acs command 창 추가

2026-02-27 09:59:36 +09:00
parent 24bd2d8a7f
commit 71b8a589c6
7 changed files with 582 additions and 14 deletions
--- a/HMI/Project/Dialog/fACSCommand.cs
+++ b/HMI/Project/Dialog/fACSCommand.cs
@@ -0,0 +1,129 @@
+using System.Linq;
+using AR;
+using AGVNavigationCore.Models;
+using Project.StateMachine;
+using System.Windows.Forms;
+using System;
+using System.Collections.Generic;
+
+namespace Project.Dialog
+{
+    public partial class fACSCommand : Form
+    {
+        public fACSCommand()
+        {
+            InitializeComponent();
+        }
+
+       
+        private void btnGoto_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            var targetAlias = btn.Text.Trim();
+            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == targetAlias);
+
+            if (targetNode == null)
+            {
+                // Fallback for Buffer names which might have spaces
+                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.Replace(" ", "") == targetAlias.Replace(" ", ""));
+            }
+
+            if (targetNode == null)
+            {
+                UTIL.MsgE($"대상 노드를 찾을 수 없습니다: {targetAlias}");
+                return;
+            }
+
+            // Goto 명령 데이터: RFID 문자열
+            var data = System.Text.Encoding.Default.GetBytes(targetNode.RfidId.ToString());
+            ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.Goto, data);
+        }
+
+        private void btnWork_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            ENIGProtocol.AGVCommandHE cmd;
+            switch (btn.Text)
+            {
+                case "PickOn Enter": cmd = ENIGProtocol.AGVCommandHE.PickOnEnter; break;
+                case "PickOff Enter": cmd = ENIGProtocol.AGVCommandHE.PickOffEnter; break;
+                case "Pickon Exit": cmd = ENIGProtocol.AGVCommandHE.PickOnExit; break;
+                case "PickOff Exit": cmd = ENIGProtocol.AGVCommandHE.PickOffExit; break;
+                default: return;
+            }
+
+            ExecuteRemoteCommand(cmd);
+        }
+
+        private void btnAction_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            switch (btn.Text)
+            {
+                case "Turn Left":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.LTurn);
+                    break;
+                case "Turn Right":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.RTurn);
+                    break;
+                case "Mark Stop":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.MarkStop);
+                    break;
+                case "Charge":
+                    // ChargeControl: 1=On
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.ChargeControl, (byte)1);
+                    break;
+            }
+        }
+
+        private void fACSCommand_Load(object sender, EventArgs e)
+        {
+
+        }
+
+        /// <summary>
+        /// ACS로부터 수신된 패킷인 것처럼 시뮬레이션하여 메인 폼의 로직을 실행합니다.
+        /// </summary>
+        private void ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE cmd, params byte[] data)
+        {
+            // XBEE 패킷 시뮬레이션
+            var packet = new ENIG.Packet();
+            packet.ID = 0; // ACS ID
+            packet.Command = (byte)cmd;
+
+            // 데이터 설정 (TargetID: PUB.setting.XBE_ID)
+            var buffer = new List<byte>();
+            buffer.Add((byte)PUB.setting.XBE_ID);
+            if (data != null) buffer.AddRange(data);
+            packet.Data = buffer.ToArray();
+
+            var args = new ENIG.EEProtocol.DataEventArgs { ReceivedPacket = packet };
+
+            var mainForm = Application.OpenForms.OfType<fMain>().FirstOrDefault();
+            if (mainForm != null)
+            {
+                // fMain.cs 내의 XBE_ProtocReceived를 호출하기 위해 리플렉션 사용
+                var method = typeof(fMain).GetMethod("XBE_ProtocReceived", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
+                if (method != null)
+                {
+                    method.Invoke(mainForm, new object[] { null, args });
+                }
+                else
+                {
+                    UTIL.MsgE("명령 처리 메서드(XBE_ProtocReceived)를 찾을 수 없습니다.");
+                }
+            }
+            else
+            {
+                UTIL.MsgE("메인 폼 인스턴스를 찾을 수 없습니다.");
+            }
+        }
+
+    }
+}