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재시작관련 코드 업데이트

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This commit is contained in:
backuppc
2026-02-26 11:27:07 +09:00
parent c067a76462
commit 8beaa66516
8 changed files with 234 additions and 34 deletions
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17
HMI/SubProject/AGV/Narumi.cs
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@@ -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;
}