..

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -10,6 +10,7 @@ using System.Windows.Forms;
 using Project.StateMachine;
 using COMM;
 using AR;
+using Microsoft.IdentityModel.Tokens;
 
 namespace Project.ViewForm
 {
@@ -29,6 +30,7 @@ namespace Project.ViewForm
             this.mapctl = new AGVMapControl.MapControl();
             this.mapctl.Dock = DockStyle.Fill;
             this.mapctl.Visible = true;
+            this.mapctl.Font = this.panel1.Font;
             this.mapctl.BackColor = Color.FromArgb(32, 32, 32);
             this.panel1.Controls.Add(mapctl);
         }
@@ -39,6 +41,21 @@ namespace Project.ViewForm
             ctlAuto1.dev_bms = PUB.BMS;
             ctlAuto1.dev_xbe = PUB.XBE;
             this.timer1.Start();
+            PUB.AGV.DataReceive += AGV_DataReceive;
+
+            var fn = new System.IO.FileInfo( AR.UTIL.CurrentPath+ "\\sample.route");
+            if (fn.Exists) this.mapctl.LoadFromFile(fn.FullName);
+        }
+        private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
+        {
+
+            switch (e.DataType)
+            {
+                case arDev.Narumi.DataType.TAG:
+                    var tagno = PUB.AGV.data.TagNo;
+                    this.mapctl.AGVMoveToRFID(tagno.ToString());
+                    break;
+            }
         }
 
         private void CtlAuto1_ButtonClick(CtlAuto.UIButton idx)
@@ -63,6 +80,7 @@ namespace Project.ViewForm
             timer1.Stop();
             PUB.sm.StepChanged -= Sm_StepChanged;
             this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
+            PUB.AGV.DataReceive -= AGV_DataReceive;
         }
 
         bool tmrun = false;