재시작관련 코드 업데이트

HMI/SubProject/AGV/Narumi.cs

@@ -166,6 +166,7 @@ namespace arDev
                         TurnInformation.State = eNarumiTurn.Left;
                         TurnInformation.End = DateTime.Now;
                     }
+                    TurnComplete?.Invoke(this, new TurnEventArgs(eTurnEvent.Left));
                 }
                 else if (frame.DataString.Contains("RIGHT-TURN OK"))
                 {
@@ -174,11 +175,13 @@ namespace arDev
                         TurnInformation.State = eNarumiTurn.Right;
                         TurnInformation.End = DateTime.Now;
                     }
+                    TurnComplete?.Invoke(this, new TurnEventArgs(eTurnEvent.Right));
                 }
                 // $로 시작되는 AGV 상태 표시
                 //var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');   //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
                 //var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
                 //AGV RIGHT-TURN OK
+                
                 RaiseMessage(MessageType.Normal, "$메세지수신:" + frame.DataString);
             }
             else
@@ -305,10 +308,20 @@ namespace arDev
                 //    }
                 //}
 
-                if (idx <= rcvdNow.Length - 2)
+                if (idx <= rcvdNow.Length - 5)
                 {
                     nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
-                    signal2.SetValue(nDataTemp);
+                    signal2.SetValue(nDataTemp); idx += 2;
+                }
+
+                if (idx <= rcvdNow.Length - 3)
+                {
+                    var str_dist= rcvdNow.Substring(idx, 3);  //260226
+                    if (int.TryParse(str_dist, out int vDist))
+                        data.Distance = vDist;
+                    else
+                        data.Distance = -1;
+                    idx += 3;
                 }
 
 

HMI/SubProject/AGV/Structure/AgvData.cs

@@ -30,6 +30,7 @@ namespace arDev
             public char Direction { get; set; }
 
             public int guidesensor { get; set; }
+            public int Distance { get; set; }
 
 
             public string TagString { get; set; } = string.Empty;
@@ -46,17 +47,13 @@ namespace arDev
             {
                 //모든사태값을 탭으로 구분하여 문자를 생성한다
                 var sb = new System.Text.StringBuilder();
-
                 sb.AppendLine($"[Sts] : {Sts}");
                 sb.AppendLine($"[Speed] : {Speed}");
                 sb.AppendLine($"[Direction] : {Direction}");
                 sb.AppendLine($"[guidesensor] : {guidesensor}");
-
                 sb.AppendLine($"[TagNo] : {TagNo}");
                 sb.AppendLine($"[CallNo] : {CallNo}");
                 sb.AppendLine($"[CCANo] : {CCANo}");
-
-
                 return sb.ToString();
             }