get => _nodes.Count > 0 ? _nodes[0].ForeColor : Color.Black;
set
{
foreach (var node in _nodes)
{
node.ForeColor = value;
node.ModifiedDate = DateTime.Now;
}
}
}
[Category("표시")]
[DisplayName("글자 크기")]
[Description("선택된 모든 노드의 글자 크기를 일괄 변경 (5~20 픽셀)")]
public float TextFontSize
{
get => _nodes.Count > 0 ? _nodes[0].TextFontSize : 7.0f;
set
{
var validValue = Math.Max(5.0f, Math.Min(20.0f, value));
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 시작: {validValue}, 노드 수: {_nodes.Count}");
foreach (var node in _nodes)
{
System.Diagnostics.Debug.WriteLine($" - 노드 {node.NodeId}: {node.TextFontSize} → {validValue}");
node.TextFontSize = validValue;
node.ModifiedDate = DateTime.Now;
System.Diagnostics.Debug.WriteLine($" - 변경 후: {node.TextFontSize}");
}
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 완료");
}
}
[Category("표시")]
[DisplayName("글자 굵게")]
[Description("선택된 모든 노드의 글자 굵기를 일괄 변경")]
public bool TextFontBold
{
get
{
var result = _nodes.Count > 0 ? _nodes[0].TextFontBold : true;
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold GET: {result}");
return result;
}
set
{
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 시작: {value}, 노드 수: {_nodes.Count}");
foreach (var node in _nodes)
{
System.Diagnostics.Debug.WriteLine($" - 노드 {node.NodeId}: {node.TextFontBold} → {value}");
node.TextFontBold = value;
node.ModifiedDate = DateTime.Now;
System.Diagnostics.Debug.WriteLine($" - 변경 후: {node.TextFontBold}");
}
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 완료");
}
}
[Category("표시")]
[DisplayName("이름 말풍선 배경색")]
[Description("선택된 모든 노드의 이름 말풍선(하단 표시) 배경색을 일괄 변경")]
public Color NameBubbleBackColor
{
get => _nodes.Count > 0 ? _nodes[0].NameBubbleBackColor : Color.Gold;
set
{
foreach (var node in _nodes)
{
node.NameBubbleBackColor = value;
node.ModifiedDate = DateTime.Now;
}
}
}
[Category("표시")]
[DisplayName("이름 말풍선 글자색")]
[Description("선택된 모든 노드의 이름 말풍선(하단 표시) 글자색을 일괄 변경")]
public Color NameBubbleForeColor
{
get => _nodes.Count > 0 ? _nodes[0].NameBubbleForeColor : Color.Black;
set
{
foreach (var node in _nodes)
{
node.NameBubbleForeColor = value;
node.ModifiedDate = DateTime.Now;
}
}
}
[Category("고급")]
[DisplayName("활성화")]
[Description("선택된 모든 노드의 활성화 상태를 일괄 변경")]
public bool IsActive
{
get => _nodes.Count > 0 ? _nodes[0].IsActive : true;
set
{
foreach (var node in _nodes)
{
node.IsActive = value;
node.ModifiedDate = DateTime.Now;
}
}
}
[Category("정보")]
[DisplayName("안내")]
[Description("다중 선택 시 공통 속성만 변경할 수 있습니다")]
[ReadOnly(true)]
public string HelpText => "위 속성을 변경하면 선택된 모든 노드에 일괄 적용됩니다.";
}
/// <summary>
/// 캔버스 속성 래퍼 (배경색 등 캔버스 전체 속성 편집)
/// </summary>
public class CanvasPropertyWrapper
{
private UnifiedAGVCanvas _canvas;
public CanvasPropertyWrapper(UnifiedAGVCanvas canvas)
{
_canvas = canvas;
}
[Category("배경")]
[DisplayName("배경색")]
[Description("맵 캔버스 배경색")]
public Color BackgroundColor
{
get => _canvas.BackColor;
set
{
_canvas.BackColor = value;
_canvas.Invalidate();
}
}
[Category("그리드")]
[DisplayName("그리드 표시")]
[Description("그리드 표시 여부")]
public bool ShowGrid
{
get => _canvas.ShowGrid;
set
{
_canvas.ShowGrid = value;
_canvas.Invalidate();
}
}
[Category("정보")]
[DisplayName("설명")]
[Description("맵 캔버스 전체 속성")]
[ReadOnly(true)]
public string Description
{
get => "빈 공간을 클릭하면 캔버스 전체 속성을 편집할 수 있습니다.";
}
}
} }

63
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
View File

@@ -26,6 +26,10 @@ namespace AGVNavigationCore.Controls
} }
var g = e.Graphics; var g = e.Graphics;
// 🔥 배경색 그리기 (변환 행렬 적용 전에 전체 화면을 배경색으로 채움)
g.Clear(this.BackColor);
g.SmoothingMode = SmoothingMode.AntiAlias; g.SmoothingMode = SmoothingMode.AntiAlias;
g.InterpolationMode = InterpolationMode.High; g.InterpolationMode = InterpolationMode.High;
@@ -77,6 +81,7 @@ namespace AGVNavigationCore.Controls
} }
// UI 정보 그리기 (변환 없이) // UI 정보 그리기 (변환 없이)
if (_showGrid)
DrawUIInfo(g); DrawUIInfo(g);
} }
@@ -689,8 +694,8 @@ namespace AGVNavigationCore.Controls
var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8); var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8);
g.DrawEllipse(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect); g.DrawEllipse(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect);
} }
// 선택된 노드 강조 // 선택된 노드 강조 (단일 또는 다중)
else if (node == _selectedNode) else if (node == _selectedNode || (_selectedNodes != null && _selectedNodes.Contains(node)))
{ {
g.DrawEllipse(_selectedNodePen, rect); g.DrawEllipse(_selectedNodePen, rect);
} }
@@ -938,19 +943,22 @@ namespace AGVNavigationCore.Controls
// 아래쪽에 표시할 값 (RFID 우선, 없으면 노드ID) // 아래쪽에 표시할 값 (RFID 우선, 없으면 노드ID)
if (node.HasRfid()) if (node.HasRfid())
{ {
// RFID가 있는 경우: 순수 RFID 값만 표시 (진한 색상) // RFID가 있는 경우: 순수 RFID 값만 표시 (노드 전경색 사용)
displayText = node.RfidId; displayText = node.RfidId;
textColor = Color.Black; textColor = node.ForeColor;
} }
else else
{ {
// RFID가 없는 경우: 노드 ID 표시 (연한 색상) // RFID가 없는 경우: 노드 ID 표시 (노드 전경색의 50% 투명도)
displayText = node.NodeId; displayText = node.NodeId;
textColor = Color.Gray; textColor = Color.FromArgb(128, node.ForeColor);
} }
var font = new Font("Arial", 7, FontStyle.Bold); // 🔥 노드의 폰트 설정 사용 (0 이하일 경우 기본값 7.0f 사용)
var descFont = new Font("Arial", 8, FontStyle.Bold); var fontStyle = node.TextFontBold ? FontStyle.Bold : FontStyle.Regular;
var fontSize = node.TextFontSize > 0 ? node.TextFontSize : 7.0f;
var font = new Font("Arial", fontSize, fontStyle);
var descFont = new Font("Arial", fontSize + 1, fontStyle);
// 메인 텍스트 크기 측정 // 메인 텍스트 크기 측정
var textSize = g.MeasureString(displayText, font); var textSize = g.MeasureString(displayText, font);
@@ -971,12 +979,8 @@ namespace AGVNavigationCore.Controls
// 설명 텍스트 그리기 (설명이 있는 경우에만) // 설명 텍스트 그리기 (설명이 있는 경우에만)
if (!string.IsNullOrEmpty(descriptionText)) if (!string.IsNullOrEmpty(descriptionText))
{ {
// 노드 이름 입력 여부에 따라 색상 구분 // 🔥 노드의 말풍선 글자색 사용 (NameBubbleForeColor)
// 입력된 경우: 진한 색상 (잘 보이게) Color descColor = node.NameBubbleForeColor;
// 기본값인 경우: 흐린 색상 (현재처럼)
Color descColor = string.IsNullOrEmpty(node.Name)
? Color.FromArgb(120, Color.Black) // 입력 안됨: 흐린 색상
: Color.FromArgb(200, Color.Black); // 입력됨: 진한 색상
var rectpaddingx = 4; var rectpaddingx = 4;
var rectpaddingy = 2; var rectpaddingy = 2;
@@ -985,10 +989,10 @@ namespace AGVNavigationCore.Controls
(int)descSize.Width + rectpaddingx * 2, (int)descSize.Width + rectpaddingx * 2,
(int)descSize.Height + rectpaddingy * 2); (int)descSize.Height + rectpaddingy * 2);
// 라운드 사각형 그리기 (빨간 배경) // 라운드 사각형 그리기 (노드 이름 말풍선 배경색 사용)
using (var backgroundBrush = new SolidBrush(Color.Gold)) using (var backgroundBrush = new SolidBrush(node.NameBubbleBackColor))
{ {
DrawRoundedRectangle(g, backgroundBrush, roundRect, 3); // 모서리 반지름 6px DrawRoundedRectangle(g, backgroundBrush, roundRect, 3); // 모서리 반지름 3px
} }
// 라운드 사각형 테두리 그리기 (진한 빨간색) // 라운드 사각형 테두리 그리기 (진한 빨간색)
@@ -1287,26 +1291,19 @@ namespace AGVNavigationCore.Controls
private Brush GetNodeBrush(MapNode node) private Brush GetNodeBrush(MapNode node)
{ {
// RFID가 없는 노드는 회색 계통으로 표시 // 🔥 노드의 DisplayColor를 배경색으로 사용
// RFID가 없는 노드는 DisplayColor를 50% 투명도로 표시
bool hasRfid = node.HasRfid(); bool hasRfid = node.HasRfid();
switch (node.Type) Color bgColor = node.DisplayColor;
// RFID가 없는 경우 투명도 50%
if (!hasRfid)
{ {
case NodeType.Normal: bgColor = Color.FromArgb(128, bgColor);
return hasRfid ? _normalNodeBrush : new SolidBrush(Color.LightGray);
case NodeType.Rotation:
return hasRfid ? _rotationNodeBrush : new SolidBrush(Color.DarkGray);
case NodeType.Docking:
return hasRfid ? _dockingNodeBrush : new SolidBrush(Color.Gray);
case NodeType.Charging:
return hasRfid ? _chargingNodeBrush : new SolidBrush(Color.Silver);
case NodeType.Label:
return new SolidBrush(Color.Purple);
case NodeType.Image:
return new SolidBrush(Color.Brown);
default:
return hasRfid ? _normalNodeBrush : new SolidBrush(Color.LightGray);
} }
return new SolidBrush(bgColor);
} }
private void DrawAGVs(Graphics g) private void DrawAGVs(Graphics g)

96
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs
View File

@@ -17,6 +17,54 @@ namespace AGVNavigationCore.Controls
var worldPoint = ScreenToWorld(e.Location); var worldPoint = ScreenToWorld(e.Location);
var hitNode = GetNodeAt(worldPoint); var hitNode = GetNodeAt(worldPoint);
// 🔥 어떤 모드에서든 노드/빈 공간 클릭 시 선택 이벤트 발생 (속성창 업데이트)
bool ctrlPressed = (ModifierKeys & Keys.Control) == Keys.Control;
if (hitNode != null)
{
// 노드 클릭
if (ctrlPressed && _editMode == EditMode.Select)
{
// Ctrl+클릭: 다중 선택 토글
if (_selectedNodes.Contains(hitNode))
{
_selectedNodes.Remove(hitNode);
}
else
{
_selectedNodes.Add(hitNode);
}
// 마지막 선택된 노드 업데이트 (단일 참조용)
_selectedNode = _selectedNodes.Count > 0 ? _selectedNodes[_selectedNodes.Count - 1] : null;
// 다중 선택 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
NodesSelected?.Invoke(this, _selectedNodes);
Invalidate();
}
else
{
// 일반 클릭: 단일 선택
_selectedNode = hitNode;
_selectedNodes.Clear();
_selectedNodes.Add(hitNode);
// NodesSelected 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
NodesSelected?.Invoke(this, _selectedNodes);
Invalidate();
}
}
else if (_editMode == EditMode.Select)
{
// 빈 공간 클릭 (Select 모드에서만) - 선택 해제
_selectedNode = null;
_selectedNodes.Clear();
// NodesSelected 이벤트만 발생 (OnNodesSelected에서 빈 리스트 처리)
NodesSelected?.Invoke(this, _selectedNodes);
Invalidate();
}
switch (_editMode) switch (_editMode)
{ {
case EditMode.Select: case EditMode.Select:
@@ -76,7 +124,10 @@ namespace AGVNavigationCore.Controls
default: default:
// 기본 동작: 노드 선택 이벤트 발생 // 기본 동작: 노드 선택 이벤트 발생
NodeSelected?.Invoke(this, hitNode); _selectedNode = hitNode;
_selectedNodes.Clear();
_selectedNodes.Add(hitNode);
NodesSelected?.Invoke(this, _selectedNodes);
break; break;
} }
} }
@@ -98,8 +149,11 @@ namespace AGVNavigationCore.Controls
Invalidate(); Invalidate();
} }
// 노드 선택 이벤트도 발생 (속성창 업데이트) // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
NodeSelected?.Invoke(this, node); _selectedNode = node;
_selectedNodes.Clear();
_selectedNodes.Add(node);
NodesSelected?.Invoke(this, _selectedNodes);
} }
private void HandleLabelNodeDoubleClick(MapNode node) private void HandleLabelNodeDoubleClick(MapNode node)
@@ -118,14 +172,20 @@ namespace AGVNavigationCore.Controls
Invalidate(); Invalidate();
} }
// 노드 선택 이벤트도 발생 (속성창 업데이트) // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
NodeSelected?.Invoke(this, node); _selectedNode = node;
_selectedNodes.Clear();
_selectedNodes.Add(node);
NodesSelected?.Invoke(this, _selectedNodes);
} }
private void HandleImageNodeDoubleClick(MapNode node) private void HandleImageNodeDoubleClick(MapNode node)
{ {
// 이미지 노드는 선택 이벤트만 발생 (MainForm에서 이미지 편집 버튼 활성화됨) // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
NodeSelected?.Invoke(this, node); _selectedNode = node;
_selectedNodes.Clear();
_selectedNodes.Add(node);
NodesSelected?.Invoke(this, _selectedNodes);
// 이미지 편집 이벤트 발생 (MainForm에서 처리) // 이미지 편집 이벤트 발생 (MainForm에서 처리)
ImageNodeDoubleClicked?.Invoke(this, node); ImageNodeDoubleClicked?.Invoke(this, node);
@@ -519,13 +579,8 @@ namespace AGVNavigationCore.Controls
{ {
if (hitNode != null) if (hitNode != null)
{ {
// 노드 선택 // 노드 선택은 위쪽 MouseClick에서 이미 처리됨 (NodesSelected 이벤트 발생)
if (hitNode != _selectedNode) // 여기서는 추가 처리 없음
{
_selectedNode = hitNode;
NodeSelected?.Invoke(this, hitNode);
Invalidate();
}
} }
else else
{ {
@@ -565,10 +620,11 @@ namespace AGVNavigationCore.Controls
else else
{ {
// 빈 공간 클릭 시 선택 해제 // 빈 공간 클릭 시 선택 해제
if (_selectedNode != null) if (_selectedNode != null || _selectedNodes.Count > 0)
{ {
_selectedNode = null; _selectedNode = null;
NodeSelected?.Invoke(this, null); _selectedNodes.Clear();
NodesSelected?.Invoke(this, _selectedNodes);
Invalidate(); Invalidate();
} }
} }
@@ -745,7 +801,13 @@ namespace AGVNavigationCore.Controls
if (hitNode != null) if (hitNode != null)
{ {
_contextMenu.Items.Add("노드 속성...", null, (s, e) => NodeSelected?.Invoke(this, hitNode)); _contextMenu.Items.Add("노드 속성...", null, (s, e) =>
{
_selectedNode = hitNode;
_selectedNodes.Clear();
_selectedNodes.Add(hitNode);
NodesSelected?.Invoke(this, _selectedNodes);
});
_contextMenu.Items.Add("노드 삭제", null, (s, e) => HandleDeleteClick(hitNode)); _contextMenu.Items.Add("노드 삭제", null, (s, e) => HandleDeleteClick(hitNode));
_contextMenu.Items.Add("-"); _contextMenu.Items.Add("-");
} }

15
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
View File

@@ -64,6 +64,7 @@ namespace AGVNavigationCore.Controls
// 맵 데이터 // 맵 데이터
private List<MapNode> _nodes; private List<MapNode> _nodes;
private MapNode _selectedNode; private MapNode _selectedNode;
private List<MapNode> _selectedNodes; // 다중 선택
private MapNode _hoveredNode; private MapNode _hoveredNode;
private MapNode _destinationNode; private MapNode _destinationNode;
@@ -95,6 +96,11 @@ namespace AGVNavigationCore.Controls
private Point _connectionEndPoint; private Point _connectionEndPoint;
private int _mouseMoveCounter = 0; // 디버그용: MouseMove 실행 횟수 private int _mouseMoveCounter = 0; // 디버그용: MouseMove 실행 횟수
// 영역 선택 관련
private bool _isAreaSelecting;
private Point _areaSelectStart;
private Point _areaSelectEnd;
// 그리드 및 줌 관련 // 그리드 및 줌 관련
private bool _showGrid = true; private bool _showGrid = true;
private float _zoomFactor = 1.0f; private float _zoomFactor = 1.0f;
@@ -141,6 +147,7 @@ namespace AGVNavigationCore.Controls
// 맵 편집 이벤트 // 맵 편집 이벤트
public event EventHandler<MapNode> NodeAdded; public event EventHandler<MapNode> NodeAdded;
public event EventHandler<MapNode> NodeSelected; public event EventHandler<MapNode> NodeSelected;
public event EventHandler<List<MapNode>> NodesSelected; // 다중 선택 이벤트
public event EventHandler<MapNode> NodeDeleted; public event EventHandler<MapNode> NodeDeleted;
public event EventHandler<MapNode> NodeMoved; public event EventHandler<MapNode> NodeMoved;
public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted; public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
@@ -212,10 +219,15 @@ namespace AGVNavigationCore.Controls
} }
/// <summary> /// <summary>
/// 선택된 노드 /// 선택된 노드 (단일)
/// </summary> /// </summary>
public MapNode SelectedNode => _selectedNode; public MapNode SelectedNode => _selectedNode;
/// <summary>
/// 선택된 노드들 (다중)
/// </summary>
public List<MapNode> SelectedNodes => _selectedNodes ?? new List<MapNode>();
/// <summary> /// <summary>
/// 노드 목록 /// 노드 목록
/// </summary> /// </summary>
@@ -365,6 +377,7 @@ namespace AGVNavigationCore.Controls
ControlStyles.ResizeRedraw, true); ControlStyles.ResizeRedraw, true);
_nodes = new List<MapNode>(); _nodes = new List<MapNode>();
_selectedNodes = new List<MapNode>(); // 다중 선택 리스트 초기화
_agvList = new List<IAGV>(); _agvList = new List<IAGV>();
_agvPositions = new Dictionary<string, Point>(); _agvPositions = new Dictionary<string, Point>();
_agvDirections = new Dictionary<string, AgvDirection>(); _agvDirections = new Dictionary<string, AgvDirection>();

20
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs
View File

@@ -12,6 +12,15 @@ namespace AGVNavigationCore.Models
/// </summary> /// </summary>
public static class MapLoader public static class MapLoader
{ {
/// <summary>
/// 맵 설정 정보 (배경색, 그리드 표시 등)
/// </summary>
public class MapSettings
{
public int BackgroundColorArgb { get; set; } = System.Drawing.Color.White.ToArgb();
public bool ShowGrid { get; set; } = true;
}
/// <summary> /// <summary>
/// 맵 파일 로딩 결과 /// 맵 파일 로딩 결과
/// </summary> /// </summary>
@@ -19,6 +28,7 @@ namespace AGVNavigationCore.Models
{ {
public bool Success { get; set; } public bool Success { get; set; }
public List<MapNode> Nodes { get; set; } = new List<MapNode>(); public List<MapNode> Nodes { get; set; } = new List<MapNode>();
public MapSettings Settings { get; set; } = new MapSettings();
public string ErrorMessage { get; set; } = string.Empty; public string ErrorMessage { get; set; } = string.Empty;
public string Version { get; set; } = string.Empty; public string Version { get; set; } = string.Empty;
public DateTime CreatedDate { get; set; } public DateTime CreatedDate { get; set; }
@@ -30,8 +40,9 @@ namespace AGVNavigationCore.Models
public class MapFileData public class MapFileData
{ {
public List<MapNode> Nodes { get; set; } = new List<MapNode>(); public List<MapNode> Nodes { get; set; } = new List<MapNode>();
public MapSettings Settings { get; set; } = new MapSettings();
public DateTime CreatedDate { get; set; } public DateTime CreatedDate { get; set; }
public string Version { get; set; } = "1.0"; public string Version { get; set; } = "1.1"; // 버전 업그레이드 (설정 추가)
} }
/// <summary> /// <summary>
@@ -66,6 +77,7 @@ namespace AGVNavigationCore.Models
if (mapData != null) if (mapData != null)
{ {
result.Nodes = mapData.Nodes ?? new List<MapNode>(); result.Nodes = mapData.Nodes ?? new List<MapNode>();
result.Settings = mapData.Settings ?? new MapSettings(); // 설정 로드
result.Version = mapData.Version ?? "1.0"; result.Version = mapData.Version ?? "1.0";
result.CreatedDate = mapData.CreatedDate; result.CreatedDate = mapData.CreatedDate;
@@ -111,8 +123,9 @@ namespace AGVNavigationCore.Models
/// </summary> /// </summary>
/// <param name="filePath">저장할 파일 경로</param> /// <param name="filePath">저장할 파일 경로</param>
/// <param name="nodes">맵 노드 목록</param> /// <param name="nodes">맵 노드 목록</param>
/// <param name="settings">맵 설정 (배경색, 그리드 표시 등)</param>
/// <returns>저장 성공 여부</returns> /// <returns>저장 성공 여부</returns>
public static bool SaveMapToFile(string filePath, List<MapNode> nodes) public static bool SaveMapToFile(string filePath, List<MapNode> nodes, MapSettings settings = null)
{ {
try try
{ {
@@ -122,8 +135,9 @@ namespace AGVNavigationCore.Models
var mapData = new MapFileData var mapData = new MapFileData
{ {
Nodes = nodes, Nodes = nodes,
Settings = settings ?? new MapSettings(), // 설정 저장
CreatedDate = DateTime.Now, CreatedDate = DateTime.Now,
Version = "1.0" Version = "1.1"
}; };
var json = JsonConvert.SerializeObject(mapData, Formatting.Indented); var json = JsonConvert.SerializeObject(mapData, Formatting.Indented);

33
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs
View File

@@ -124,7 +124,7 @@ namespace AGVNavigationCore.Models
public FontStyle FontStyle { get; set; } = FontStyle.Regular; public FontStyle FontStyle { get; set; } = FontStyle.Regular;
/// <summary> /// <summary>
/// 라벨 전경색 (NodeType.Label인 경우 사용) /// 텍스트 전경색 (모든 노드 타입에서 사용)
/// </summary> /// </summary>
public Color ForeColor { get; set; } = Color.Black; public Color ForeColor { get; set; } = Color.Black;
@@ -133,6 +133,33 @@ namespace AGVNavigationCore.Models
/// </summary> /// </summary>
public Color BackColor { get; set; } = Color.Transparent; public Color BackColor { get; set; } = Color.Transparent;
private float _textFontSize = 7.0f;
/// <summary>
/// 텍스트 폰트 크기 (모든 노드 타입의 텍스트 표시에 사용, 픽셀 단위)
/// 0 이하의 값이 설정되면 기본값 7.0f로 자동 설정
/// </summary>
public float TextFontSize
{
get => _textFontSize;
set => _textFontSize = value > 0 ? value : 7.0f;
}
/// <summary>
/// 텍스트 볼드체 여부 (모든 노드 타입의 텍스트 표시에 사용)
/// </summary>
public bool TextFontBold { get; set; } = true;
/// <summary>
/// 노드 이름 말풍선 배경색 (하단에 표시되는 노드 이름의 배경색)
/// </summary>
public Color NameBubbleBackColor { get; set; } = Color.Gold;
/// <summary>
/// 노드 이름 말풍선 글자색 (하단에 표시되는 노드 이름의 글자색)
/// </summary>
public Color NameBubbleForeColor { get; set; } = Color.Black;
/// <summary> /// <summary>
/// 라벨 배경 표시 여부 (NodeType.Label인 경우 사용) /// 라벨 배경 표시 여부 (NodeType.Label인 경우 사용)
/// </summary> /// </summary>
@@ -347,6 +374,10 @@ namespace AGVNavigationCore.Models
FontStyle = FontStyle, FontStyle = FontStyle,
ForeColor = ForeColor, ForeColor = ForeColor,
BackColor = BackColor, BackColor = BackColor,
TextFontSize = TextFontSize,
TextFontBold = TextFontBold,
NameBubbleBackColor = NameBubbleBackColor,
NameBubbleForeColor = NameBubbleForeColor,
ShowBackground = ShowBackground, ShowBackground = ShowBackground,
Padding = Padding, Padding = Padding,
ImagePath = ImagePath, ImagePath = ImagePath,

18
Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
View File

@@ -306,15 +306,15 @@ namespace AGVNavigationCore.Models
} }
// 5. 방향체크 // 5. 방향체크
if(CurrentDirection != TargetNode.MotorDirection) //if(CurrentDirection != TargetNode.MotorDirection)
{ //{
return new AGVCommand( // return new AGVCommand(
MotorCommand.Stop, // MotorCommand.Stop,
MagnetPosition.S, // MagnetPosition.S,
SpeedLevel.L, // SpeedLevel.L,
$"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}" // $"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}"
); // );
} //}
//this.CurrentNodeId //this.CurrentNodeId

2
Cs_HMI/AGVLogic/AGVSimulator/AGVSimulator.csproj
View File

@@ -17,7 +17,7 @@
<DebugSymbols>true</DebugSymbols> <DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType> <DebugType>full</DebugType>
<Optimize>false</Optimize> <Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath> <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants> <DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>

66
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs generated
View File

@@ -51,6 +51,8 @@ namespace AGVSimulator.Forms
this.fileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.fileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.openMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.openMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.reloadMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.reloadMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.맵저장SToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.맵다른이름으로저장ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator(); this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
this.launchMapEditorToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.launchMapEditorToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator(); this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator();
@@ -65,7 +67,6 @@ namespace AGVSimulator.Forms
this.helpToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.helpToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.aboutToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.aboutToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this._toolStrip = new System.Windows.Forms.ToolStrip(); this._toolStrip = new System.Windows.Forms.ToolStrip();
this.openMapToolStripButton = new System.Windows.Forms.ToolStripButton();
this.reloadMapToolStripButton = new System.Windows.Forms.ToolStripButton(); this.reloadMapToolStripButton = new System.Windows.Forms.ToolStripButton();
this.launchMapEditorToolStripButton = new System.Windows.Forms.ToolStripButton(); this.launchMapEditorToolStripButton = new System.Windows.Forms.ToolStripButton();
this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator(); this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
@@ -79,6 +80,7 @@ namespace AGVSimulator.Forms
this.toolStripSeparator5 = new System.Windows.Forms.ToolStripSeparator(); this.toolStripSeparator5 = new System.Windows.Forms.ToolStripSeparator();
this.toolStripButton1 = new System.Windows.Forms.ToolStripButton(); this.toolStripButton1 = new System.Windows.Forms.ToolStripButton();
this.btPredict = new System.Windows.Forms.ToolStripButton(); this.btPredict = new System.Windows.Forms.ToolStripButton();
this.btMakeMap = new System.Windows.Forms.ToolStripButton();
this._statusStrip = new System.Windows.Forms.StatusStrip(); this._statusStrip = new System.Windows.Forms.StatusStrip();
this._statusLabel = new System.Windows.Forms.ToolStripStatusLabel(); this._statusLabel = new System.Windows.Forms.ToolStripStatusLabel();
this._coordLabel = new System.Windows.Forms.ToolStripStatusLabel(); this._coordLabel = new System.Windows.Forms.ToolStripStatusLabel();
@@ -109,12 +111,12 @@ namespace AGVSimulator.Forms
this._addAgvButton = new System.Windows.Forms.Button(); this._addAgvButton = new System.Windows.Forms.Button();
this._agvListCombo = new System.Windows.Forms.ComboBox(); this._agvListCombo = new System.Windows.Forms.ComboBox();
this._canvasPanel = new System.Windows.Forms.Panel(); this._canvasPanel = new System.Windows.Forms.Panel();
this.lbPredict = new System.Windows.Forms.RichTextBox();
this._agvInfoPanel = new System.Windows.Forms.Panel(); this._agvInfoPanel = new System.Windows.Forms.Panel();
this._pathDebugLabel = new System.Windows.Forms.TextBox(); this._pathDebugLabel = new System.Windows.Forms.TextBox();
this._agvInfoTitleLabel = new System.Windows.Forms.Label(); this._agvInfoTitleLabel = new System.Windows.Forms.Label();
this._liftDirectionLabel = new System.Windows.Forms.Label(); this._liftDirectionLabel = new System.Windows.Forms.Label();
this._motorDirectionLabel = new System.Windows.Forms.Label(); this._motorDirectionLabel = new System.Windows.Forms.Label();
this.lbPredict = new System.Windows.Forms.RichTextBox();
this.timer1 = new System.Windows.Forms.Timer(this.components); this.timer1 = new System.Windows.Forms.Timer(this.components);
this._menuStrip.SuspendLayout(); this._menuStrip.SuspendLayout();
this._toolStrip.SuspendLayout(); this._toolStrip.SuspendLayout();
@@ -145,6 +147,8 @@ namespace AGVSimulator.Forms
this.fileToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] { this.fileToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.openMapToolStripMenuItem, this.openMapToolStripMenuItem,
this.reloadMapToolStripMenuItem, this.reloadMapToolStripMenuItem,
this.맵저장SToolStripMenuItem,
this.맵다른이름으로저장ToolStripMenuItem,
this.toolStripSeparator1, this.toolStripSeparator1,
this.launchMapEditorToolStripMenuItem, this.launchMapEditorToolStripMenuItem,
this.toolStripSeparator4, this.toolStripSeparator4,
@@ -169,6 +173,20 @@ namespace AGVSimulator.Forms
this.reloadMapToolStripMenuItem.Text = "맵 다시열기(&R)"; this.reloadMapToolStripMenuItem.Text = "맵 다시열기(&R)";
this.reloadMapToolStripMenuItem.Click += new System.EventHandler(this.OnReloadMap_Click); this.reloadMapToolStripMenuItem.Click += new System.EventHandler(this.OnReloadMap_Click);
// //
// 맵저장SToolStripMenuItem
//
this.맵저장SToolStripMenuItem.Name = "맵저장SToolStripMenuItem";
this.맵저장SToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
this.맵저장SToolStripMenuItem.Text = "맵 저장(&S)";
this.맵저장SToolStripMenuItem.Click += new System.EventHandler(this.맵저장SToolStripMenuItem_Click);
//
// 맵다른이름으로저장ToolStripMenuItem
//
this.맵다른이름으로저장ToolStripMenuItem.Name = "맵다른이름으로저장ToolStripMenuItem";
this.맵다른이름으로저장ToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
this.맵다른이름으로저장ToolStripMenuItem.Text = "맵 다른 이름으로 저장";
this.맵다른이름으로저장ToolStripMenuItem.Click += new System.EventHandler(this.btMapSaveAs_Click);
//
// toolStripSeparator1 // toolStripSeparator1
// //
this.toolStripSeparator1.Name = "toolStripSeparator1"; this.toolStripSeparator1.Name = "toolStripSeparator1";
@@ -272,7 +290,6 @@ namespace AGVSimulator.Forms
// _toolStrip // _toolStrip
// //
this._toolStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this._toolStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.openMapToolStripButton,
this.reloadMapToolStripButton, this.reloadMapToolStripButton,
this.launchMapEditorToolStripButton, this.launchMapEditorToolStripButton,
this.toolStripSeparator2, this.toolStripSeparator2,
@@ -285,22 +302,14 @@ namespace AGVSimulator.Forms
this.resetZoomToolStripButton, this.resetZoomToolStripButton,
this.toolStripSeparator5, this.toolStripSeparator5,
this.toolStripButton1, this.toolStripButton1,
this.btPredict}); this.btPredict,
this.btMakeMap});
this._toolStrip.Location = new System.Drawing.Point(0, 24); this._toolStrip.Location = new System.Drawing.Point(0, 24);
this._toolStrip.Name = "_toolStrip"; this._toolStrip.Name = "_toolStrip";
this._toolStrip.Size = new System.Drawing.Size(1034, 25); this._toolStrip.Size = new System.Drawing.Size(1034, 25);
this._toolStrip.TabIndex = 1; this._toolStrip.TabIndex = 1;
this._toolStrip.Text = "toolStrip"; this._toolStrip.Text = "toolStrip";
// //
// openMapToolStripButton
//
this.openMapToolStripButton.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
this.openMapToolStripButton.Name = "openMapToolStripButton";
this.openMapToolStripButton.Size = new System.Drawing.Size(51, 22);
this.openMapToolStripButton.Text = "맵 열기";
this.openMapToolStripButton.ToolTipText = "맵 파일을 엽니다";
this.openMapToolStripButton.Click += new System.EventHandler(this.OnOpenMap_Click);
//
// reloadMapToolStripButton // reloadMapToolStripButton
// //
this.reloadMapToolStripButton.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text; this.reloadMapToolStripButton.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
@@ -406,6 +415,15 @@ namespace AGVSimulator.Forms
this.btPredict.Text = "다음 행동 예측"; this.btPredict.Text = "다음 행동 예측";
this.btPredict.Click += new System.EventHandler(this.btPredict_Click); this.btPredict.Click += new System.EventHandler(this.btPredict_Click);
// //
// btMakeMap
//
this.btMakeMap.Image = ((System.Drawing.Image)(resources.GetObject("btMakeMap.Image")));
this.btMakeMap.ImageTransparentColor = System.Drawing.Color.Magenta;
this.btMakeMap.Name = "btMakeMap";
this.btMakeMap.Size = new System.Drawing.Size(63, 22);
this.btMakeMap.Text = "맵기록";
this.btMakeMap.Click += new System.EventHandler(this.btMakeMap_Click);
//
// _statusStrip // _statusStrip
// //
this._statusStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this._statusStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -701,6 +719,15 @@ namespace AGVSimulator.Forms
this._canvasPanel.Size = new System.Drawing.Size(801, 560); this._canvasPanel.Size = new System.Drawing.Size(801, 560);
this._canvasPanel.TabIndex = 4; this._canvasPanel.TabIndex = 4;
// //
// lbPredict
//
this.lbPredict.Dock = System.Windows.Forms.DockStyle.Bottom;
this.lbPredict.Location = new System.Drawing.Point(0, 513);
this.lbPredict.Name = "lbPredict";
this.lbPredict.Size = new System.Drawing.Size(801, 47);
this.lbPredict.TabIndex = 0;
this.lbPredict.Text = "";
//
// _agvInfoPanel // _agvInfoPanel
// //
this._agvInfoPanel.BackColor = System.Drawing.Color.LightBlue; this._agvInfoPanel.BackColor = System.Drawing.Color.LightBlue;
@@ -757,15 +784,6 @@ namespace AGVSimulator.Forms
this._motorDirectionLabel.TabIndex = 2; this._motorDirectionLabel.TabIndex = 2;
this._motorDirectionLabel.Text = "모터 방향: -"; this._motorDirectionLabel.Text = "모터 방향: -";
// //
// lbPredict
//
this.lbPredict.Dock = System.Windows.Forms.DockStyle.Bottom;
this.lbPredict.Location = new System.Drawing.Point(0, 513);
this.lbPredict.Name = "lbPredict";
this.lbPredict.Size = new System.Drawing.Size(801, 47);
this.lbPredict.TabIndex = 0;
this.lbPredict.Text = "";
//
// timer1 // timer1
// //
this.timer1.Interval = 500; this.timer1.Interval = 500;
@@ -825,7 +843,6 @@ namespace AGVSimulator.Forms
private System.Windows.Forms.ToolStripMenuItem helpToolStripMenuItem; private System.Windows.Forms.ToolStripMenuItem helpToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem aboutToolStripMenuItem; private System.Windows.Forms.ToolStripMenuItem aboutToolStripMenuItem;
private System.Windows.Forms.ToolStrip _toolStrip; private System.Windows.Forms.ToolStrip _toolStrip;
private System.Windows.Forms.ToolStripButton openMapToolStripButton;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator2; private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
private System.Windows.Forms.ToolStripButton startSimulationToolStripButton; private System.Windows.Forms.ToolStripButton startSimulationToolStripButton;
private System.Windows.Forms.ToolStripButton stopSimulationToolStripButton; private System.Windows.Forms.ToolStripButton stopSimulationToolStripButton;
@@ -879,5 +896,8 @@ namespace AGVSimulator.Forms
private System.Windows.Forms.ToolStripButton btPredict; private System.Windows.Forms.ToolStripButton btPredict;
private System.Windows.Forms.RichTextBox lbPredict; private System.Windows.Forms.RichTextBox lbPredict;
private System.Windows.Forms.Timer timer1; private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.ToolStripButton btMakeMap;
private System.Windows.Forms.ToolStripMenuItem 맵저장SToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 맵다른이름으로저장ToolStripMenuItem;
} }
} }

361
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
View File

@@ -35,6 +35,13 @@ namespace AGVSimulator.Forms
private string _currentMapFilePath; private string _currentMapFilePath;
private bool _isTargetCalcMode; // 타겟계산 모드 상태 private bool _isTargetCalcMode; // 타겟계산 모드 상태
// 맵 스캔 모드 관련
private bool _isMapScanMode; // 맵 스캔 모드 상태
private DateTime _lastNodeAddTime; // 마지막 노드 추가 시간
private MapNode _lastScannedNode; // 마지막으로 스캔된 노드
private int _scanNodeCounter; // 스캔 노드 카운터
private AgvDirection _lastScanDirection; // 마지막 스캔 방향
// UI Controls - Designer에서 생성됨 // UI Controls - Designer에서 생성됨
#endregion #endregion
@@ -239,6 +246,7 @@ namespace AGVSimulator.Forms
UpdateUI(); UpdateUI();
_statusLabel.Text = $"{agvId} 추가됨"; _statusLabel.Text = $"{agvId} 추가됨";
_simulatorCanvas.FitToNodes();
} }
private void OnRemoveAGV_Click(object sender, EventArgs e) private void OnRemoveAGV_Click(object sender, EventArgs e)
@@ -508,6 +516,165 @@ namespace AGVSimulator.Forms
return closestNode; return closestNode;
} }
/// <summary>
/// 방향을 기호로 변환
/// </summary>
private string GetDirectionSymbol(AgvDirection direction)
{
switch (direction)
{
case AgvDirection.Forward: return "→";
case AgvDirection.Backward: return "←";
case AgvDirection.Left: return "↺";
case AgvDirection.Right: return "↻";
default: return "-";
}
}
/// <summary>
/// 맵 스캔 모드에서 RFID로부터 노드 생성
/// </summary>
private void CreateNodeFromRfidScan(string rfidId, VirtualAGV selectedAGV)
{
try
{
// 현재 선택된 방향 확인 (최상단에서 먼저 확인)
var directionItem = _directionCombo.SelectedItem as DirectionItem;
var currentDirection = directionItem?.Direction ?? AgvDirection.Forward;
// 중복 RFID 확인
var existingNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
if (existingNode != null)
{
// 이미 존재하는 노드로 이동
Program.WriteLine($"[맵 스캔] RFID '{rfidId}'는 이미 존재합니다 (노드: {existingNode.NodeId})");
// 기존 노드로 AGV 위치 설정
_simulatorCanvas.SetAGVPosition(selectedAGV.AgvId, existingNode, currentDirection);
selectedAGV.SetPosition(existingNode, currentDirection);
_lastScannedNode = existingNode;
_lastNodeAddTime = DateTime.Now;
_lastScanDirection = currentDirection; // 방향 업데이트
_statusLabel.Text = $"기존 노드로 이동: {existingNode.NodeId} [{GetDirectionSymbol(currentDirection)}]";
_rfidTextBox.Text = "";
return;
}
// 새 노드 생성 위치 계산
int newX = 100; // 기본 시작 X 위치
int newY = 300; // 기본 시작 Y 위치
if (_lastScannedNode != null)
{
// 시간차 기반 X축 거리 계산
var timeDiff = (DateTime.Now - _lastNodeAddTime).TotalSeconds;
// 10초당 10px, 최소 50px, 최대 100px
int distanceX = Math.Max(50, Math.Min(100, (int)(timeDiff * 10)));
// 방향 전환 확인
bool directionChanged = (_lastScanDirection != currentDirection);
if (directionChanged)
{
// 방향이 바뀌면 Y축을 50px 증가시켜서 겹치지 않게 함
newY = _lastScannedNode.Position.Y + 50;
newX = _lastScannedNode.Position.X; // X는 같은 위치에서 시작
Program.WriteLine($"[맵 스캔] 방향 전환: {_lastScanDirection} → {currentDirection}, Y축 +50px");
}
else
{
// 방향이 같으면 Y축 유지
newY = _lastScannedNode.Position.Y;
// 모터 방향에 따라 X축 증가/감소
if (currentDirection == AgvDirection.Forward)
{
// 전진: X축 증가
newX = _lastScannedNode.Position.X + distanceX;
Program.WriteLine($"[맵 스캔] 전진 모드: X축 +{distanceX}px");
}
else if (currentDirection == AgvDirection.Backward)
{
// 후진: X축 감소
newX = _lastScannedNode.Position.X - distanceX;
Program.WriteLine($"[맵 스캔] 후진 모드: X축 -{distanceX}px");
}
else
{
// 그 외(회전 등): 기본적으로 전진 방향 사용
newX = _lastScannedNode.Position.X + distanceX;
Program.WriteLine($"[맵 스캔] 기타 방향({currentDirection}): X축 +{distanceX}px");
}
}
Program.WriteLine($"[맵 스캔] 시간차: {timeDiff:F1}초 → 거리: {distanceX}px");
}
// 새 노드 생성
var newNodeId = $"{_scanNodeCounter:D3}";
var newNode = new MapNode
{
NodeId = newNodeId,
RfidId = rfidId,
Position = new Point(newX, newY),
Type = NodeType.Normal,
IsActive = true,
Name = $"N{_scanNodeCounter}"
};
// 맵에 추가
if (_mapNodes == null)
_mapNodes = new List<MapNode>();
_mapNodes.Add(newNode);
// 이전 노드와 연결 생성
if (_lastScannedNode != null)
{
// 양방향 연결 (ConnectedNodes에 추가 - JSON 저장됨)
_lastScannedNode.AddConnection(newNode.NodeId);
newNode.AddConnection(_lastScannedNode.NodeId);
Program.WriteLine($"[맵 스캔] 연결 생성: {_lastScannedNode.NodeId} ↔ {newNode.NodeId}");
}
// AGV 위치 설정
_simulatorCanvas.SetAGVPosition(selectedAGV.AgvId, newNode, currentDirection);
selectedAGV.SetPosition(newNode, currentDirection);
// 캔버스 업데이트
_simulatorCanvas.Nodes = _mapNodes;
// 화면을 새 노드 위치로 이동
_simulatorCanvas.PanToNode(newNode.NodeId);
_simulatorCanvas.Invalidate();
// 상태 업데이트
_lastScannedNode = newNode;
_lastNodeAddTime = DateTime.Now;
_lastScanDirection = currentDirection; // 현재 방향 저장
_scanNodeCounter++;
// UI 업데이트
UpdateNodeComboBoxes();
_statusLabel.Text = $"노드 생성: {newNode.NodeId} (RFID: {rfidId}) [{GetDirectionSymbol(currentDirection)}] - 총 {_mapNodes.Count}개";
_rfidTextBox.Text = "";
Program.WriteLine($"[맵 스캔] 노드 생성 완료: {newNode.NodeId} (RFID: {rfidId}) at ({newX}, {newY}), 방향: {currentDirection}");
}
catch (Exception ex)
{
MessageBox.Show($"노드 생성 중 오류 발생:\n{ex.Message}", "오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
Program.WriteLine($"[맵 스캔 오류] {ex.Message}");
}
}
private void OnSetPosition_Click(object sender, EventArgs e) private void OnSetPosition_Click(object sender, EventArgs e)
{ {
SetAGVPositionByRfid(); SetAGVPositionByRfid();
@@ -562,6 +729,19 @@ namespace AGVSimulator.Forms
return; return;
} }
// 선택된 방향 확인
var selectedDirectionItem = _directionCombo.SelectedItem as DirectionItem;
var selectedDirection = selectedDirectionItem?.Direction ?? AgvDirection.Forward;
// 맵 스캔 모드일 때: 노드 자동 생성
if (_isMapScanMode)
{
CreateNodeFromRfidScan(rfidId, selectedAGV);
this._simulatorCanvas.FitToNodes();
return;
}
// RFID에 해당하는 노드 직접 찾기 // RFID에 해당하는 노드 직접 찾기
var targetNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase)); var targetNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
if (targetNode == null) if (targetNode == null)
@@ -571,9 +751,6 @@ namespace AGVSimulator.Forms
return; return;
} }
// 선택된 방향 확인
var selectedDirectionItem = _directionCombo.SelectedItem as DirectionItem;
var selectedDirection = selectedDirectionItem?.Direction ?? AgvDirection.Forward;
//이전위치와 동일한지 체크한다. //이전위치와 동일한지 체크한다.
if (selectedAGV.CurrentNodeId == targetNode.NodeId && selectedAGV.CurrentDirection == selectedDirection) if (selectedAGV.CurrentNodeId == targetNode.NodeId && selectedAGV.CurrentDirection == selectedDirection)
@@ -1625,6 +1802,184 @@ namespace AGVSimulator.Forms
var command = agv.Predict(); var command = agv.Predict();
this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}"; this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
} }
private void btMakeMap_Click(object sender, EventArgs e)
{
if (!_isMapScanMode)
{
// 스캔 모드 시작
var result = MessageBox.Show(
"맵 스캔 모드를 시작합니다.\n\n" +
"RFID를 입력하면 자동으로 맵 노드가 생성되고\n" +
"이전 노드와 연결됩니다.\n\n" +
"기존 맵 데이터를 삭제하고 시작하시겠습니까?\n\n" +
"예: 새 맵 시작\n" +
"아니오: 기존 맵에 추가",
"맵 스캔 모드",
MessageBoxButtons.YesNoCancel,
MessageBoxIcon.Question);
if (result == DialogResult.Cancel)
return;
if (result == DialogResult.Yes)
{
// 기존 맵 데이터 삭제
_mapNodes?.Clear();
_mapNodes = new List<MapNode>();
_simulatorCanvas.Nodes = _mapNodes;
_currentMapFilePath = string.Empty;
UpdateNodeComboBoxes();
_statusLabel.Text = "맵 초기화 완료 - 스캔 모드 시작";
}
// 스캔 모드 활성화
_isMapScanMode = true;
_lastNodeAddTime = DateTime.Now;
_lastScannedNode = null;
_scanNodeCounter = 1;
_lastScanDirection = AgvDirection.Forward; // 기본 방향은 전진
btMakeMap.Text = "스캔 중지";
btMakeMap.BackColor = Color.LightCoral;
_statusLabel.Text = "맵 스캔 모드: RFID를 입력하여 노드를 생성하세요";
Program.WriteLine("[맵 스캔] 스캔 모드 시작");
}
else
{
// 스캔 모드 종료
_isMapScanMode = false;
btMakeMap.Text = "맵 생성";
btMakeMap.BackColor = SystemColors.Control;
_statusLabel.Text = $"맵 스캔 완료 - {_mapNodes?.Count ?? 0}개 노드 생성됨";
Program.WriteLine($"[맵 스캔] 스캔 모드 종료 - 총 {_mapNodes?.Count ?? 0}개 노드");
// 맵 저장 권장
if (_mapNodes != null && _mapNodes.Count > 0)
{
var saveResult = MessageBox.Show(
$"맵 스캔이 완료되었습니다.\n\n" +
$"생성된 노드: {_mapNodes.Count}개\n\n" +
"맵을 저장하시겠습니까?",
"맵 저장",
MessageBoxButtons.YesNo,
MessageBoxIcon.Question);
if (saveResult == DialogResult.Yes)
{
btMapSaveAs_Click(sender, e);
}
}
}
}
/// <summary>
/// 맵 데이터를 파일에 저장 (MapLoader 공통 저장 로직 사용)
/// </summary>
private void SaveMapToFile(string filePath)
{
try
{
// MapLoader의 표준 저장 메서드 사용 (AGVMapEditor와 동일한 형식)
bool success = MapLoader.SaveMapToFile(filePath, _mapNodes);
if (success)
{
Program.WriteLine($"[맵 저장] 파일 저장 완료: {filePath} ({_mapNodes.Count}개 노드)");
}
else
{
throw new InvalidOperationException("맵 저장에 실패했습니다.");
}
}
catch (Exception ex)
{
Program.WriteLine($"[맵 저장 오류] {ex.Message}");
throw;
}
}
private void btMapSaveAs_Click(object sender, EventArgs e)
{
// 맵 데이터 확인
if (_mapNodes == null || _mapNodes.Count == 0)
{
MessageBox.Show("저장할 맵 데이터가 없습니다.", "알림",
MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
using (var saveDialog = new SaveFileDialog())
{
saveDialog.Filter = "AGV Map Files (*.agvmap)|*.agvmap|모든 파일 (*.*)|*.*";
saveDialog.Title = "맵 파일 저장";
saveDialog.DefaultExt = "agvmap";
// 현재 파일이 있으면 기본 파일명으로 설정
if (!string.IsNullOrEmpty(_currentMapFilePath))
{
saveDialog.FileName = Path.GetFileName(_currentMapFilePath);
saveDialog.InitialDirectory = Path.GetDirectoryName(_currentMapFilePath);
}
else
{
// 기본 파일명: 날짜_시간 형식
saveDialog.FileName = $"ScanMap_{DateTime.Now:yyyyMMdd_HHmmss}.agvmap";
}
if (saveDialog.ShowDialog() == DialogResult.OK)
{
try
{
SaveMapToFile(saveDialog.FileName);
_currentMapFilePath = saveDialog.FileName;
// 설정에 마지막 맵 파일 경로 저장
_config.LastMapFilePath = _currentMapFilePath;
if (_config.AutoSave)
{
_config.Save();
}
_statusLabel.Text = $"맵 저장 완료: {Path.GetFileName(_currentMapFilePath)}";
MessageBox.Show($"맵이 저장되었습니다.\n\n파일: {_currentMapFilePath}", "저장 완료",
MessageBoxButtons.OK, MessageBoxIcon.Information);
}
catch (Exception ex)
{
MessageBox.Show($"맵 저장 중 오류 발생:\n{ex.Message}", "저장 오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
}
private void 맵저장SToolStripMenuItem_Click(object sender, EventArgs e)
{
// 현재 맵 파일 경로가 있는 경우 해당 파일에 저장
if (string.IsNullOrEmpty(_currentMapFilePath))
{
// 경로가 없으면 다른 이름으로 저장 다이얼로그 표시
btMapSaveAs_Click(sender, e);
return;
}
try
{
SaveMapToFile(_currentMapFilePath);
_statusLabel.Text = $"맵 저장 완료: {Path.GetFileName(_currentMapFilePath)}";
MessageBox.Show($"맵이 저장되었습니다.\n\n파일: {_currentMapFilePath}", "저장 완료",
MessageBoxButtons.OK, MessageBoxIcon.Information);
}
catch (Exception ex)
{
MessageBox.Show($"맵 저장 중 오류 발생:\n{ex.Message}", "저장 오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
} }
/// <summary> /// <summary>

15
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.resx
View File

@@ -152,6 +152,21 @@
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC 1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="btMakeMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value> </value>
</data> </data>
<metadata name="_statusStrip.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="_statusStrip.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">

352
Cs_HMI/Data/NewMap.agvmap
View File

File diff suppressed because one or more lines are too long

4
Cs_HMI/Project/AGV4.csproj
View File

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

38
Cs_HMI/Project/CSetting.cs
View File

@@ -87,24 +87,26 @@ namespace Project
#region "Communication" #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; } 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; } public string Port_AGV { get; set; }
[Category("Commnunication Setting"), DisplayName("Xbee ID"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))] [Category("Commnunication Setting"), DisplayName("Xbee ID"), Editor(typeof(MyUITypeEditor), typeof(UITypeEditor))]
public byte XBE_ID { get; set; } 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 string Port_BAT { get; set; }
public int ChargerID { get; set; } public int ChargerID { get; set; }
[Browsable(false)]
public int Baud_AGV { get; set; } public int Baud_AGV { get; set; }
[Browsable(false)]
public int Baud_BAT { get; set; } public int Baud_BAT { get; set; }
//public int Baud_PLC { get; set; } [Browsable(false)]
public int Baud_XBE { get; set; } public int Baud_XBE { get; set; }
//public int QueryInterval_BAT { get; set; } //public int QueryInterval_BAT { get; set; }
@@ -219,6 +221,8 @@ namespace Project
#region "AGV" #region "AGV"
public bool AutoModeOffAndClearPosition { get; set; } public bool AutoModeOffAndClearPosition { get; set; }
[Browsable(false)]
public string musicfile { get; set; } public string musicfile { get; set; }
/// <summary> /// <summary>
@@ -235,8 +239,11 @@ namespace Project
//public double ChargeLimitLow { get; set; } //public double ChargeLimitLow { get; set; }
//public double ChargeLimitHigh { get; set; } //public double ChargeLimitHigh { get; set; }
[Browsable(false)]
public string AGV_PANID { get; set; } public string AGV_PANID { get; set; }
[Browsable(false)]
public string AGV_CHANNEL { get; set; } public string AGV_CHANNEL { get; set; }
[Browsable(false)]
public string AGV_ADDRESS { get; set; } public string AGV_ADDRESS { get; set; }
public int SCK { get; set; } public int SCK { get; set; }
@@ -269,31 +276,19 @@ namespace Project
public int PID_DS { get; set; } public int PID_DS { get; set; }
public double WheelSpeedCharge { 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 HomePositionValue { get; set; }
public byte HomeKitNo { get; set; } public byte HomeKitNo { get; set; }
//public Single interval_bms { get; set; }
public Single interval_xbe { get; set; } public Single interval_xbe { get; set; }
public int interval_bms { 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; } public int doorSoundTerm { get; set; }
[Browsable(false)]
public int musicvol { get; set; } public int musicvol { get; set; }
public bool Enable_Music { get; set; } public bool Enable_Music { get; set; }
#endregion #endregion
[Category("Report"), [Category("Report"), Browsable(false),
Description("상태기록시 장비 식별코드(4자리)"), Description("상태기록시 장비 식별코드(4자리)"),
DisplayName("M/C ID")] DisplayName("M/C ID")]
public string MCID { get; set; } public string MCID { get; set; }
@@ -368,10 +363,7 @@ namespace Project
if (ChargeStartLevel == 0) ChargeStartLevel = 85; if (ChargeStartLevel == 0) ChargeStartLevel = 85;
if (ChargeMaxLevel == 0) ChargeMaxLevel = 85; if (ChargeMaxLevel == 0) ChargeMaxLevel = 85;
if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30; if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30;
if (interval_bms == 0) interval_bms = 10;
if (interval_bms == 0) interval_bms = 1000;
//충전은 대기상태 5분이 경과하면 진행한다
//충전은 10분간격으로 재시도 한다 //충전은 10분간격으로 재시도 한다
if (ChargeRetryTerm == 0) ChargeRetryTerm = 600; if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;

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

@@ -99,6 +99,114 @@ public static partial class EEMStatus
queryok = true; 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 = "") public static void UpdateStatusSQL(eSMStep status, bool _extrun = false, string remark = "")
{ {
var tsrun = DateTime.Now - StatusChecktime; 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.Threading.Tasks;
using System.Data.SqlClient; using System.Data.SqlClient;
using System.Linq; using System.Linq;
using AGVNavigationCore.Models;
using AGVNavigationCore.Controls;
using System.Collections.Generic;
using System.Drawing;
namespace Project namespace Project
{ {
@@ -22,7 +26,13 @@ namespace Project
public static bool Automodeonreboot = false; public static bool Automodeonreboot = false;
public static bool AutRebootAlreay = false; public static bool AutRebootAlreay = false;
public static bool DriveSpeed = 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" #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 // 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해
// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면 // 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
// 이러한 특성 값을 변경하세요. // 이러한 특성 값을 변경하세요.
[assembly: AssemblyTitle("(OTP) 2D Reading System")] [assembly: AssemblyTitle("ENIG Shuttle Narmi")]
[assembly: AssemblyDescription("")] [assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")] [assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("Amkor K4")] [assembly: AssemblyCompany("Amkor K4")]
[assembly: AssemblyProduct("(OTP) 2D Reading System")] [assembly: AssemblyProduct("ENIG Shuttle Narmi")]
[assembly: AssemblyCopyright("Copyright ©Amkor-EET 2020")] [assembly: AssemblyCopyright("Copyright ©Amkor-EET 2020")]
[assembly: AssemblyTrademark("EET")] [assembly: AssemblyTrademark("EET")]
[assembly: AssemblyCulture("")] [assembly: AssemblyCulture("")]

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

@@ -30,259 +30,259 @@ namespace Project
} }
//목적지가 설정되었는지 체크한다. //목적지가 설정되었는지 체크한다.
if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty) //Z if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
{ // {
//최대 5초간 설정여부를 확인하고 // //최대 5초간 설정여부를 확인하고
if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5) // if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5)
{ // {
//실패시에는 READY로 전환한다. // //실패시에는 READY로 전환한다.
PUB.sm.SetNewRunStep(ERunStep.READY); // PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.Speak(Lang.목적지가없어대기상태로전환합니다); // PUB.Speak(Lang.목적지가없어대기상태로전환합니다);
} // }
return false; // return false;
} // }
var idx = 1; //var idx = 1;
var BeforePredictIdx = -1; //var BeforePredictIdx = -1;
var predict = PUB.mapctl.Manager.PredictResult; //var predict = PUB.mapctl.Manager.PredictResult;
if (PUB.sm.RunStepSeq == idx++) //if (PUB.sm.RunStepSeq == idx++)
{ //{
PUB.Speak(Lang.위치로이동합니다); // PUB.Speak(Lang.위치로이동합니다);
PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})"); // PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})");
VAR.TIME.Update(eVarTime.CheckGotoTargetSet); // VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1)); // VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1));
PUB.sm.UpdateRunStepSeq(); // PUB.sm.UpdateRunStepSeq();
return false; // return false;
} //}
else if (PUB.sm.RunStepSeq == idx++) //else if (PUB.sm.RunStepSeq == idx++)
{ //{
//멈춰야하는경우 // //멈춰야하는경우
if (predict.MoveState == AGVControl.AGVMoveState.Stop) // if (predict.MoveState == AGVControl.AGVMoveState.Stop)
{ // {
if (PUB.AGV.system1.agv_run) // if (PUB.AGV.system1.agv_run)
{ // {
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2) // if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
{ // {
PUB.Speak("AGV Stop"); // PUB.Speak("AGV Stop");
PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop); // PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
VAR.TIME.Update(eVarTime.SendGotoCommand); // VAR.TIME.Update(eVarTime.SendGotoCommand);
} // }
return false; // return false;
} // }
else // else
{ // {
//완료되었거나 턴을진행해야한다 // //완료되었거나 턴을진행해야한다
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived || // if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove || // predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint) // predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{ // {
GotoTurnStep = 0; // GotoTurnStep = 0;
GotoTurnSetTime = DateTime.Now.AddDays(-1); // GotoTurnSetTime = DateTime.Now.AddDays(-1);
PUB.sm.UpdateRunStepSeq(); // PUB.sm.UpdateRunStepSeq();
} // }
return false; // return false;
} // }
} // }
else //이동해야하는 경우 // else //이동해야하는 경우
{ // {
//속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S] // //속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction; // AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed; // AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts; // AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
//상태값이 바뀌었다면 전송을 해야한다 // //상태값이 바뀌었다면 전송을 해야한다
if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts) // if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
{ // {
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval) // if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
{ // {
arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate; // arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
if (predict.MoveDiv == AGVControl.AgvSts.Straight) 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.Left) v_bunki = arDev.Narumi.eBunki.Left;
else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right; // else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
arDev.Narumi.eMoveDir 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; // 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; // else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
arDev.Narumi.eMoveSpd 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; // 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.High) v_spd = arDev.Narumi.eMoveSpd.High;
else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low; // else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
//이동셋팅을 해준다 // //이동셋팅을 해준다
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData // PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{ // {
Bunki = v_bunki, // Bunki = v_bunki,
Direction = v_dir, // Direction = v_dir,
PBSSensor = 1, // PBSSensor = 1,
Speed = v_spd, // Speed = v_spd,
}); // });
if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop) // if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
{ // {
PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop); // PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
} // }
VAR.TIME.Update(eVarTime.SendGotoCommand); // VAR.TIME.Update(eVarTime.SendGotoCommand);
} // }
return false; // return false;
} // }
//정지상태라면 이동 명령을 전달한다 // //정지상태라면 이동 명령을 전달한다
if (PUB.AGV.system1.agv_run == false) // if (PUB.AGV.system1.agv_run == false)
{ // {
if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval) // if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
{ // {
PUB.Speak("AGV Start"); // PUB.Speak("AGV Start");
arDev.Narumi.eRunOpt 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; // 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; // else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
PUB.AGV.AGVMoveRun(v_dir); // PUB.AGV.AGVMoveRun(v_dir);
VAR.TIME.Update(eVarTime.SendGotoCommand); // VAR.TIME.Update(eVarTime.SendGotoCommand);
} // }
return false; // return false;
} // }
} // }
//예측이 업데이트되지 않으면 오류 처리해야한다 // //예측이 업데이트되지 않으면 오류 처리해야한다
if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx; // if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
else if (BeforePredictIdx != predict.Idx) //이전사용한 IDX와 다르다면 예측이 실행된 경우이다 // else if (BeforePredictIdx != predict.Idx) //이전사용한 IDX와 다르다면 예측이 실행된 경우이다
BeforePredictIdx = (int)predict.Idx; // BeforePredictIdx = (int)predict.Idx;
else // else
{ // {
//5초이상 예측값이 업데이트되지 않으면 오류 처리한다. // //5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
var tsPredict = DateTime.Now - predict.CreateTime; // var tsPredict = DateTime.Now - predict.CreateTime;
if (tsPredict.TotalSeconds > 5) // if (tsPredict.TotalSeconds > 5)
{ // {
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다); // PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다); // PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
PUB.sm.SetNewRunStep(ERunStep.READY); // PUB.sm.SetNewRunStep(ERunStep.READY);
} // }
} // }
return false; // return false;
} //}
else if (PUB.sm.RunStepSeq == idx++) //else if (PUB.sm.RunStepSeq == idx++)
{ //{
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived) // if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
{ // {
PUB.Speak(Lang.목적지이동이완료되었습니다); // PUB.Speak(Lang.목적지이동이완료되었습니다);
PUB.sm.SetNewRunStep(ERunStep.READY); // PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.sm.UpdateRunStepSeq(); // PUB.sm.UpdateRunStepSeq();
} // }
else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove || // else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint) // predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{ // {
//턴을 해야하는 경우이다 // //턴을 해야하는 경우이다
//좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다 // //좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
if (GotoTurnStep == 0) // if (GotoTurnStep == 0)
{ // {
//턴을 한적이 없으므로 턴을 먼저 진행한다 // //턴을 한적이 없으므로 턴을 먼저 진행한다
arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward; // arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward; // 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]) // if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
{ // {
//셋팅이 다르다면 3초간격으로 전송한다 // //셋팅이 다르다면 3초간격으로 전송한다
var tsTurnSet = DateTime.Now - GotoTurnSetTime; // var tsTurnSet = DateTime.Now - GotoTurnSetTime;
if (tsTurnSet.TotalSeconds > 3) // if (tsTurnSet.TotalSeconds > 3)
{ // {
PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData // PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{ // {
Bunki = arDev.Narumi.eBunki.Left, // Bunki = arDev.Narumi.eBunki.Left,
Direction = moveDir, // Direction = moveDir,
PBSSensor = 1, // PBSSensor = 1,
Speed = arDev.Narumi.eMoveSpd.Low, // Speed = arDev.Narumi.eMoveSpd.Low,
}); // });
GotoTurnSetTime = DateTime.Now; // GotoTurnSetTime = DateTime.Now;
PUB.log.Add("Turn Bunki Set"); // PUB.log.Add("Turn Bunki Set");
} // }
} // }
else // else
{ // {
PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false; // PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now; // PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다 // PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
GotoTurnStep += 1; // GotoTurnStep += 1;
} // }
} // }
} // }
else PUB.sm.UpdateRunStepSeq(); // else PUB.sm.UpdateRunStepSeq();
return false; // return false;
} //}
else if (PUB.sm.RunStepSeq == idx++) //else if (PUB.sm.RunStepSeq == idx++)
{ //{
//턴이완료되길 기다린다. // //턴이완료되길 기다린다.
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove || // if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint) // predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{ // {
//(최소5초는 기다리고 판단한다) // //(최소5초는 기다리고 판단한다)
if (stepTime.TotalSeconds < 5) return false; // if (stepTime.TotalSeconds < 5) return false;
//최대30초는 기다려준다 // //최대30초는 기다려준다
if (stepTime.TotalSeconds > 30) // if (stepTime.TotalSeconds > 30)
{ // {
var ermsg = "Turn Timeout(30sec)"; // var ermsg = "Turn Timeout(30sec)";
PUB.log.AddE(ermsg); // PUB.log.AddE(ermsg);
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg); // PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
PUB.sm.SetNewRunStep(ERunStep.READY); // PUB.sm.SetNewRunStep(ERunStep.READY);
} // }
//모션이 멈추었다면 턴이완료된것이다. // //모션이 멈추었다면 턴이완료된것이다.
if (PUB.AGV.system1.agv_stop) // if (PUB.AGV.system1.agv_stop)
{ // {
if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false) // if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
{ // {
PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다"); // PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
} // }
GotoTurnStep += 1; // GotoTurnStep += 1;
PUB.sm.UpdateRunStepSeq(); // PUB.sm.UpdateRunStepSeq();
} // }
else // else
{ // {
//아직 이동중이므로 대기한다 // //아직 이동중이므로 대기한다
} // }
} // }
else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다 // else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
return false; // return false;
} //}
else if (PUB.sm.RunStepSeq == idx++) //else if (PUB.sm.RunStepSeq == idx++)
{ //{
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove || // if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint) // predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
{ // {
if (GotoTurnStep < 2) // if (GotoTurnStep < 2)
{ // {
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패"); // PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다"); // PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
PUB.sm.SetNewRunStep(ERunStep.READY); // PUB.sm.SetNewRunStep(ERunStep.READY);
} // }
else // else
{ // {
PUB.log.AddI("Turn Complete"); // PUB.log.AddI("Turn Complete");
} // }
//방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자 // //방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove) // if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
{ // {
var rfid = PUB.mapctl.Manager.agv.CurrentRFID; // var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last(); // var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
//원래방향에서 반대로 처리한다 // //원래방향에서 반대로 처리한다
var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward; // var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir); // PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
} // }
else // else
{ // {
//이동용 RFID에서 턴명령이 들어있는경우였다 // //이동용 RFID에서 턴명령이 들어있는경우였다
PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now; // PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true; // PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
} // }
PUB.sm.UpdateRunStepSeq(); // PUB.sm.UpdateRunStepSeq();
} // }
else PUB.sm.UpdateRunStepSeq(); // else PUB.sm.UpdateRunStepSeq();
return false; // return false;
} //}
//좌턴이동명령 전송 //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.AGV_ERROR] = PUB.AGV.error.Value > 0;
VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency; VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
//모터방향 입력 ////모터방향 입력
if (PUB.AGV.data.Direction == 'B') //if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward; // PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
else //else
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward; // PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
//현재 속도 ////현재 속도
if (PUB.AGV.data.Speed == 'H') //if (PUB.AGV.data.Speed == 'H')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High; // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
else if (PUB.AGV.data.Speed == 'M') //else if (PUB.AGV.data.Speed == 'M')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle; // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
else if (PUB.AGV.data.Speed == 'L') //else if (PUB.AGV.data.Speed == 'L')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low; // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
else if (PUB.AGV.data.Speed == 'S') //else if (PUB.AGV.data.Speed == 'S')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop; // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
//이동방향 ////이동방향
if (PUB.AGV.data.Sts == 'S') //if (PUB.AGV.data.Sts == 'S')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight; // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
else if (PUB.AGV.data.Sts == 'L') //else if (PUB.AGV.data.Sts == 'L')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left; // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
else if (PUB.AGV.data.Sts == 'R') //else if (PUB.AGV.data.Sts == 'R')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right; // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run; //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.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
if (PUB.AGV.signal.mark_sensor == false) if (PUB.AGV.signal.mark_sensor == false)
{ {
@@ -184,41 +184,18 @@ namespace Project
PUB.log.AddE(logEMsg); PUB.log.AddE(logEMsg);
} }
//맵데이터에서 현재 위치를 찾는다 //virtual agv setting
if (PUB.mapctl.SetCurrentPosition(PUB.AGV.data.TagNo) == false) 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.log.AddE($"RFID:{PUB.Result.LastTAG} 의 노드를 찾을 수 없습니다");
PUB.AGV.AGVMoveStop("unknown tag no"); return;
//존재하지 않는 태그가 읽히면 관련 오류를 표시한다.
}
else
{
//위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
} }
////자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다 //모터방향 확인해서 UI와 AGV클래스에 적용한다
//if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true && var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward;
// PUB.Result.CurrentPos == PUB.Result.TargetPos && PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
// PUB.Result.TargetPos != ePosition.NONE && PUB._mapCanvas.SetAGVPosition("AGV", CurrentNode, MotDireciton);
// (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);
// }
//}
} }
break; break;
case arDev.Narumi.DataType.ACK: case arDev.Narumi.DataType.ACK:
@@ -231,12 +208,8 @@ namespace Project
} }
//이 후 상황을 예측한다 //이 후 상황을 예측한다
if (PUB.mapctl != null) var command = PUB._virtualAGV.Predict();
{ var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
var rlt = PUB.mapctl.Manager.PredictNextAction();
if (rlt.Changed)
Console.WriteLine($"[new] predict idx:{rlt.Idx}");
}
} }
catch (Exception ex) catch (Exception ex)
{ {

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

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

@@ -118,10 +118,6 @@ namespace Project
PUB.BMS.PortName = PUB.setting.Port_BAT; PUB.BMS.PortName = PUB.setting.Port_BAT;
PUB.BMS.Open(); 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.LastConn_BAT);
VAR.TIME.Update(eVarTime.LastConnTry_BAT); VAR.TIME.Update(eVarTime.LastConnTry_BAT);
} }
@@ -132,9 +128,6 @@ namespace Project
if (ts.TotalSeconds > 10) if (ts.TotalSeconds > 10)
{ {
Console.WriteLine("bms auto disconnect"); Console.WriteLine("bms auto disconnect");
PUB.BMS.BMSDataReceive -= Bms_BMSDataReceive;
PUB.BMS.Message -= Bms_Message;
PUB.BMS.ChargeDetect -= BMS_ChargeDetect;
PUB.BMS.Close(); PUB.BMS.Close();
VAR.TIME.Set(eVarTime.LastConn_BAT,DateTime.Now.AddSeconds(5)); 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); if (PUB.BMS.lastSendTime.Year == 1982) PUB.BMS.lastSendTime = DateTime.Now.AddSeconds(1);
var ts = DateTime.Now - PUB.BMS.lastSendTime; var ts = DateTime.Now - PUB.BMS.lastSendTime;
if (ts.TotalMilliseconds >= PUB.setting.interval_bms) if (ts.TotalSeconds >= PUB.setting.interval_bms)
{ {
PUB.BMS.SendQuery(); 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.CurA = PUB.BMS.Current_Amp;
lbBat.IsOpen = PUB.BMS.IsOpen; lbBat.IsOpen = PUB.BMS.IsOpen;
if (PUB.mapctl != null)
PUB.mapctl.Invalidate();
//쓰레드로인해서 메인에서 진행하게한다. SPS는 메인쓰레드에서 진행 됨 //쓰레드로인해서 메인에서 진행하게한다. SPS는 메인쓰레드에서 진행 됨
//팝을 제거 혹은 표시하는 기능 //팝을 제거 혹은 표시하는 기능
if (PUB.popup.needShow) PUB.popup.showMessage(); 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 (ushort.TryParse(targstr, out ushort tagno))
{ {
if (PUB.mapctl.SetCurrentPosition(tagno) == true) //if (PUB.mapctl.SetCurrentPosition(tagno) == true)
{ //{
PUB.log.AddI($"Set Position:{tagno}"); // PUB.log.AddI($"Set Position:{tagno}");
} //}
else PUB.log.AddE($"Position Set Error:{tagno}"); //else PUB.log.AddE($"Position Set Error:{tagno}");
} }
else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}"); else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}");
} }
@@ -79,11 +79,11 @@ namespace Project
case ENIGProtocol.AGVCommandHE.Goto: //move to tag case ENIGProtocol.AGVCommandHE.Goto: //move to tag
if (uint.TryParse(dataStr, out uint tagno2)) if (uint.TryParse(dataStr, out uint tagno2))
{ {
var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(; //var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(;
if (PUB.mapctl.SetTargetPosition(tagno2)) //if (PUB.mapctl.SetTargetPosition(tagno2))
PUB.log.AddI($"New Target {tagno2}"); // PUB.log.AddI($"New Target {tagno2}");
else //else
PUB.log.AddE($"Path Error {tagno2}"); // PUB.log.AddE($"Path Error {tagno2}");
} }
else PUB.log.AddE($"Path Param Error :{dataStr}"); else PUB.log.AddE($"Path Param Error :{dataStr}");
break; break;

136
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -10,6 +10,7 @@ using System.Windows.Forms;
using Project.StateMachine; using Project.StateMachine;
using COMM; using COMM;
using AR; using AR;
using AGVNavigationCore.Models;
namespace Project.ViewForm namespace Project.ViewForm
{ {
@@ -26,13 +27,46 @@ namespace Project.ViewForm
this.ctlAuto1.Scean = CtlAuto.eScean.Progress; this.ctlAuto1.Scean = CtlAuto.eScean.Progress;
else else
this.ctlAuto1.Scean = CtlAuto.eScean.Normal; this.ctlAuto1.Scean = CtlAuto.eScean.Normal;
PUB.mapctl = new AGVControl.MapControl();
PUB.mapctl.Dock = DockStyle.Fill; InitializeMapCanvas();
PUB.mapctl.Visible = true;
PUB.mapctl.Font = this.panel1.Font; //PUB.mapctl = new AGVControl.MapControl();
PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32); //PUB.mapctl.Dock = DockStyle.Fill;
this.panel1.Controls.Add(PUB.mapctl); //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) private void fAuto_Load(object sender, EventArgs e)
{ {
ctlAuto1.dev_agv = PUB.AGV; ctlAuto1.dev_agv = PUB.AGV;
@@ -47,25 +81,89 @@ namespace Project.ViewForm
var path = new System.IO.DirectoryInfo("route"); var path = new System.IO.DirectoryInfo("route");
if (path.Exists == false) path.Create(); if (path.Exists == false) path.Create();
var files = path.GetFiles("*.route"); 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"); var result = MapLoader.LoadMapFromFile(filePath.FullName);
if (result.Success)
{
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;
} }
else if (files.Count() == 1)
// 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
if (PUB._virtualAGV == null && PUB._mapNodes.Count > 0)
{ {
fn = files.First().FullName; var startNode = PUB._mapNodes.FirstOrDefault(n => n.IsNavigationNode());
} if (startNode != null)
if(fn.isEmpty()==false)
{ {
var fi = new System.IO.FileInfo(AR.UTIL.CurrentPath + "\\sample.route"); PUB._virtualAGV = new VirtualAGV("AGV-01", startNode.Position, AgvDirection.Forward);
if (fi.Exists) PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
{
PUB.log.Add($"autoload : {fi.FullName}"); // 캔버스에 AGV 리스트 설정
var rlt = PUB.mapctl.LoadFromFile(fi.FullName,out string errmsg); var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
if (rlt == false) AR.UTIL.MsgE(errmsg); PUB._mapCanvas.AGVList = agvList;
PUB.log.Add($"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(); this.timer1.Start();
} }

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.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
this.btAutoRun.GradientRepeatBG = false; this.btAutoRun.GradientRepeatBG = false;
this.btAutoRun.isButton = true; 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.Margin = new System.Windows.Forms.Padding(0);
this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty; this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
this.btAutoRun.MouseOverColor = 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.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btAutoRun.SignColor = System.Drawing.Color.Yellow; this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); 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.TabIndex = 22;
this.btAutoRun.Text = "수동"; this.btAutoRun.Text = "수동";
this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -362,7 +362,7 @@ namespace Project
this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btChargeA.SignColor = System.Drawing.Color.Yellow; this.btChargeA.SignColor = System.Drawing.Color.Yellow;
this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); 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.TabIndex = 141;
this.btChargeA.Text = "자동충전"; this.btChargeA.Text = "자동충전";
this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -388,7 +388,7 @@ namespace Project
this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical; this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
this.lbTime.GradientRepeatBG = false; this.lbTime.GradientRepeatBG = false;
this.lbTime.isButton = 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.Margin = new System.Windows.Forms.Padding(0);
this.lbTime.MouseDownColor = System.Drawing.Color.Yellow; this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); 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.TextShadow = false;
this.lbTime.TextVisible = true; this.lbTime.TextVisible = true;
this.toolTip1.SetToolTip(this.lbTime, "현재 시간"); this.toolTip1.SetToolTip(this.lbTime, "현재 시간");
this.lbTime.Click += new System.EventHandler(this.lbTime_Click);
// //
// btDebug // btDebug
// //
@@ -978,7 +977,7 @@ namespace Project
this.panRight.Location = new System.Drawing.Point(1015, 146); this.panRight.Location = new System.Drawing.Point(1015, 146);
this.panRight.Name = "panRight"; this.panRight.Name = "panRight";
this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0); 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; this.panRight.TabIndex = 131;
// //
// tableLayoutPanel1 // 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.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; this.tableLayoutPanel1.TabIndex = 0;
// //
// btHome // btHome
@@ -1039,7 +1038,7 @@ namespace Project
this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btHome.SignColor = System.Drawing.Color.Yellow; this.btHome.SignColor = System.Drawing.Color.Yellow;
this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); 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.TabIndex = 141;
this.btHome.Text = "홈"; this.btHome.Text = "홈";
this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1064,7 +1063,7 @@ namespace Project
this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal; this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
this.btChargeM.GradientRepeatBG = false; this.btChargeM.GradientRepeatBG = false;
this.btChargeM.isButton = true; 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.Margin = new System.Windows.Forms.Padding(0);
this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow; this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
this.btChargeM.MouseOverColor = System.Drawing.Color.Lime; this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1085,7 +1084,7 @@ namespace Project
this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
this.btChargeM.SignColor = System.Drawing.Color.Yellow; this.btChargeM.SignColor = System.Drawing.Color.Yellow;
this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); 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.TabIndex = 141;
this.btChargeM.Text = "수동충전"; this.btChargeM.Text = "수동충전";
this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; 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.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom; 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.Name = "panel5";
this.panel5.Size = new System.Drawing.Size(259, 5); this.panel5.Size = new System.Drawing.Size(259, 5);
this.panel5.TabIndex = 142; this.panel5.TabIndex = 142;
@@ -1716,10 +1715,10 @@ namespace Project
// //
this.pandBottomDIO.Controls.Add(this.panel9); this.pandBottomDIO.Controls.Add(this.panel9);
this.pandBottomDIO.Dock = System.Windows.Forms.DockStyle.Bottom; 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.Margin = new System.Windows.Forms.Padding(0);
this.pandBottomDIO.Name = "pandBottomDIO"; 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; this.pandBottomDIO.TabIndex = 136;
// //
// panel9 // panel9
@@ -1730,7 +1729,7 @@ namespace Project
this.panel9.Location = new System.Drawing.Point(0, 0); this.panel9.Location = new System.Drawing.Point(0, 0);
this.panel9.Margin = new System.Windows.Forms.Padding(0); this.panel9.Margin = new System.Windows.Forms.Padding(0);
this.panel9.Name = "panel9"; 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; this.panel9.TabIndex = 0;
// //
// IOState // IOState
@@ -1797,7 +1796,7 @@ namespace Project
this.IOState.ShadowColor = System.Drawing.Color.Transparent; this.IOState.ShadowColor = System.Drawing.Color.Transparent;
this.IOState.showDebugInfo = false; this.IOState.showDebugInfo = false;
this.IOState.ShowIndexString = 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.TabIndex = 6;
this.IOState.Tags = null; this.IOState.Tags = null;
this.IOState.Text = "gridView2"; this.IOState.Text = "gridView2";
@@ -1870,7 +1869,7 @@ namespace Project
this.SSInfo.ShadowColor = System.Drawing.Color.Transparent; this.SSInfo.ShadowColor = System.Drawing.Color.Transparent;
this.SSInfo.showDebugInfo = false; this.SSInfo.showDebugInfo = false;
this.SSInfo.ShowIndexString = 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.TabIndex = 10;
this.SSInfo.Tags = null; this.SSInfo.Tags = null;
this.SSInfo.Text = "gridView3"; this.SSInfo.Text = "gridView3";
@@ -1892,7 +1891,7 @@ namespace Project
this.panDlg.Location = new System.Drawing.Point(1, 146); this.panDlg.Location = new System.Drawing.Point(1, 146);
this.panDlg.Margin = new System.Windows.Forms.Padding(0); this.panDlg.Margin = new System.Windows.Forms.Padding(0);
this.panDlg.Name = "panDlg"; 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; this.panDlg.TabIndex = 146;
// //
// arPanel2 // arPanel2

13
Cs_HMI/Project/fMain.cs
View File

@@ -64,9 +64,6 @@ namespace Project
if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized; if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
lbTime.Click += (s1,e1) => {
PUB.mapctl.ShowDesign();
};
} }
protected override void WndProc(ref Message m) protected override void WndProc(ref Message m)
@@ -216,9 +213,10 @@ namespace Project
//배터리관리시스템 //배터리관리시스템
PUB.BMS = new arDev.BMS(); PUB.BMS = new arDev.BMS();
PUB.BMS.BMSDataReceive += Bms_BMSDataReceive; PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
PUB.BMS.BMSCellDataReceive += BMS_BMSCellDataReceive;
PUB.BMS.Message += Bms_Message; PUB.BMS.Message += Bms_Message;
PUB.BMS.ChargeDetect += BMS_ChargeDetect; PUB.BMS.ChargeDetect += BMS_ChargeDetect;
PUB.BMS.ScanInterval = PUB.setting.interval_bms;//
//디버그메세지 출력용 소켓 //디버그메세지 출력용 소켓
PUB.sock_debug = new Device.Socket(); PUB.sock_debug = new Device.Socket();
@@ -243,6 +241,7 @@ namespace Project
PUB.sm.SPS += sm_SPS; PUB.sm.SPS += sm_SPS;
PUB.sm.Start(); PUB.sm.Start();
tmDisplay.Tick += tmDisplay_Tick;
tmDisplay.Start(); //start Display tmDisplay.Start(); //start Display
this.btDebug.Visible = PUB.setting.UseDebugMode; this.btDebug.Visible = PUB.setting.UseDebugMode;
@@ -263,6 +262,8 @@ namespace Project
} }
#region "Mouse Form Move" #region "Mouse Form Move"
private Boolean fMove = false; private Boolean fMove = false;
@@ -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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</value> </value>
</data> </data>
<metadata name="cmDebug.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="cmDebug.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">

28
Cs_HMI/Project/fSetup.Designer.cs generated
View File

@@ -1270,7 +1270,7 @@
this.label30.AutoSize = true; 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.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.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.Name = "label30";
this.label30.Size = new System.Drawing.Size(49, 24); this.label30.Size = new System.Drawing.Size(49, 24);
this.label30.TabIndex = 33; this.label30.TabIndex = 33;
@@ -1281,15 +1281,15 @@
this.label12.AutoSize = true; 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.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.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.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.TabIndex = 33;
this.label12.Text = "ms"; this.label12.Text = "sec";
// //
// button2 // 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.Name = "button2";
this.button2.Size = new System.Drawing.Size(89, 56); this.button2.Size = new System.Drawing.Size(89, 56);
this.button2.TabIndex = 28; this.button2.TabIndex = 28;
@@ -1309,7 +1309,7 @@
"46800", "46800",
"115200", "115200",
"250000"}); "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.Name = "tbBaudBAT";
this.tbBaudBAT.Size = new System.Drawing.Size(217, 51); this.tbBaudBAT.Size = new System.Drawing.Size(217, 51);
this.tbBaudBAT.TabIndex = 27; 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.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.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.Name = "tbportBMS";
this.tbportBMS.Size = new System.Drawing.Size(216, 56); this.tbportBMS.Size = new System.Drawing.Size(216, 56);
this.tbportBMS.TabIndex = 26; this.tbportBMS.TabIndex = 26;
@@ -1330,7 +1330,7 @@
this.label27.AutoSize = true; 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.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.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.Name = "label27";
this.label27.Size = new System.Drawing.Size(114, 24); this.label27.Size = new System.Drawing.Size(114, 24);
this.label27.TabIndex = 25; this.label27.TabIndex = 25;
@@ -1387,7 +1387,7 @@
// //
// btSelXbee // 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.Name = "btSelXbee";
this.btSelXbee.Size = new System.Drawing.Size(89, 56); this.btSelXbee.Size = new System.Drawing.Size(89, 56);
this.btSelXbee.TabIndex = 13; this.btSelXbee.TabIndex = 13;
@@ -1407,7 +1407,7 @@
"46800", "46800",
"115200", "115200",
"250000"}); "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.Name = "tbBaudXBE";
this.tbBaudXBE.Size = new System.Drawing.Size(217, 51); this.tbBaudXBE.Size = new System.Drawing.Size(217, 51);
this.tbBaudXBE.TabIndex = 8; 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.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.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.Name = "tbPortXBE";
this.tbPortXBE.Size = new System.Drawing.Size(216, 56); this.tbPortXBE.Size = new System.Drawing.Size(216, 56);
this.tbPortXBE.TabIndex = 3; this.tbPortXBE.TabIndex = 3;
@@ -1428,7 +1428,7 @@
this.label5.AutoSize = true; 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.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.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.Name = "label5";
this.label5.Size = new System.Drawing.Size(114, 24); this.label5.Size = new System.Drawing.Size(114, 24);
this.label5.TabIndex = 1; 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.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.ForeColor = System.Drawing.Color.White;
this.valIntervalBMS.ForeColorButton = System.Drawing.Color.Black; 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.MaxValue = 999999D;
this.valIntervalBMS.MinValue = 0D; this.valIntervalBMS.MinValue = 0D;
this.valIntervalBMS.Name = "valIntervalBMS"; 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.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.ForeColor = System.Drawing.Color.White;
this.valIntervalXBE.ForeColorButton = System.Drawing.Color.Black; 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.MaxValue = 100D;
this.valIntervalXBE.MinValue = 0D; this.valIntervalXBE.MinValue = 0D;
this.valIntervalXBE.Name = "valIntervalXBE"; this.valIntervalXBE.Name = "valIntervalXBE";

61
Cs_HMI/Project/fSetup.resx
View File

@@ -120,41 +120,40 @@
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" /> <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="btClose.BackgroundImage" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64"> <data name="btClose.BackgroundImage" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value> <value>
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<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">

6
Cs_HMI/StateMachine/StateMachine.csproj
View File

@@ -48,5 +48,11 @@
<Compile Include="Properties\AssemblyInfo.cs" /> <Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="StateMachine.cs" /> <Compile Include="StateMachine.cs" />
</ItemGroup> </ItemGroup>
<ItemGroup>
<ProjectReference Include="..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
<Project>{c5f7a8b2-8d3e-4a1b-9c6e-7f4d5e2a9b1c}</Project>
<Name>AGVNavigationCore</Name>
</ProjectReference>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project> </Project>

4
Cs_HMI/SubProject/AGV/Command.cs
View File

@@ -53,8 +53,8 @@ namespace arDev
else sb.Append("0S"); else sb.Append("0S");
sb.Append("00"); sb.Append("00");
sb.Append("0000"); //재기동시간 sb.Append("0000"); //재기동시간
if (opt == eStopOpt.MarkStop) //if (opt == eStopOpt.MarkStop)
VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true; // VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
//동작중이면 이 멈춤 명령을 기록으로 남긴다 230116 //동작중이면 이 멈춤 명령을 기록으로 남긴다 230116
if (this.system1.agv_run) if (this.system1.agv_run)

131
Cs_HMI/SubProject/BMS/BMS.cs
View File

@@ -11,15 +11,9 @@ namespace arDev
{ {
public class BMS : arRS232 public class BMS : arRS232
{ {
/// <summary>
/// 데이터조회간격(초)
/// </summary>
public float ScanInterval { get; set; }
public BMS() public BMS()
{ {
ScanInterval = 1000;
MinRecvLength = 34; MinRecvLength = 34;
} }
@@ -29,7 +23,6 @@ namespace arDev
public event EventHandler<BMSInformationEventArgs> BMSDataReceive; public event EventHandler<BMSInformationEventArgs> BMSDataReceive;
public event EventHandler<BMSCelvoltageEventArgs> BMSCellDataReceive; public event EventHandler<BMSCelvoltageEventArgs> BMSCellDataReceive;
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer) protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{ {
List<byte> remain = new List<byte>(); List<byte> remain = new List<byte>();
@@ -91,10 +84,7 @@ namespace arDev
} }
bool Recv0 = false; bool Recv0 = false;
int Recv0Cnt = 0;
bool Recv1 = false; bool Recv1 = false;
int Recv1Cnt = 0;
public event EventHandler<ChargetDetectArgs> ChargeDetect; public event EventHandler<ChargetDetectArgs> ChargeDetect;
public override bool ProcessRecvData(byte[] data) public override bool ProcessRecvData(byte[] data)
{ {
@@ -112,29 +102,19 @@ namespace arDev
return false; return false;
} }
if (QueryIndex == 0)
if (VerifyChecksum(data) == false)
{
RaiseMessage(MessageType.Error, "Checksum error");
return false;
}
if (data[1] == 0x03)
{ {
return ParseBMSInfo(); return ParseBMSInfo();
} }
else if (data[1] == 0x04) else
{ {
return ParseBMSCellVoltage(); return ParseBMSCellVoltage();
} }
else return false;
} }
bool ParseBMSCellVoltage() bool ParseBMSCellVoltage()
{ {
if (UseCmdLogging == true)
RaiseMessage(MessageType.Recv, ByteListToHexString(LastReceiveBuffer.ToList()));
//var i = 0; //var i = 0;
var BatteryCell_Checksum = 0xffff;// - (LastReceiveBuffer[i + 3] + LastReceiveBuffer[i + 4] + LastReceiveBuffer[i + 5] + LastReceiveBuffer[i + 6] + LastReceiveBuffer[i + 7] + LastReceiveBuffer[i + 8] + LastReceiveBuffer[i + 9] + LastReceiveBuffer[i + 10] + LastReceiveBuffer[i + 11] + LastReceiveBuffer[i + 12] + LastReceiveBuffer[i + 13] + LastReceiveBuffer[i + 14] + LastReceiveBuffer[i + 15] + LastReceiveBuffer[i + 16] + LastReceiveBuffer[i + 17] + LastReceiveBuffer[i + 18] + LastReceiveBuffer[i + 19])) + 1; var BatteryCell_Checksum = 0xffff;// - (LastReceiveBuffer[i + 3] + LastReceiveBuffer[i + 4] + LastReceiveBuffer[i + 5] + LastReceiveBuffer[i + 6] + LastReceiveBuffer[i + 7] + LastReceiveBuffer[i + 8] + LastReceiveBuffer[i + 9] + LastReceiveBuffer[i + 10] + LastReceiveBuffer[i + 11] + LastReceiveBuffer[i + 12] + LastReceiveBuffer[i + 13] + LastReceiveBuffer[i + 14] + LastReceiveBuffer[i + 15] + LastReceiveBuffer[i + 16] + LastReceiveBuffer[i + 17] + LastReceiveBuffer[i + 18] + LastReceiveBuffer[i + 19])) + 1;
for (int i = 3; i < 20; i++) for (int i = 3; i < 20; i++)
@@ -170,6 +150,7 @@ namespace arDev
try try
{ {
BMSCellDataReceive?.Invoke(this, new BMSCelvoltageEventArgs(v1, v2, v3, v4, v5, v6, v7, v8)); BMSCellDataReceive?.Invoke(this, new BMSCelvoltageEventArgs(v1, v2, v3, v4, v5, v6, v7, v8));
Current_CellTime = DateTime.Now;
return true; return true;
} }
catch (Exception ex) catch (Exception ex)
@@ -182,62 +163,8 @@ namespace arDev
} }
public static bool VerifyChecksum(byte[] dataBytes)
{
// 길이 바이트 (byte[3])
byte length = dataBytes[3];
if (dataBytes[1] == 0x03)
{
// 데이터 바이트 (byte[4] ~ byte[30])
byte[] data = dataBytes.Skip(4).Take(27).ToArray();
// 길이와 데이터의 합을 계산
ushort sum = (ushort)(length + data.Sum(b => b));
// 반전시키고 높은 위치부터 낮은 위치로 더한 후 1을 더함
ushort checksum = (ushort)((~sum + 1) & 0xFFFF);
// 받은 체크섬 (byte[31] ~ byte[32])
ushort receivedChecksum = (ushort)((dataBytes[31] << 8) | dataBytes[32]);
//252 1: 64514
// 계산된 체크섬과 받은 체크섬을 비교
return checksum == receivedChecksum;
}
else if (dataBytes[1] == 0x04)
{
// 데이터 바이트 (byte[4] ~ byte[30])
byte[] data = dataBytes.Skip(4).Take(16).ToArray();
// 길이와 데이터의 합을 계산
ushort sum = (ushort)(length + data.Sum(b => b));
// 반전시키고 높은 위치부터 낮은 위치로 더한 후 1을 더함
ushort checksum = (ushort)((~sum + 1) & 0xFFFF);
// 받은 체크섬 (byte[31] ~ byte[32])
ushort receivedChecksum = (ushort)((dataBytes[20] << 8) | dataBytes[21]);
//252 1: 64514
// 계산된 체크섬과 받은 체크섬을 비교
return checksum == receivedChecksum;
}
return false;
}
bool ParseBMSInfo() bool ParseBMSInfo()
{ {
if(UseCmdLogging == true)
RaiseMessage(MessageType.Recv, ByteListToHexString(LastReceiveBuffer.ToList()));
//전압확인 //전압확인
UInt16 batH = (UInt16)LastReceiveBuffer[4]; UInt16 batH = (UInt16)LastReceiveBuffer[4];
UInt16 batL = (UInt16)LastReceiveBuffer[5]; UInt16 batL = (UInt16)LastReceiveBuffer[5];
@@ -265,7 +192,6 @@ namespace arDev
float levraw = (float)(Current_Amp / (Current_MaxAmp * 1.0)); float levraw = (float)(Current_Amp / (Current_MaxAmp * 1.0));
Current_Level = (float)(levraw * 100.0);// (float)(map(remain, 0, total, 0, 100)); Current_Level = (float)(levraw * 100.0);// (float)(map(remain, 0, total, 0, 100));
Current_LevelA = LastReceiveBuffer[23]; //<- 23번자료는 byte이므로 소수점이잇는 데이터로 직접 계산한다 Current_LevelA = LastReceiveBuffer[23]; //<- 23번자료는 byte이므로 소수점이잇는 데이터로 직접 계산한다
Current_DataTime = DateTime.Now;
//250620 jwlee 추가 //250620 jwlee 추가
@@ -282,6 +208,7 @@ namespace arDev
try try
{ {
BMSDataReceive?.Invoke(this, new BMSInformationEventArgs(Current_Volt, Current_Amp, Current_MaxAmp, Current_Level, Changed)); BMSDataReceive?.Invoke(this, new BMSInformationEventArgs(Current_Volt, Current_Amp, Current_MaxAmp, Current_Level, Changed));
Current_DataTime = DateTime.Now;
return true; return true;
} }
catch (Exception ex) catch (Exception ex)
@@ -424,13 +351,10 @@ namespace arDev
public int Current_MaxAmp { get; set; } public int Current_MaxAmp { get; set; }
public DateTime Current_DataTime = DateTime.Parse("1982-11-23"); public DateTime Current_DataTime = DateTime.Parse("1982-11-23");
public DateTime Current_CellTime = DateTime.Parse("1982-11-23");
public int QueryIndex { get; set; } = 0; public int QueryIndex { get; set; } = 0;
public int CMDOutCnt { get; set; } = 3;
public bool UseCmdLogging { get; set; } = false;
/// <summary> /// <summary>
/// 상태읽기와 전압읽기명령을 반복합니다 /// 상태읽기와 전압읽기명령을 반복합니다
/// </summary> /// </summary>
@@ -446,21 +370,9 @@ namespace arDev
return true; return true;
} }
else else
{
if (Recv0Cnt > CMDOutCnt)
{
Recv0Cnt = 0;
RaiseMessage(MessageType.Error, "0 명령 Count Out");
QueryIndex = 1;
Recv1 = false;
return true;
}
else
{ {
return SendQuery_ReadStatue(); return SendQuery_ReadStatue();
} }
}
} }
else else
{ {
@@ -471,26 +383,14 @@ namespace arDev
return true; return true;
} }
else else
{
if (Recv1Cnt > CMDOutCnt)
{
Recv1Cnt = 0;
RaiseMessage(MessageType.Error, "1 명령 Count Out");
QueryIndex = 0;
Recv0 = false;
return true;
}
else
{ {
return SendQuery_ReadCellvoltage(); return SendQuery_ReadCellvoltage();
} }
} }
} }
}
public Boolean SendQuery_ReadStatue() public Boolean SendQuery_ReadStatue()
{ {
Recv0Cnt++;
Recv0 = false; Recv0 = false;
var cmd = new List<byte>(); var cmd = new List<byte>();
cmd.Add(0xDD); cmd.Add(0xDD);
@@ -501,16 +401,12 @@ namespace arDev
cmd.Add(0xFD); cmd.Add(0xFD);
cmd.Add(0x77); cmd.Add(0x77);
cmd.Add(0x0D); cmd.Add(0x0D);
if (UseCmdLogging == true)
RaiseMessage(MessageType.Normal, ByteListToHexString(cmd));
return WriteData(cmd.ToArray()); return WriteData(cmd.ToArray());
} }
public Boolean SendQuery_ReadCellvoltage() public Boolean SendQuery_ReadCellvoltage()
{ {
Recv1Cnt++;
Recv1 = false; Recv1 = false;
var cmd = new List<byte>(); var cmd = new List<byte>();
cmd.Add(0xDD); cmd.Add(0xDD);
@@ -521,21 +417,8 @@ namespace arDev
cmd.Add(0xFC); cmd.Add(0xFC);
cmd.Add(0x77); cmd.Add(0x77);
cmd.Add(0x0D); cmd.Add(0x0D);
if (UseCmdLogging == true)
RaiseMessage(MessageType.Normal, ByteListToHexString(cmd));
return WriteData(cmd.ToArray()); return WriteData(cmd.ToArray());
} }
public string ByteListToHexString(List<byte> byteList)
{
StringBuilder hex = new StringBuilder(byteList.Count * 2);
foreach (byte b in byteList)
{
hex.AppendFormat("{0:X2} ", b);
}
return hex.ToString();
}
} }
} }

9
Cs_HMI/SubProject/BMS/BMS.csproj
View File

@@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder> <AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>arDevice</RootNamespace> <RootNamespace>arDevice</RootNamespace>
<AssemblyName>BMS</AssemblyName> <AssemblyName>BMS</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion> <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment> <FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic> <Deterministic>true</Deterministic>
<TargetFrameworkProfile /> <TargetFrameworkProfile />
@@ -46,7 +46,12 @@
<Compile Include="BMSInformationEventArgs.cs" /> <Compile Include="BMSInformationEventArgs.cs" />
<Compile Include="BMS.cs" /> <Compile Include="BMS.cs" />
<Compile Include="Properties\AssemblyInfo.cs" /> <Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="RS232.cs" /> </ItemGroup>
<ItemGroup>
<ProjectReference Include="..\CommData\CommData.csproj">
<Project>{14e8c9a5-013e-49ba-b435-efefc77dd623}</Project>
<Name>CommData</Name>
</ProjectReference>
</ItemGroup> </ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project> </Project>

34
Cs_HMI/SubProject/BMS/RS232.cs
View File

@@ -1,10 +1,10 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.ComponentModel;
using System.Threading; using System.Threading;
using System.Threading.Tasks;
public abstract partial class arRS232 : IDisposable public abstract partial class arRS232 : IDisposable
{ {
@@ -15,7 +15,7 @@ public abstract partial class arRS232 : IDisposable
/// 최종 전송 메세지 /// 최종 전송 메세지
/// </summary> /// </summary>
public byte[] lastSendBuffer = new byte[] { }; public byte[] lastSendBuffer = new byte[] { };
//public int ValidCheckTimeMSec { get; set; } = 5000;
protected List<byte> tempBuffer = new List<byte>(); protected List<byte> tempBuffer = new List<byte>();
protected Boolean findSTX = false; protected Boolean findSTX = false;
public string errorMessage { get; set; } public string errorMessage { get; set; }
@@ -26,7 +26,10 @@ public abstract partial class arRS232 : IDisposable
/// 메세지 수신시 사용하는 내부버퍼 /// 메세지 수신시 사용하는 내부버퍼
/// </summary> /// </summary>
protected List<byte> _buffer = new List<byte>(); protected List<byte> _buffer = new List<byte>();
/// <summary>
/// 데이터조회간격(초)
/// </summary>
public float ScanInterval { get; set; }
// public byte[] LastRecvData; // public byte[] LastRecvData;
public string LastRecvString public string LastRecvString
@@ -98,7 +101,7 @@ public abstract partial class arRS232 : IDisposable
{ {
_device = new System.IO.Ports.SerialPort(); _device = new System.IO.Ports.SerialPort();
this.BaudRate = 9600; this.BaudRate = 9600;
ScanInterval = 10;
_device.DataReceived += barcode_DataReceived; _device.DataReceived += barcode_DataReceived;
_device.ErrorReceived += this.barcode_ErrorReceived; _device.ErrorReceived += this.barcode_ErrorReceived;
_device.WriteTimeout = 5000; _device.WriteTimeout = 5000;
@@ -292,11 +295,11 @@ public abstract partial class arRS232 : IDisposable
} }
catch (Exception ex) catch (Exception ex)
{ {
if (IsOpen) //if (IsOpen)
{ //{
//_device.DiscardInBuffer(); // //_device.DiscardInBuffer();
//_device.DiscardOutBuffer(); // //_device.DiscardOutBuffer();
} //}
errorMessage = ex.Message; errorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true)); this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
} }
@@ -413,7 +416,7 @@ public abstract partial class arRS232 : IDisposable
protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer); protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
/// <summary> /// <summary>
/// 데이터수신시간이 설정값보다 x 2.5를 초과하면 false 가 반환됨 /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
/// </summary> /// </summary>
public Boolean IsValid public Boolean IsValid
{ {
@@ -422,10 +425,16 @@ public abstract partial class arRS232 : IDisposable
if (IsOpen == false) return false; if (IsOpen == false) return false;
if (lastRecvTime.Year == 1982) return false; if (lastRecvTime.Year == 1982) return false;
var ts = DateTime.Now - lastRecvTime; var ts = DateTime.Now - lastRecvTime;
if (ts.TotalSeconds > 5) return false; if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
return true; return true;
} }
} }
protected string ByteListToHexString(List<byte> src)
{
return string.Join(" ", src.Select(t => t.ToString("X2")));
}
protected bool WriteData(string cmd) protected bool WriteData(string cmd)
{ {
return WriteData(System.Text.Encoding.Default.GetBytes(cmd)); return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
@@ -483,3 +492,4 @@ public abstract partial class arRS232 : IDisposable
return bRet; return bRet;
} }
} }

23
Cs_HMI/SubProject/CommData/RS232.cs
View File

@@ -16,7 +16,7 @@ namespace arDev
/// 최종 전송 메세지 /// 최종 전송 메세지
/// </summary> /// </summary>
public byte[] lastSendBuffer = new byte[] { }; public byte[] lastSendBuffer = new byte[] { };
//public int ValidCheckTimeMSec { get; set; } = 5000;
protected List<byte> tempBuffer = new List<byte>(); protected List<byte> tempBuffer = new List<byte>();
protected Boolean findSTX = false; protected Boolean findSTX = false;
public string errorMessage { get; set; } public string errorMessage { get; set; }
@@ -27,7 +27,10 @@ namespace arDev
/// 메세지 수신시 사용하는 내부버퍼 /// 메세지 수신시 사용하는 내부버퍼
/// </summary> /// </summary>
protected List<byte> _buffer = new List<byte>(); protected List<byte> _buffer = new List<byte>();
/// <summary>
/// 데이터조회간격(초)
/// </summary>
public float ScanInterval { get; set; }
// public byte[] LastRecvData; // public byte[] LastRecvData;
public string LastRecvString public string LastRecvString
@@ -99,7 +102,7 @@ namespace arDev
{ {
_device = new System.IO.Ports.SerialPort(); _device = new System.IO.Ports.SerialPort();
this.BaudRate = 9600; this.BaudRate = 9600;
ScanInterval = 10;
_device.DataReceived += barcode_DataReceived; _device.DataReceived += barcode_DataReceived;
_device.ErrorReceived += this.barcode_ErrorReceived; _device.ErrorReceived += this.barcode_ErrorReceived;
_device.WriteTimeout = 5000; _device.WriteTimeout = 5000;
@@ -293,11 +296,11 @@ namespace arDev
} }
catch (Exception ex) catch (Exception ex)
{ {
if (IsOpen) //if (IsOpen)
{ //{
//_device.DiscardInBuffer(); // //_device.DiscardInBuffer();
//_device.DiscardOutBuffer(); // //_device.DiscardOutBuffer();
} //}
errorMessage = ex.Message; errorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true)); this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
} }
@@ -414,7 +417,7 @@ namespace arDev
protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer); protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
/// <summary> /// <summary>
/// 데이터수신시간이 설정값보다 x 2.5를 초과하면 false 가 반환됨 /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
/// </summary> /// </summary>
public Boolean IsValid public Boolean IsValid
{ {
@@ -423,7 +426,7 @@ namespace arDev
if (IsOpen == false) return false; if (IsOpen == false) return false;
if (lastRecvTime.Year == 1982) return false; if (lastRecvTime.Year == 1982) return false;
var ts = DateTime.Now - lastRecvTime; var ts = DateTime.Now - lastRecvTime;
if (ts.TotalSeconds > 5) return false; if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
return true; return true;
} }
} }

2
Cs_HMI/SubProject/EnigProtocol

Submodule Cs_HMI/SubProject/EnigProtocol updated: 77a9d40662...070aa848c9

2
Cs_HMI/TestProject/Test_BMS/Form1.Designer.cs generated
View File

@@ -102,7 +102,7 @@
// //
// logTextBox1 // logTextBox1
// //
this.logTextBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24))))); this.logTextBox1.BackColor = System.Drawing.Color.WhiteSmoke;
this.logTextBox1.ColorList = new arCtl.sLogMessageColor[0]; this.logTextBox1.ColorList = new arCtl.sLogMessageColor[0];
this.logTextBox1.DateFormat = "yy-MM-dd HH:mm:ss"; this.logTextBox1.DateFormat = "yy-MM-dd HH:mm:ss";
this.logTextBox1.DefaultColor = System.Drawing.Color.LightGray; this.logTextBox1.DefaultColor = System.Drawing.Color.LightGray;

2
Cs_HMI/TestProject/Test_BMS/Test_BMS.csproj
View File

@@ -18,7 +18,7 @@
<DebugSymbols>true</DebugSymbols> <DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType> <DebugType>full</DebugType>
<Optimize>false</Optimize> <Optimize>false</Optimize>
<OutputPath>..\..\..\..\..\..\..\..\Amkor\AGV2\Test\BMS\</OutputPath> <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants> <DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>

76
Cs_HMI/TestProject/Test_Narumi/Form1.Designer.cs generated
View File

@@ -50,6 +50,9 @@
this.button14 = new System.Windows.Forms.Button(); this.button14 = new System.Windows.Forms.Button();
this.button15 = new System.Windows.Forms.Button(); this.button15 = new System.Windows.Forms.Button();
this.button16 = new System.Windows.Forms.Button(); this.button16 = new System.Windows.Forms.Button();
this.button17 = new System.Windows.Forms.Button();
this.button18 = new System.Windows.Forms.Button();
this.button19 = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.rt0 = new System.Windows.Forms.RichTextBox(); this.rt0 = new System.Windows.Forms.RichTextBox();
this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
@@ -58,9 +61,6 @@
this.rt3 = new System.Windows.Forms.RichTextBox(); this.rt3 = new System.Windows.Forms.RichTextBox();
this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
this.logTextBox2 = new arCtl.LogTextBox(); this.logTextBox2 = new arCtl.LogTextBox();
this.button17 = new System.Windows.Forms.Button();
this.button18 = new System.Windows.Forms.Button();
this.button19 = new System.Windows.Forms.Button();
this.tableLayoutPanel1.SuspendLayout(); this.tableLayoutPanel1.SuspendLayout();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
this.tableLayoutPanel2.SuspendLayout(); this.tableLayoutPanel2.SuspendLayout();
@@ -130,7 +130,7 @@
// //
// logTextBox1 // logTextBox1
// //
this.logTextBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24))))); this.logTextBox1.BackColor = System.Drawing.Color.WhiteSmoke;
this.logTextBox1.ColorList = new arCtl.sLogMessageColor[0]; this.logTextBox1.ColorList = new arCtl.sLogMessageColor[0];
this.logTextBox1.DateFormat = "ss.fff"; this.logTextBox1.DateFormat = "ss.fff";
this.logTextBox1.DefaultColor = System.Drawing.Color.LightGray; this.logTextBox1.DefaultColor = System.Drawing.Color.LightGray;
@@ -338,6 +338,39 @@
this.button16.UseVisualStyleBackColor = true; this.button16.UseVisualStyleBackColor = true;
this.button16.Click += new System.EventHandler(this.button16_Click); this.button16.Click += new System.EventHandler(this.button16_Click);
// //
// button17
//
this.button17.Dock = System.Windows.Forms.DockStyle.Fill;
this.button17.Location = new System.Drawing.Point(3, 168);
this.button17.Name = "button17";
this.button17.Size = new System.Drawing.Size(130, 51);
this.button17.TabIndex = 17;
this.button17.Text = "Speed L";
this.button17.UseVisualStyleBackColor = true;
this.button17.Click += new System.EventHandler(this.button17_Click);
//
// button18
//
this.button18.Dock = System.Windows.Forms.DockStyle.Fill;
this.button18.Location = new System.Drawing.Point(139, 168);
this.button18.Name = "button18";
this.button18.Size = new System.Drawing.Size(130, 51);
this.button18.TabIndex = 17;
this.button18.Text = "Speed M";
this.button18.UseVisualStyleBackColor = true;
this.button18.Click += new System.EventHandler(this.button18_Click);
//
// button19
//
this.button19.Dock = System.Windows.Forms.DockStyle.Fill;
this.button19.Location = new System.Drawing.Point(275, 168);
this.button19.Name = "button19";
this.button19.Size = new System.Drawing.Size(130, 51);
this.button19.TabIndex = 17;
this.button19.Text = "Speed H";
this.button19.UseVisualStyleBackColor = true;
this.button19.Click += new System.EventHandler(this.button19_Click);
//
// panel1 // panel1
// //
this.panel1.Controls.Add(this.comboBox1); this.panel1.Controls.Add(this.comboBox1);
@@ -423,7 +456,7 @@
// //
// logTextBox2 // logTextBox2
// //
this.logTextBox2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24))))); this.logTextBox2.BackColor = System.Drawing.Color.WhiteSmoke;
this.logTextBox2.ColorList = new arCtl.sLogMessageColor[0]; this.logTextBox2.ColorList = new arCtl.sLogMessageColor[0];
this.logTextBox2.DateFormat = "ss.fff"; this.logTextBox2.DateFormat = "ss.fff";
this.logTextBox2.DefaultColor = System.Drawing.Color.LightGray; this.logTextBox2.DefaultColor = System.Drawing.Color.LightGray;
@@ -441,39 +474,6 @@
this.logTextBox2.TabIndex = 4; this.logTextBox2.TabIndex = 4;
this.logTextBox2.Text = ""; this.logTextBox2.Text = "";
// //
// button17
//
this.button17.Dock = System.Windows.Forms.DockStyle.Fill;
this.button17.Location = new System.Drawing.Point(3, 168);
this.button17.Name = "button17";
this.button17.Size = new System.Drawing.Size(130, 51);
this.button17.TabIndex = 17;
this.button17.Text = "Speed L";
this.button17.UseVisualStyleBackColor = true;
this.button17.Click += new System.EventHandler(this.button17_Click);
//
// button18
//
this.button18.Dock = System.Windows.Forms.DockStyle.Fill;
this.button18.Location = new System.Drawing.Point(139, 168);
this.button18.Name = "button18";
this.button18.Size = new System.Drawing.Size(130, 51);
this.button18.TabIndex = 17;
this.button18.Text = "Speed M";
this.button18.UseVisualStyleBackColor = true;
this.button18.Click += new System.EventHandler(this.button18_Click);
//
// button19
//
this.button19.Dock = System.Windows.Forms.DockStyle.Fill;
this.button19.Location = new System.Drawing.Point(275, 168);
this.button19.Name = "button19";
this.button19.Size = new System.Drawing.Size(130, 51);
this.button19.TabIndex = 17;
this.button19.Text = "Speed H";
this.button19.UseVisualStyleBackColor = true;
this.button19.Click += new System.EventHandler(this.button19_Click);
//
// Form1 // Form1
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);

2
Cs_HMI/TestProject/Test_Narumi/Test_Narumi.csproj
View File

@@ -18,7 +18,7 @@
<DebugSymbols>true</DebugSymbols> <DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType> <DebugType>full</DebugType>
<Optimize>false</Optimize> <Optimize>false</Optimize>
<OutputPath>..\..\..\..\..\..\..\..\Amkor\AGV2\</OutputPath> <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants> <DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>

6
Cs_HMI/TestProject/Test_Port/App.config Normal file
View File

@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8" />
</startup>
</configuration>

561
Cs_HMI/TestProject/Test_Port/CSetting.cs Normal file
View File

@@ -0,0 +1,561 @@
using System;
using System.Linq;
using System.ComponentModel;
using System.Drawing.Design;
using System.Runtime.CompilerServices;
using System.Management;
using AR;
namespace Project
{
public class MyUITypeEditor : UITypeEditor
{
public override object EditValue(ITypeDescriptorContext context, IServiceProvider provider, object value)
{
using (var f = new System.Windows.Forms.Form
{
WindowState = System.Windows.Forms.FormWindowState.Normal,
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Size = new System.Drawing.Size(800, 400),
MaximizeBox = false,
MinimizeBox = false,
Text = "Select Port",
FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog
})
{
var lst = new System.Windows.Forms.ListBox
{
Font = new System.Drawing.Font("Consolas", 15, System.Drawing.FontStyle.Bold),
Dock = System.Windows.Forms.DockStyle.Fill,
};
lst.DoubleClick += (s1, e1) =>
{
if (lst.SelectedItem != null) f.DialogResult = System.Windows.Forms.DialogResult.OK;
};
using (var searcher = new ManagementObjectSearcher("SELECT * FROM WIN32_SerialPort"))
{
var portnames = System.IO.Ports.SerialPort.GetPortNames().OrderBy(t => t);
var ports = searcher.Get().Cast<ManagementBaseObject>().ToList();
foreach (var port in portnames)
{
var desc = "";
var portInfo = ports.Where(t => t["DeviceId"].ToString() == port).FirstOrDefault();
if (portInfo != null) desc = portInfo["Caption"].ToString();
lst.Items.Add(string.Format("{0} - {1}", port, desc));
}
}
f.Controls.Add(lst);
if (f.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
var name = lst.SelectedItem.ToString().Split('-');
return name[0].Trim();
}
else
{
return base.EditValue(context, provider, value);
}
}
}
public override UITypeEditorEditStyle GetEditStyle(ITypeDescriptorContext context)
{
return UITypeEditorEditStyle.Modal;
}
}
public class CSetting : AR.Setting
{
#region "log"
[Category("System Log"), DisplayName("Digital Input/Output"),
Description("입/출력 장치의 상태 변화를 기록 합니다.")]
public Boolean Log_IO { get; set; }
[Category("System Log"), DisplayName("Network Alive Check(Ping)"),
Description("서버와의 통신검사 로그를 기록 합니다")]
public Boolean Log_Ping { get; set; }
[Category("System Log"), DisplayName("S/M Step Change"),
Description("상태머신의 변화 상태를 기록 합니다.")]
public Boolean Log_StepChange { get; set; }
[Category("System Log"), DisplayName("Socket Recv Message"),
Description("서버 수신 메세지를 기록 합니다.")]
public Boolean LOg_SocketRecv { get; set; }
#endregion
#region "Communication"
[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))]
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))]
public string Port_BAT { get; set; }
public int ChargerID { get; set; }
public int Baud_AGV { get; set; }
public int Baud_BAT { get; set; }
//public int Baud_PLC { get; set; }
public int Baud_XBE { get; set; }
//public int QueryInterval_BAT { get; set; }
#endregion
#region "Debug"
[Category("Developer Setting"), DisplayName("Listening Port"),
Description("서버와의 통신을 위한 대기 포트(TCP) - 기본값 : 7979")]
public int listenPort { get; set; }
[Category("Developer Setting")]
public Boolean UseDebugMode { get; set; }
#endregion
#region "Count Reset Setting"
[Category("Count Reset Setting"), DisplayName("A/M Clear Enable"),
Description("오전 초기화 여부\n작업수량을 초기화 하려면 True 로 설정하세요")]
public Boolean datetime_Check_1 { get; set; }
[Category("Count Reset Setting"), DisplayName("P/M Clear Enable"),
Description("오후 초기화 여부\n작업수량을 초기화 하려면 True 로 설정하세요")]
public Boolean datetime_Check_2 { get; set; }
[Category("Count Reset Setting"), DisplayName("A/M Clear Time(HH:mm)"),
Description("오전 초기화 시간(시:분)\n예) 09:00")]
public string datetime_Reset_1 { get; set; }
[Category("Count Reset Setting"), DisplayName("P/M Clear Time(HH:mm)"),
Description("오후 초기화 시간(시:분)\n예) 19:00")]
public string datetime_Reset_2 { get; set; }
#endregion
#region "general"
[Category("General Setting"), DisplayName("Enable Popup Message"),
Description("오류 발생시 별도의 메세지 창으로 표시합니다. 사용하지 않을 경우에는 우측 상단의 결과창의 메세지를 확인합니다.")]
public Boolean ShowPopUpMessage { get; set; }
[Category("General Setting"), DisplayName("Asset Number"),
Description("자산번호(서버에 값 전송 시 사용됩니다)")]
public string Asset { get; set; }
[Category("General Setting"),
Description("데이터 자동 소거 기간(일) 비활성=0")]
public int AutoDeleteDay { get; set; }
[Category("General Setting"),
Description("데이터 자동 소거 조건(남은용량 %)")]
public int AutoDeleteThreshold { get; set; }
[Category("General Setting"), PasswordPropertyText(true)]
public string Password_Setup { get; set; }
[Category("General Setting"), Browsable(false)]
public string Language { get; set; }
[Category("General Setting"), DisplayName("Full Screen Window State"),
Description("화면을 전체화면으로 사용 합니다.")]
public Boolean FullScreen { get; set; }
public bool DetectManualCharge { get; set; }
public Boolean StartLog { get; set; }
#endregion
#region "TAGS"
public int TAGPOT { get; set; }
public int TAGNOT { get; set; }
public int TAG_F2_F3 { get; set; }
public int TAG_QC_F1 { get; set; }
public int TAG_F1_F2 { get; set; }
public int TAG_F3_F4 { get; set; }
public int TAG_F4_F5 { get; set; }
public int TAG_QA_QC { get; set; }
public int TAGQAB { get; set; }
public int TAGQAA { get; set; }
public int TAGQCB { get; set; }
public int TAGQCA { get; set; }
public int TAGF1A { get; set; }
public int TAGF2A { get; set; }
public int TAGF3A { get; set; }
public int TAGF4A { get; set; }
public int TAGF5A { get; set; }
public int TAGF1B { get; set; }
public int TAGF2B { get; set; }
public int TAGF3B { get; set; }
public int TAGF4B { get; set; }
public int TAGF5B { get; set; }
#endregion
#region "Charge"
public int chargerpos { get; set; }
public int ChargetWaitSec { get; set; }
public int ChargeEmergencyLevel { get; set; }
public int ChargeMaxLevel { get; set; }
public int ChargeStartLevel { get; set; }
public Boolean Enable_AutoCharge { get; set; }
public int ChargeRetryTerm { get; set; }
//public int ChargeIdleInterval { get; set; }
public int ChargeMaxTime { get; set; }
public int ChargeSearchTime { get; set; }
#endregion
#region "AGV"
public bool AutoModeOffAndClearPosition { get; set; }
public string musicfile { get; set; }
/// <summary>
/// FVI로 가능 방향이 Backward 인가?
/// Forward 방향이라면 false 를 한다
/// </summary>
public Boolean AGV_Direction_FVI_Backward { get; set; }
public Boolean Enable_Speak { get; set; }
//public Boolean Disable_BMS { get; set; }
//public Boolean Log_BMS_Tx { get; set; }
//public Boolean Log_BMS_Rx { get; set; }
//public double ChargeLimitLow { get; set; }
//public double ChargeLimitHigh { get; set; }
public string AGV_PANID { get; set; }
public string AGV_CHANNEL { get; set; }
public string AGV_ADDRESS { get; set; }
public int SCK { get; set; }
public int SSK { get; set; }
public int STT { get; set; }
public int SAD { get; set; }
public byte ZSpeed { get; set; }
public int SPD_L { get; set; }
public int SPD_M { get; set; }
public int SPD_H { get; set; }
public int SPD_DRIVE { get; set; }
public int SPD_S { get; set; }
public int SPD_R { get; set; }
public int PID_PH { get; set; }
public int PID_PM { get; set; }
public int PID_PL { get; set; }
public int PID_IH { get; set; }
public int PID_IM { get; set; }
public int PID_IL { get; set; }
public int PID_DH { get; set; }
public int PID_DM { get; set; }
public int PID_DL { get; set; }
public int PID_PS { get; set; }
public int PID_IS { get; set; }
public int PID_DS { get; set; }
public double WheelSpeedCharge { get; set; }
public byte HomePositionValue { get; set; }
public byte HomeKitNo { get; set; }
public Single interval_xbe { get; set; }
public int interval_bms { get; set; }
public int doorSoundTerm { get; set; }
public int musicvol { get; set; }
public bool Enable_Music { get; set; }
#endregion
[Category("Report"),
Description("상태기록시 장비 식별코드(4자리)"),
DisplayName("M/C ID")]
public string MCID { get; set; }
[Category("Report"),
Description("작업 기록을 장비기술(EE) Database 에 기록 합니다. 원격으로 장비 현황을 모니터링 할 수 있습니다"),
DisplayName("SAVE EE-DB")]
public Boolean Save_EEDatabase { get; set; }
[Category("Report"), Description("상태값을 전송하는 간격(초)")]
public int StatusInterval { get; set; }
[Category("AutoReboot"),
DisplayName("자동재부팅시간"),
Description("기본값 14:00:00~14:05:00 , 재부팅은 장비가 대기(IDLE)일 때에만 동작하며 지정 시간 범위를 벗어나면 동작하지 않습니다")]
public String AutoRebootTimeStart { get; set; }
[Category("AutoReboot")]
public string AUtoRebootLastTime { get; set; }
public bool SetAutoModeOn { get; set; }
public override void AfterLoad()
{
if (StatusInterval < 10) StatusInterval = 300; //5분간격
if (SAD == 0) SAD = 999;
if (TAGF1A == 0)
{
TAGNOT = 9000;
TAGQAB = 9200;
TAGQCB = 9300;
TAGF1B = 9400;
TAGF2B = 9500;
TAGF3B = 9600;
TAGF4B = 9700;
TAGF5B = 9800;
TAGQAA = 9201;
TAGQCA = 9301;
TAGF1A = 9401;
TAGF2A = 9501;
TAGF3A = 9601;
TAGF4A = 9701;
TAGF5A = 9801;
TAGPOT = 9900;
TAG_QA_QC = 9250;
TAG_QC_F1 = 9350;
TAG_F1_F2 = 9450;
TAG_F2_F3 = 9550;
TAG_F3_F4 = 9650;
TAG_F4_F5 = 9750;
}
if(TAG_F4_F5 == 0)
{
TAG_F4_F5 = 9750;
TAGF5B = 9800;
TAGF5A = 9801;
}
if (SCK == 0) SCK = 10;
if (SSK == 0) SSK = 10;
if (STT == 0) STT = 30;
if (ChargerID == 0) ChargerID = 203;
if (ChargerID < 200) ChargerID += 200;
//자동충전요건
if (ChargetWaitSec == 0) ChargetWaitSec = 3;
if (ChargeStartLevel == 0) ChargeStartLevel = 85;
if (ChargeMaxLevel == 0) ChargeMaxLevel = 85;
if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30;
if (interval_bms == 0) interval_bms = 10;
//충전은 10분간격으로 재시도 한다
if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
if (doorSoundTerm == 0) doorSoundTerm = 15; //기본 15초
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 (ZSpeed == 0) ZSpeed = 20;
if (interval_xbe == 0) interval_xbe = 5.0f;
if (HomePositionValue == 0) HomePositionValue = 4;
if (HomeKitNo == 0) HomeKitNo = 2;
if (datetime_Reset_1 == "") datetime_Reset_1 = "00:00";
if (datetime_Reset_2 == "") datetime_Reset_2 = "00:00";
if (SPD_H == 0)
{
SPD_DRIVE = 200;
SPD_H = 110;
SPD_M = 70;
SPD_L = 30;
SPD_S = 61;
SPD_R = 70;
}
if (PID_PH == 0)
{
PID_PH = 180; PID_PM = 240; PID_PL = 260;
PID_IH = 610; PID_IM = 640; PID_IL = 660;
PID_DH = 110; PID_DM = 140; PID_DL = 160;
PID_PS = 200; PID_IS = 620; PID_DS = 120;
}
if (WheelSpeedCharge == 0) WheelSpeedCharge = 10;
if (AutoDeleteThreshold == 0) AutoDeleteThreshold = 20;
if (Asset == "") Asset = "DEV_SPLIT";
if (listenPort == 0) listenPort = 7979;
if (Port_XBE == "") Port_XBE = "COM8";
if (Language.isEmpty()) Language = "Kor";
if (Password_Setup.isEmpty()) Password_Setup = "0000";
if (musicfile.isEmpty()) musicfile = UTIL.CurrentPath + "music.mp3";
if (musicvol == 0) musicvol = 50;
if (string.IsNullOrEmpty(Port_AGV)) Port_AGV = "COM1";
// if (string.IsNullOrEmpty(Port_PLC)) Port_PLC = "COM2";
if (string.IsNullOrEmpty(Port_XBE)) Port_XBE = "COM4";
if (string.IsNullOrEmpty(Port_BAT)) Port_BAT = "COM7";
if (Baud_AGV == 0) Baud_AGV = 57600;
//if (Baud_PLC == 0) Baud_PLC = 19200;
if (Baud_XBE == 0) Baud_XBE = 9600;
if (Baud_BAT == 0) Baud_BAT = 9600;
}
public override void AfterSave()
{
//throw new NotImplementedException();
}
public void CopyTo(CSetting dest)
{
//이곳의 모든 쓰기가능한 속성값을 대상에 써준다.
Type thClass = this.GetType();
foreach (var method in thClass.GetMethods())
{
//var parameters = method.GetParameters();
if (!method.Name.StartsWith("get_")) continue;
string keyname = method.Name.Substring(4);
string methodName = method.Name;
object odata = GetType().GetMethod(methodName).Invoke(this, null);
var wMethod = dest.GetType().GetMethod(Convert.ToString("set_") + keyname);
if (wMethod != null) wMethod.Invoke(dest, new object[] { odata });
}
}
}
public class CounterSetting : AR.Setting, INotifyPropertyChanged
{
public DateTime CountReset { get; set; }
public event PropertyChangedEventHandler PropertyChanged;
private void NotifyPropertyChanged([CallerMemberName] String propertyName = "")
{
PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(propertyName));
}
private int countUp1 = 0;
private int countUp2 = 0;
private int countUp3 = 0;
private int countUp4 = 0;
// private int countUp5 = 0;
private int countchgaerr = 0;
private int countchga = 0;
private int countchgm = 0;
//private int countdn = 0;
private int countqa = 0;
private int countqc = 0;
//메인카운터
public int CountUp1
{
get { return countUp1; }
set { if (value != countUp1) { countUp1 = value; NotifyPropertyChanged(); } }
}
public int CountUp2
{
get { return countUp2; }
set { if (value != countUp2) { countUp2 = value; NotifyPropertyChanged(); } }
}
public int CountUp3
{
get { return countUp3; }
set { if (value != countUp3) { countUp3 = value; NotifyPropertyChanged(); } }
}
public int CountUp4
{
get { return countUp4; }
set { if (value != countUp4) { countUp4 = value; NotifyPropertyChanged(); } }
}
//public int CountUp5
//{
// get { return countUp5; }
// set { if (value != countUp5) { countUp5 = value; NotifyPropertyChanged(); } }
//}
/// <summary>
/// 상차수량(FVI 1+2+3+4)
/// </summary>
public int CountUp
{
get
{
return CountUp1 + CountUp2 + CountUp3 + CountUp4;// + CountUp5;
}
}
public int CountChargeE
{
get { return this.countchgaerr; }
set { if (value != countchgaerr) { countchgaerr = value; NotifyPropertyChanged(); } }
}
public int CountChargeA
{
get { return this.countchga; }
set { if (value != countchga) { countchga = value; NotifyPropertyChanged(); } }
}
public int CountChargeM
{
get { return this.countchgm; }
set { if (value != countchgm) { countchgm = value; NotifyPropertyChanged(); } }
}
/// <summary>
/// 하차수량(QC+QA)
/// </summary>
public int CountDn
{
get { return this.countqa + this.countqc; }
//set { if (value != countdn) { countdn = value; NotifyPropertyChanged(); } }
}
public int CountQA
{
get { return this.countqa; }
set { if (value != countqa) { countqa = value; NotifyPropertyChanged(); } }
}
public int CountQC
{
get { return this.countqc; }
set { if (value != countqc) { countqc = value; NotifyPropertyChanged(); } }
}
public void CountClear()
{
CountUp1 = 0;
CountUp2 = 0;
CountUp3 = 0;
CountUp4 = 0;
// CountUp5 = 0;
CountQC = 0;
CountQA = 0;
//CountQa2 = 0;
CountReset = DateTime.Now;
PUB.log.Add("Count Clear");
this.Save();
}
public CounterSetting()
{
this.filename = AR.UTIL.CurrentPath + "counter.xml";
}
public override void AfterLoad()
{
if (CountReset == null) CountReset = DateTime.Parse("1982-11-23");
}
public override void AfterSave()
{
//throw new NotImplementedException();
}
}
}

225
Cs_HMI/TestProject/Test_Port/Form1.Designer.cs generated Normal file
View File

@@ -0,0 +1,225 @@
namespace Project
{
partial class Form1
{
/// <summary>
/// 필수 디자이너 변수입니다.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// 사용 중인 모든 리소스를 정리합니다.
/// </summary>
/// <param name="disposing">관리되는 리소스를 삭제해야 하면 true이고, 그렇지 않으면 false입니다.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form 디자이너에서 생성한 코드
/// <summary>
/// 디자이너 지원에 필요한 메서드입니다.
/// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
this.label1 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.cmbPortAGV = new System.Windows.Forms.ComboBox();
this.cmbPortBMS = new System.Windows.Forms.ComboBox();
this.tbBaudAGV = new System.Windows.Forms.TextBox();
this.tbBaudBMS = new System.Windows.Forms.TextBox();
this.btTestAGV = new System.Windows.Forms.Button();
this.btTestBMS = new System.Windows.Forms.Button();
this.rtLog = new System.Windows.Forms.RichTextBox();
this.btFindPort = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel();
this.toolStrip1 = new System.Windows.Forms.ToolStrip();
this.toolStripButton1 = new System.Windows.Forms.ToolStripButton();
this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
this.panel1.SuspendLayout();
this.toolStrip1.SuspendLayout();
this.SuspendLayout();
//
// label1
//
this.label1.Location = new System.Drawing.Point(16, 10);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(30, 20);
this.label1.TabIndex = 0;
this.label1.Text = "agv";
this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// label2
//
this.label2.Location = new System.Drawing.Point(16, 36);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(30, 20);
this.label2.TabIndex = 0;
this.label2.Text = "bms";
this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// cmbPortAGV
//
this.cmbPortAGV.FormattingEnabled = true;
this.cmbPortAGV.Location = new System.Drawing.Point(60, 10);
this.cmbPortAGV.Name = "cmbPortAGV";
this.cmbPortAGV.Size = new System.Drawing.Size(121, 20);
this.cmbPortAGV.TabIndex = 1;
//
// cmbPortBMS
//
this.cmbPortBMS.FormattingEnabled = true;
this.cmbPortBMS.Location = new System.Drawing.Point(60, 36);
this.cmbPortBMS.Name = "cmbPortBMS";
this.cmbPortBMS.Size = new System.Drawing.Size(121, 20);
this.cmbPortBMS.TabIndex = 1;
//
// tbBaudAGV
//
this.tbBaudAGV.Location = new System.Drawing.Point(187, 10);
this.tbBaudAGV.Name = "tbBaudAGV";
this.tbBaudAGV.Size = new System.Drawing.Size(100, 21);
this.tbBaudAGV.TabIndex = 2;
//
// tbBaudBMS
//
this.tbBaudBMS.Location = new System.Drawing.Point(187, 36);
this.tbBaudBMS.Name = "tbBaudBMS";
this.tbBaudBMS.Size = new System.Drawing.Size(100, 21);
this.tbBaudBMS.TabIndex = 2;
//
// btTestAGV
//
this.btTestAGV.Location = new System.Drawing.Point(294, 8);
this.btTestAGV.Name = "btTestAGV";
this.btTestAGV.Size = new System.Drawing.Size(75, 24);
this.btTestAGV.TabIndex = 3;
this.btTestAGV.Text = "Test";
this.btTestAGV.UseVisualStyleBackColor = true;
this.btTestAGV.Click += new System.EventHandler(this.btTestAGV_Click);
//
// btTestBMS
//
this.btTestBMS.Location = new System.Drawing.Point(294, 34);
this.btTestBMS.Name = "btTestBMS";
this.btTestBMS.Size = new System.Drawing.Size(75, 24);
this.btTestBMS.TabIndex = 3;
this.btTestBMS.Text = "Test";
this.btTestBMS.UseVisualStyleBackColor = true;
this.btTestBMS.Click += new System.EventHandler(this.btTestBMS_Click);
//
// rtLog
//
this.rtLog.Dock = System.Windows.Forms.DockStyle.Fill;
this.rtLog.Location = new System.Drawing.Point(0, 92);
this.rtLog.Name = "rtLog";
this.rtLog.Size = new System.Drawing.Size(450, 215);
this.rtLog.TabIndex = 4;
this.rtLog.Text = "";
//
// btFindPort
//
this.btFindPort.Location = new System.Drawing.Point(375, 11);
this.btFindPort.Name = "btFindPort";
this.btFindPort.Size = new System.Drawing.Size(71, 47);
this.btFindPort.TabIndex = 5;
this.btFindPort.Text = "find port";
this.btFindPort.UseVisualStyleBackColor = true;
this.btFindPort.Click += new System.EventHandler(this.btFindPort_Click);
//
// panel1
//
this.panel1.Controls.Add(this.cmbPortAGV);
this.panel1.Controls.Add(this.btFindPort);
this.panel1.Controls.Add(this.label1);
this.panel1.Controls.Add(this.label2);
this.panel1.Controls.Add(this.btTestBMS);
this.panel1.Controls.Add(this.cmbPortBMS);
this.panel1.Controls.Add(this.tbBaudAGV);
this.panel1.Controls.Add(this.tbBaudBMS);
this.panel1.Controls.Add(this.btTestAGV);
this.panel1.Dock = System.Windows.Forms.DockStyle.Top;
this.panel1.Location = new System.Drawing.Point(0, 25);
this.panel1.Name = "panel1";
this.panel1.Size = new System.Drawing.Size(450, 67);
this.panel1.TabIndex = 6;
//
// toolStrip1
//
this.toolStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.toolStripButton1,
this.toolStripButton2});
this.toolStrip1.Location = new System.Drawing.Point(0, 0);
this.toolStrip1.Name = "toolStrip1";
this.toolStrip1.Size = new System.Drawing.Size(450, 25);
this.toolStrip1.TabIndex = 7;
this.toolStrip1.Text = "toolStrip1";
//
// toolStripButton1
//
this.toolStripButton1.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton1.Image")));
this.toolStripButton1.ImageTransparentColor = System.Drawing.Color.Magenta;
this.toolStripButton1.Name = "toolStripButton1";
this.toolStripButton1.Size = new System.Drawing.Size(53, 22);
this.toolStripButton1.Text = "Load";
this.toolStripButton1.Click += new System.EventHandler(this.toolStripButton1_Click);
//
// toolStripButton2
//
this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image")));
this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta;
this.toolStripButton2.Name = "toolStripButton2";
this.toolStripButton2.Size = new System.Drawing.Size(52, 22);
this.toolStripButton2.Text = "Save";
this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
//
// Form1
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(450, 307);
this.Controls.Add(this.rtLog);
this.Controls.Add(this.panel1);
this.Controls.Add(this.toolStrip1);
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "Form1";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "AGV Port Scanner";
this.Load += new System.EventHandler(this.Form1_Load);
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
this.toolStrip1.ResumeLayout(false);
this.toolStrip1.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.ComboBox cmbPortAGV;
private System.Windows.Forms.ComboBox cmbPortBMS;
private System.Windows.Forms.TextBox tbBaudAGV;
private System.Windows.Forms.TextBox tbBaudBMS;
private System.Windows.Forms.Button btTestAGV;
private System.Windows.Forms.Button btTestBMS;
private System.Windows.Forms.RichTextBox rtLog;
private System.Windows.Forms.Button btFindPort;
private System.Windows.Forms.Panel panel1;
private System.Windows.Forms.ToolStrip toolStrip1;
private System.Windows.Forms.ToolStripButton toolStripButton1;
private System.Windows.Forms.ToolStripButton toolStripButton2;
}
}

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Cs_HMI/TestProject/Test_Port/Form1.cs Normal file
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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 System.IO.Ports;
using System.IO;
using AR;
namespace Project
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
PUB.init();
// 현재 설치되어있는 시리얼포트목록을 조회해서 cmbPort... 컨트롤에 미리 입력한다.
RefreshPortList();
// 기본 BaudRate 설정
tbBaudAGV.Text = "115200";
tbBaudBMS.Text = "9600";
}
/// <summary>
/// 시리얼 포트 목록을 새로고침하여 콤보박스에 추가
/// </summary>
private void RefreshPortList()
{
try
{
string[] ports = SerialPort.GetPortNames();
cmbPortAGV.Items.Clear();
cmbPortBMS.Items.Clear();
foreach (string port in ports)
{
cmbPortAGV.Items.Add(port);
cmbPortBMS.Items.Add(port);
}
addLog($"포트 목록 새로고침 완료: {ports.Length}개 포트 발견");
}
catch (Exception ex)
{
addLog($"포트 목록 조회 오류: {ex.Message}");
}
}
/// <summary>
/// 설정파일에서 데이터를 읽어서 컨트롤에 설정한다
/// </summary>
void LoadSetting()
{
try
{
// AGV 설정
if (!string.IsNullOrEmpty(PUB.setting.Port_AGV))
{
this.cmbPortAGV.Text = PUB.setting.Port_AGV;
}
tbBaudAGV.Text = PUB.setting.Baud_AGV.ToString();
// BMS 설정
if (!string.IsNullOrEmpty(PUB.setting.Port_BAT))
{
cmbPortBMS.Text = PUB.setting.Port_BAT;
}
tbBaudBMS.Text = PUB.setting.Baud_BAT.ToString();
addLog("설정 파일 로드 완료");
}
catch (Exception ex)
{
addLog($"설정 로드 오류: {ex.Message}");
}
}
/// <summary>
/// 현재 설정된 값을 확인하고 셋팅파일에 기록한다
/// </summary>
void SaveSetting()
{
try
{
// 현재 UI 값을 설정 객체에 반영
PUB.setting.Port_AGV = cmbPortAGV.SelectedItem?.ToString() ?? "";
PUB.setting.Baud_AGV = int.TryParse(tbBaudAGV.Text, out int agvBaud) ? agvBaud : 115200;
PUB.setting.Port_BAT = cmbPortBMS.SelectedItem?.ToString() ?? "";
PUB.setting.Baud_BAT = int.TryParse(tbBaudBMS.Text, out int bmsBaud) ? bmsBaud : 9600;
// 파일에 저장
PUB.setting.Save();
addLog("설정 파일 저장 완료");
}
catch (Exception ex)
{
addLog($"설정 저장 오류: {ex.Message}");
}
}
private void Form1_Load(object sender, EventArgs e)
{
LoadSetting();
}
private void btLoadSetting_Click(object sender, EventArgs e)
{
LoadSetting();
}
private void btSaveSetting_Click(object sender, EventArgs e)
{
SaveSetting();
}
private void btTestAGV_Click(object sender, EventArgs e)
{
// AGV 용 프로토콜을 전송해서 올바르게 피드백이 오는지 확인한다
// AGV Protocol: STX(0x02) + Data + ETX(0x03)
if (cmbPortAGV.SelectedItem == null)
{
addLog("[AGV] 포트를 선택해주세요");
return;
}
if (!int.TryParse(tbBaudAGV.Text, out int baudRate))
{
addLog("[AGV] BaudRate가 올바르지 않습니다");
return;
}
try
{
addLog($"[AGV] 테스트 시작: {cmbPortAGV.SelectedItem} @ {baudRate}bps");
using (arDev.Narumi port = new arDev.Narumi())
{
port.PortName = cmbPortAGV.SelectedItem.ToString();
port.BaudRate = baudRate;
port.Message += (s1, e1) =>{
addLog($"[AGV] 응답 수신: {e1.Message}");
};
port.Open();
addLog($"[AGV] 포트 열기 성공");
DateTime sendtime = DateTime.Now;
port.AGVMoveStop("test");//
addLog($"[AGV] 테스트 명령 전송:");
// 응답 대기
System.Threading.Thread.Sleep(1200);
if (port.lastRecvTime > sendtime)
{
// STX, ETX 확인
//if (response.Length >= 2 && response[0] == 0x02 && response[response.Length - 1] == 0x03)
//{
addLog($"[AGV] ✓ 통신 성공 - 올바른 프로토콜 응답");
//}
//else
//{
// addLog($"[AGV] ⚠ 응답은 받았으나 프로토콜 형식이 다름");
//}
}
else
{
addLog($"[AGV] ⚠ 응답 없음 - 포트는 열렸으나 장치 응답 없음");
}
port.Close();
addLog($"[AGV] 포트 닫기 완료");
}
}
catch (Exception ex)
{
addLog($"[AGV] ✗ 오류 발생: {ex.Message}");
}
}
private void btTestBMS_Click(object sender, EventArgs e)
{
// BMS 용 프로토콜을 전송해서 올바르게 피드백이 오는지 확인한다
// BMS Protocol: STX(0xDD) + Data(32 bytes) + ETX(0x77)
if (cmbPortBMS.SelectedItem == null)
{
addLog("[BMS] 포트를 선택해주세요");
return;
}
if (!int.TryParse(tbBaudBMS.Text, out int baudRate))
{
addLog("[BMS] BaudRate가 올바르지 않습니다");
return;
}
try
{
addLog($"[BMS] 테스트 시작: {cmbPortBMS.SelectedItem} @ {baudRate}bps");
using (SerialPort port = new SerialPort())
{
port.PortName = cmbPortBMS.SelectedItem.ToString();
port.BaudRate = baudRate;
port.DataBits = 8;
port.Parity = Parity.None;
port.StopBits = StopBits.One;
port.ReadTimeout = 3000;
port.WriteTimeout = 3000;
port.Open();
addLog($"[BMS] 포트 열기 성공");
// 간단한 테스트 명령 전송
var testCmd = new List<byte>();
testCmd.Add(0xDD);
testCmd.Add(0xA5);
testCmd.Add(0x03);
testCmd.Add(0x00);
testCmd.Add(0xFF);
testCmd.Add(0xFD);
testCmd.Add(0x77);
testCmd.Add(0x0D);
port.Write(testCmd.ToArray(), 0, testCmd.Count);//.Length);
addLog($"[BMS] 테스트 명령 전송: {BitConverter.ToString(testCmd.ToArray())}");
// 응답 대기
System.Threading.Thread.Sleep(1200);
if (port.BytesToRead > 0)
{
byte[] response = new byte[port.BytesToRead];
port.Read(response, 0, response.Length);
addLog($"[BMS] 응답 수신 ({response.Length} bytes): {BitConverter.ToString(response)}");
// STX, ETX 확인
if (response.Length >= 2 && response[0] == 0xDD && response[response.Length - 1] == 0x77)
{
addLog($"[BMS] ✓ 통신 성공 - 올바른 프로토콜 응답");
if (response.Length == 34 || response.Length == 23)
{
addLog($"[BMS] ✓ 데이터 길이 확인 ({response.Length} bytes)");
}
}
else
{
addLog($"[BMS] ⚠ 응답은 받았으나 프로토콜 형식이 다름");
}
}
else
{
addLog($"[BMS] ⚠ 응답 없음 - 포트는 열렸으나 장치 응답 없음");
}
port.Close();
addLog($"[BMS] 포트 닫기 완료");
}
}
catch (Exception ex)
{
addLog($"[BMS] ✗ 오류 발생: {ex.Message}");
}
}
void addLog(string msg)
{
// rtLog 컨트롤에 메세지를 추가하고, 추가된 메세지에 맞게 커서가 자동이동되게 한다
if (rtLog.InvokeRequired)
{
rtLog.Invoke(new Action(() => addLog(msg)));
}
else
{
string timestamp = DateTime.Now.ToString("HH:mm:ss.fff");
rtLog.AppendText($"[{timestamp}] {msg}\r\n");
rtLog.SelectionStart = rtLog.Text.Length;
rtLog.ScrollToCaret();
}
}
private async void btFindPort_Click(object sender, EventArgs e)
{
// 버튼 비활성화 (중복 실행 방지)
btFindPort.Enabled = false;
try
{
await Task.Run(() => FindPortsAsync());
}
finally
{
// 버튼 재활성화
btFindPort.Enabled = true;
}
}
private void FindPortsAsync()
{
// AGV와 BMS의 응답 포트를 병렬로 동시에 찾는다
addLog("===== 포트 자동 검색 시작 (병렬 모드) =====");
string[] ports = SerialPort.GetPortNames();
if (ports.Length == 0)
{
addLog("사용 가능한 포트가 없습니다");
return;
}
addLog($"총 {ports.Length}개 포트 검색 중...");
// 병렬 검색을 위한 변수
object lockObj = new object();
string foundAGVPort = null;
string foundBMSPort = null;
int agvBaud = 115200;
int bmsBaud = 9600;
bool bothFound = false;
// 현재 설정된 포트 (우선순위 표시용)
string currentAGVPort = null;
string currentBMSPort = null;
this.Invoke(new Action(() =>
{
currentAGVPort = cmbPortAGV.SelectedItem?.ToString();
currentBMSPort = cmbPortBMS.SelectedItem?.ToString();
}));
// 현재 설정 확인 로그
addLog($"현재 AGV 설정: {(string.IsNullOrEmpty(currentAGVPort) ? "(선택 안됨)" : currentAGVPort)}");
addLog($"현재 BMS 설정: {(string.IsNullOrEmpty(currentBMSPort) ? "(선택 안됨)" : currentBMSPort)}");
// === 1단계: 현재 설정된 포트 우선 테스트 ===
addLog("--- 1단계: 현재 설정 포트 우선 테스트 ---");
// AGV 현재 포트 우선 테스트
if (!string.IsNullOrEmpty(currentAGVPort) && ports.Contains(currentAGVPort))
{
addLog($"[우선] AGV 현재 포트 테스트: {currentAGVPort}");
for (int retry = 1; retry <= 3; retry++)
{
if (TestAGVPort(currentAGVPort, agvBaud))
{
foundAGVPort = currentAGVPort;
addLog($"✓ 현재 설정 포트에서 AGV 발견: {currentAGVPort}");
break;
}
if (retry < 3) System.Threading.Thread.Sleep(500);
}
}
// BMS 현재 포트 우선 테스트
if (!string.IsNullOrEmpty(currentBMSPort) && ports.Contains(currentBMSPort))
{
addLog($"[우선] BMS 현재 포트 테스트: {currentBMSPort}");
for (int retry = 1; retry <= 3; retry++)
{
if (TestBMSPort(currentBMSPort, bmsBaud))
{
foundBMSPort = currentBMSPort;
addLog($"✓ 현재 설정 포트에서 BMS 발견: {currentBMSPort}");
break;
}
if (retry < 3) System.Threading.Thread.Sleep(500);
}
}
// 둘 다 찾았으면 즉시 종료
if (foundAGVPort != null && foundBMSPort != null)
{
addLog("현재 설정 포트에서 모두 발견! 검색 종료");
ApplyFoundPorts(foundAGVPort, foundBMSPort, agvBaud, bmsBaud);
addLog("===== 포트 자동 검색 완료 =====");
return;
}
// === 2단계: 나머지 포트 병렬 검색 ===
if (foundAGVPort == null || foundBMSPort == null)
{
addLog("--- 2단계: 나머지 포트 병렬 검색 ---");
}
// 모든 포트를 병렬로 테스트 (단, 이미 테스트한 포트 제외)
List<Task> tasks = new List<Task>();
foreach (string portName in ports)
{
string port = portName; // 클로저 캡처용
// 이미 우선 테스트에서 체크한 포트는 제외
if (port == currentAGVPort || port == currentBMSPort)
continue;
Task task = Task.Run(() =>
{
// 이미 둘 다 찾았으면 즉시 종료
if (bothFound) return;
addLog($"[{port}] 검사 시작...");
// AGV 테스트 (3회 재시도)
for (int retry = 1; retry <= 3; retry++)
{
// 첫 번째 시도에서는 조기 종료하지 않고 전체 대기 시간 보장
if (retry > 1 && bothFound) return;
try
{
if (foundAGVPort == null && TestAGVPort(port, agvBaud))
{
lock (lockObj)
{
if (foundAGVPort == null)
{
foundAGVPort = port;
addLog($"[{port}] ✓ AGV 발견! (재시도: {retry}/3)");
// 둘 다 찾았는지 확인
if (foundBMSPort != null)
{
bothFound = true;
addLog("AGV와 BMS 모두 발견! 검색 종료");
}
}
}
break;
}
}
catch { }
if (retry < 3 && foundAGVPort == null && !bothFound)
{
System.Threading.Thread.Sleep(500);
}
}
// BMS 테스트 (3회 재시도)
for (int retry = 1; retry <= 3; retry++)
{
// 첫 번째 시도에서는 조기 종료하지 않고 전체 대기 시간 보장
if (retry > 1 && bothFound) return;
try
{
if (foundBMSPort == null && TestBMSPort(port, bmsBaud))
{
lock (lockObj)
{
if (foundBMSPort == null)
{
foundBMSPort = port;
addLog($"[{port}] ✓ BMS 발견! (재시도: {retry}/3)");
// 둘 다 찾았는지 확인
if (foundAGVPort != null)
{
bothFound = true;
addLog("AGV와 BMS 모두 발견! 검색 종료");
}
}
}
break;
}
}
catch { }
if (retry < 3 && foundBMSPort == null && !bothFound)
{
System.Threading.Thread.Sleep(500);
}
}
// 둘 다 실패한 경우에만 로그
if (!bothFound && foundAGVPort != port && foundBMSPort != port)
{
addLog($"[{port}] ✗ 응답 없음");
}
});
tasks.Add(task);
}
// 나머지 포트가 있을 경우만 대기
if (tasks.Count > 0)
{
addLog("나머지 포트 테스트 진행 중...");
// 주기적으로 체크하면서 둘 다 찾았으면 즉시 종료
while (!Task.WaitAll(tasks.ToArray(), 100))
{
if (bothFound)
{
addLog("검색 조기 종료 - 모든 포트 발견");
break;
}
}
}
// 결과 적용
ApplyFoundPorts(foundAGVPort, foundBMSPort, agvBaud, bmsBaud);
addLog("===== 포트 자동 검색 완료 =====");
}
/// <summary>
/// 발견된 포트를 UI에 적용
/// </summary>
private void ApplyFoundPorts(string agvPort, string bmsPort, int agvBaud, int bmsBaud)
{
if (agvPort != null)
{
this.Invoke(new Action(() =>
{
int idx = cmbPortAGV.Items.IndexOf(agvPort);
if (idx >= 0)
{
cmbPortAGV.SelectedIndex = idx;
tbBaudAGV.Text = agvBaud.ToString();
}
}));
addLog($"✓ AGV 포트: {agvPort} (Baud: {agvBaud})");
}
else
{
addLog("⚠ AGV 포트를 찾지 못했습니다");
}
if (bmsPort != null)
{
this.Invoke(new Action(() =>
{
int idx = cmbPortBMS.Items.IndexOf(bmsPort);
if (idx >= 0)
{
cmbPortBMS.SelectedIndex = idx;
tbBaudBMS.Text = bmsBaud.ToString();
}
}));
addLog($"✓ BMS 포트: {bmsPort} (Baud: {bmsBaud})");
}
else
{
addLog("⚠ BMS 포트를 찾지 못했습니다");
}
}
/// <summary>
/// AGV 포트인지 테스트 (btTestAGV_Click 코드 사용)
/// </summary>
private bool TestAGVPort(string portName, int baudRate)
{
try
{
using (arDev.Narumi port = new arDev.Narumi())
{
port.PortName = portName;
port.BaudRate = baudRate;
addLog($" >> AGV 테스트 시작: {portName} @ {baudRate}bps");
port.Open();
addLog($" >> AGV 포트 열기 성공: {portName}");
DateTime sendtime = DateTime.Now;
port.AGVMoveStop("test");
addLog($" >> AGV 명령 전송: {portName} (시간: {sendtime:HH:mm:ss.fff})");
// 응답 대기 (더 길게, 주기적으로 체크)
int maxWait = 2000; // 최대 2초 대기
int waitStep = 100;
int totalWait = 0;
while (totalWait < maxWait)
{
System.Threading.Thread.Sleep(waitStep);
totalWait += waitStep;
// lastRecvTime 확인
if (port.lastRecvTime > sendtime)
{
addLog($" >> ✓✓✓ AGV 응답 수신: {portName} (응답시간: {port.lastRecvTime:HH:mm:ss.fff}, 대기: {totalWait}ms)");
addLog($" >> 응답 데이터: {port.LastRecvString}");
port.Close();
return true;
}
// LastRecvString도 확인 (lastRecvTime이 업데이트 안 될 수도 있음)
if (!string.IsNullOrEmpty(port.LastRecvString))
{
addLog($" >> ✓✓✓ AGV 응답 감지 (문자열): {portName} (대기: {totalWait}ms)");
addLog($" >> 응답 데이터: {port.LastRecvString}");
port.Close();
return true;
}
}
addLog($" >> AGV 응답 없음: {portName} (최종 대기: {totalWait}ms, 마지막수신: {port.lastRecvTime:HH:mm:ss.fff})");
port.Close();
}
}
catch (Exception ex)
{
addLog($" >> AGV 테스트 오류: {portName} - {ex.Message}");
}
return false;
}
/// <summary>
/// BMS 포트인지 테스트 (btTestBMS_Click 코드 사용)
/// </summary>
private bool TestBMSPort(string portName, int baudRate)
{
try
{
using (SerialPort port = new SerialPort())
{
port.PortName = portName;
port.BaudRate = baudRate;
port.DataBits = 8;
port.Parity = Parity.None;
port.StopBits = StopBits.One;
port.ReadTimeout = 500;
port.WriteTimeout = 500;
addLog($" >> BMS 테스트 시작: {portName} @ {baudRate}bps");
port.Open();
addLog($" >> BMS 포트 열기 성공: {portName}");
// BMS 테스트 명령 전송 (테스트 버튼과 동일한 명령)
var testCmd = new List<byte>();
testCmd.Add(0xDD);
testCmd.Add(0xA5);
testCmd.Add(0x03);
testCmd.Add(0x00);
testCmd.Add(0xFF);
testCmd.Add(0xFD);
testCmd.Add(0x77);
testCmd.Add(0x0D);
port.Write(testCmd.ToArray(), 0, testCmd.Count);
addLog($" >> BMS 명령 전송: {portName} - {BitConverter.ToString(testCmd.ToArray())}");
// 응답 대기
System.Threading.Thread.Sleep(300);
if (port.BytesToRead > 0)
{
byte[] response = new byte[port.BytesToRead];
port.Read(response, 0, response.Length);
addLog($" >> BMS 응답 수신: {portName} ({response.Length} bytes) - {BitConverter.ToString(response)}");
// BMS 프로토콜 확인 (STX=0xDD, ETX=0x77)
if (response.Length >= 2 && response[0] == 0xDD && response[response.Length - 1] == 0x77)
{
addLog($" >> ✓✓✓ BMS 프로토콜 확인: {portName}");
port.Close();
return true;
}
else
{
addLog($" >> BMS 프로토콜 불일치: {portName}");
}
}
else
{
addLog($" >> BMS 응답 없음: {portName}");
}
port.Close();
}
}
catch (Exception ex)
{
addLog($" >> BMS 테스트 오류: {portName} - {ex.Message}");
}
return false;
}
private void toolStripButton1_Click(object sender, EventArgs e)
{
LoadSetting();
}
private void toolStripButton2_Click(object sender, EventArgs e)
{
SaveSetting();
}
}
}

154
Cs_HMI/TestProject/Test_Port/Form1.resx Normal file
View File

@@ -0,0 +1,154 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="toolStripButton1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="toolStripButton2.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
</root>

20
Cs_HMI/TestProject/Test_Port/PUB.cs Normal file
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@@ -0,0 +1,20 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Project
{
public static class PUB
{
public static AR.Log log;
public static Project.CSetting setting;
public static void init()
{
log = new AR.Log();
setting = new Project.CSetting();
setting.Load();
}
}
}

22
Cs_HMI/TestProject/Test_Port/Program.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace Project
{
static class Program
{
/// <summary>
/// 해당 응용 프로그램의 주 진입점입니다.
/// </summary>
[STAThread]
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new Form1());
}
}
}

36
Cs_HMI/TestProject/Test_Port/Properties/AssemblyInfo.cs Normal file
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using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해
// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
// 이러한 특성 값을 변경하세요.
[assembly: AssemblyTitle("Test_Port")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("Test_Port")]
[assembly: AssemblyCopyright("Copyright © 2025")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에
// 표시되지 않습니다. COM에서 이 어셈블리의 형식에 액세스하려면
// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
[assembly: ComVisible(false)]
// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
[assembly: Guid("ccfa2ce7-a539-4adc-b803-f759284c3463")]
// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
//
// 주 버전
// 부 버전
// 빌드 번호
// 수정 버전
//
// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호가 자동으로
// 지정되도록 할 수 있습니다.
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]

63
Cs_HMI/TestProject/Test_Port/Properties/Resources.Designer.cs generated Normal file
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@@ -0,0 +1,63 @@
//------------------------------------------------------------------------------
// <auto-generated>
// 이 코드는 도구를 사용하여 생성되었습니다.
// 런타임 버전:4.0.30319.42000
//
// 파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
// 이러한 변경 내용이 손실됩니다.
// </auto-generated>
//------------------------------------------------------------------------------
namespace Project.Properties {
using System;
/// <summary>
/// 지역화된 문자열 등을 찾기 위한 강력한 형식의 리소스 클래스입니다.
/// </summary>
// 이 클래스는 ResGen 또는 Visual Studio와 같은 도구를 통해 StronglyTypedResourceBuilder
// 클래스에서 자동으로 생성되었습니다.
// 멤버를 추가하거나 제거하려면 .ResX 파일을 편집한 다음 /str 옵션을 사용하여 ResGen을
// 다시 실행하거나 VS 프로젝트를 다시 빌드하십시오.
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
private static global::System.Resources.ResourceManager resourceMan;
private static global::System.Globalization.CultureInfo resourceCulture;
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
internal Resources() {
}
/// <summary>
/// 이 클래스에서 사용하는 캐시된 ResourceManager 인스턴스를 반환합니다.
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Resources.ResourceManager ResourceManager {
get {
if (object.ReferenceEquals(resourceMan, null)) {
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Project.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대한 현재 스레드의 CurrentUICulture
/// 속성을 재정의합니다.
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture {
get {
return resourceCulture;
}
set {
resourceCulture = value;
}
}
}
}

117
Cs_HMI/TestProject/Test_Port/Properties/Resources.resx Normal file
View File

@@ -0,0 +1,117 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
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<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
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26
Cs_HMI/TestProject/Test_Port/Properties/Settings.Designer.cs generated Normal file
View File

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//------------------------------------------------------------------------------
// <auto-generated>
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//
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// 이러한 변경 내용이 손실됩니다.
// </auto-generated>
//------------------------------------------------------------------------------
namespace Project.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default {
get {
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7
Cs_HMI/TestProject/Test_Port/Properties/Settings.settings Normal file
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@@ -0,0 +1,7 @@
<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
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103
Cs_HMI/TestProject/Test_Port/Test_Port.csproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
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<ItemGroup>
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<Compile Include="PUB.cs" />
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