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add emulator

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chi
2025-05-26 11:00:23 +09:00
parent 77a6aefb44
commit 8d0f0f8c8f
30 changed files with 6097 additions and 0 deletions
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25
Emulator/AGVEmulator.sln Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.6.33801.468
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVEmulator", "AGVEmulator\AGVEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{9312AB43-72F6-4365-A266-E767215FA7F5}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{9312AB43-72F6-4365-A266-E767215FA7F5}.Debug|Any CPU.Build.0 = Debug|Any CPU
{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.ActiveCfg = Release|Any CPU
{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {6F494EC0-1316-409F-8C1A-D882BBF25D13}
EndGlobalSection
EndGlobal

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Emulator/AGVEmulator/AGVEmulator.csproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{9312AB43-72F6-4365-A266-E767215FA7F5}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>AGVEmulator</RootNamespace>
<AssemblyName>AGVEmulator</AssemblyName>
<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
<TargetFrameworkProfile />
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="arControl.Net4">
<HintPath>..\arControl.Net4.dll</HintPath>
</Reference>
<Reference Include="arFrameControl">
<HintPath>..\arFrameControl.dll</HintPath>
</Reference>
<Reference Include="ArLog.Net4">
<HintPath>..\ArLog.Net4.dll</HintPath>
</Reference>
<Reference Include="ArSetting.Net4">
<HintPath>..\ArSetting.Net4.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Deployment" />
<Reference Include="System.Drawing" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="DevAGV.cs" />
<Compile Include="DevBMS.cs" />
<Compile Include="DevCAL.cs" />
<Compile Include="DevPLC.cs" />
<Compile Include="Form1.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Form1.Designer.cs">
<DependentUpon>Form1.cs</DependentUpon>
</Compile>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="RS232.cs" />
<Compile Include="UC\SerialConn.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="UC\SerialConn.Designer.cs">
<DependentUpon>SerialConn.cs</DependentUpon>
</Compile>
<Compile Include="UC\AgvViewer.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="UC\AgvViewer.Designer.cs">
<DependentUpon>AgvViewer.cs</DependentUpon>
</Compile>
<EmbeddedResource Include="Form1.resx">
<DependentUpon>Form1.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
<Generator>ResXFileCodeGenerator</Generator>
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
<SubType>Designer</SubType>
</EmbeddedResource>
<Compile Include="Properties\Resources.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Resources.resx</DependentUpon>
<DesignTime>True</DesignTime>
</Compile>
<EmbeddedResource Include="UC\SerialConn.resx">
<DependentUpon>SerialConn.cs</DependentUpon>
</EmbeddedResource>
<None Include="app.config" />
<None Include="packetFD.bin">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="packetFC.bin">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
</None>
<Compile Include="Properties\Settings.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>

586
Emulator/AGVEmulator/DevAGV.cs Normal file
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using arCtl;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
namespace AGVEmulator
{
class DevAGV : AR.Dev.RS232
{
//######### private variable
byte runtime = 0;
//######### public variable
public UInt16 system0 = 0;
public UInt16 system1 = 0;
public UInt16 error = 0;
public byte signal = 0;
public char sts_bunki = 'S';
public char sts_speed = 'L';
public char sts_dir = 'F';
public char sts_sensor = '1';
public enum eCommand : byte
{
LOAD = 0, //EEPROM 불러오기
SAVE, //EEPROM 저장
RESET, //초기화
PINGCHK,
SET_PINMODE, //PINMODE 설정
SET_DOUTPUT, //디지털출력설정(포트번호,값[1,0])
SET_AOUTPUT, //아날로그출력설정(포트GET_SETTING = 50, //셋팅값 요청
SET_FLAG,
SET_EEPROM,
SET_MANUALSPEED,
GET_SETTING = 50,
GUIDE_MOT = 90, //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
SET_EEP_DIREV,
};
public enum DOName
{
PINO_GUIDEMOTOR_LDIR,
PINO_GUIDEMOTOR_LRUN,
PINO_GUIDEMOTOR_RDIR,
PINO_GUIDEMOTOR_RRUN,
PINO_EMPTY_26,
PINO_EMPTY_27,
PINO_EMPTY_28,
PINO_EMPTY_29,
}
public enum DIName
{
PINI_EMG,
PINI_BTN_1,
PINI_BTN_2,
PINI_BTN_3,
PINI_BTN_4,
PINI_OVERLOADL,
PINI_OVERLOADR,
PINI_EMPTY_36,
PINI_EMPTY_37,
PINI_EMPTY_38,
PINI_BTN_ZUP,
PINI_BTN_ZDN,
PINI_LIMIT_LU,
PINI_LIMIT_LD,
PINI_LIMIT_RU,
PINI_LIMIT_RD,
PINI_STOP,
}
public enum eerror
{
Emergency = 0,
Overcurrent,
Charger_run_error,
Charger_pos_error,
line_out_error = 4,
/// <summary>
/// 기동시 자석 감지 에러
/// </summary>
runerror_by_no_magent_line,
/// <summary>
/// 호출제어기 통신 오류
/// </summary>
controller_comm_error = 11,
/// <summary>
/// 도착경보기 통신 오류
/// </summary>
arrive_ctl_comm_error,
/// <summary>
/// 자동문제어기 통신 오류
/// </summary>
door_ctl_comm_error,
/// <summary>
/// 자동충전기 통신 오류
/// </summary>
charger_comm_error,
/// <summary>
/// 교차로 제어기 통신 오류
/// </summary>
cross_ctrl_comm_error,
}
public enum esignal
{
front_gate_out = 0,
rear_sensor_out,
mark_sensor_1,
mark_sensor_2,
front_left_sensor,
front_right_sensor,
front_center_sensor,
charger_align_sensor,
}
public enum esystemflag0
{
Memory_RW_State = 5,
EXT_IO_Conn_State,
RFID_Conn_State,
M5E_Module_Run_State = 8,
Front_Ultrasonic_Conn_State,
Front_Untrasonic_Sensor_State,
Side_Ultrasonic_Conn_State,
Side_Ultrasonic_Sensor_State = 12,
Front_Guide_Sensor_State,
Rear_Guide_Sensor_State,
Battery_Level_Check
}
public enum esystemflag1
{
Side_Detect_Ignore = 3,
Melody_check,
Mark2_check,
Mark1_check,
gateout_check,
Battery_charging = 8,
re_Start,
/// <summary>
/// 전방 감지 무시
/// </summary>
front_detect_ignore,
/// <summary>
/// 전방장애물감지상태
/// </summary>
front_detect_check,
/// <summary>
/// 전방감지 후 정지 상태
/// </summary>
stop_by_front_detect = 12,
/// <summary>
/// 교차로 진입 후 정지 상태
/// </summary>
stop_by_cross_in,
agv_stop,
agv_run
}
public enum evaluetype
{
system0,
system1,
error,
signal,
}
public enum estsvaluetype
{
bunki,
speed,
direction,
sensor
}
public class ValueChangedArgs : EventArgs
{
public int Idx { get; set; }
public bool Value { get; set; }
public evaluetype vtype { get; set; }
public ValueChangedArgs(int idx, bool val, evaluetype isOut)
{
this.Idx = idx;
this.Value = val;
this.vtype = isOut;
}
}
public class StsValueChangedArgs : EventArgs
{
public char Value { get; set; }
public estsvaluetype vtype { get; set; }
public StsValueChangedArgs(estsvaluetype vType, char val)
{
this.Value = val;
this.vtype = vType;
}
}
public class RequestStatusDataArgs : EventArgs
{
public UInt16 system0 { get; set; } = 0;
public UInt16 system1 { get; set; } = 0;
public char speed { get; set; } = 'L';
public char direction { get; set; } = 'F';
public char bunki { get; set; } = 'S';
public byte signal { get; set; } = 0;
public float volt { get; set; } = 0f;
public UInt16 error { get; set; } = 0;
public char sensor { get; set; } = '0';
public RequestStatusDataArgs()
{
}
}
public event EventHandler<RequestStatusDataArgs> RequestStatusData;
public event EventHandler<ValueChangedArgs> ValueChanged;
public event EventHandler<StsValueChangedArgs> StsValueChanged;
public class commandargs : EventArgs
{
public string Command { get; set; }
public commandargs(string cmd)
{
this.Command = cmd;
}
}
public event EventHandler<commandargs> Command;
public class FrameData
{
public string Checksum { get; set; }
public byte stx { get; set; }
public byte etx { get; set; }
public string cmd { get; set; }
public string data { get; set; }
public FrameData(byte[] data)
{
this.stx = data[0];
this.etx = data[data.Length - 1];
this.Checksum = System.Text.Encoding.Default.GetString(data, data.Length - 3, 2);
this.data = System.Text.Encoding.Default.GetString(data, 1, data.Length - 4);
this.cmd = this.data.Substring(0, 3);
this.data = this.data.Substring(3);
}
}
#region SetAGV/SetSTS/SetBIT/GetBIT
Boolean GetBit(ref UInt16 _value, int idx)
{
var offset = (UInt16)(1 << idx);
return (_value & offset) != 0;
}
Boolean GetBit(ref byte _value, int idx)
{
var offset = (byte)(1 << idx);
return (_value & offset) != 0;
}
bool SetBit(ref UInt16 _value, int idx, Boolean value)
{
var oldvalue = GetBit(ref _value, idx);
if (value)
{
var offset = (UInt16)(1 << idx);
_value = (UInt16)(_value | offset);
}
else
{
var offset = (UInt16)(~(1 << idx));
_value = (UInt16)(_value & offset);
}
return oldvalue != value;
}
bool SetBit(ref byte _value, int idx, Boolean value)
{
var oldvalue = GetBit(ref _value, idx);
if (value)
{
var offset = (byte)(1 << idx);
_value = (byte)(_value | offset);
}
else
{
var offset = (byte)(~(1 << idx));
_value = (byte)(_value & offset);
}
return oldvalue != value;
}
public bool GetAGV(DevAGV.esystemflag1 flag)
{
var idx = (int)flag;
return GetBit(ref system1, idx);
}
public void SetAGV(DevAGV.esystemflag0 flag, bool value)
{
var idx = (int)flag;
if (SetBit(ref system0, idx, value))
ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system0));
}
public void SetAGV(DevAGV.esystemflag1 flag, bool value)
{
var idx = (int)flag;
if (SetBit(ref system1, idx, value))
ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system1));
}
public void SetAGV(DevAGV.eerror flag, bool value)
{
var idx = (int)flag;
if (SetBit(ref error, idx, value))
ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.error));
}
public void SetAGV(DevAGV.esignal flag, bool value)
{
var idx = (int)flag;
if (SetBit(ref signal, idx, value))
ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.signal));
}
public void SetSTS(estsvaluetype target, char value)
{
//bool changed = false;
switch (target)
{
case estsvaluetype.sensor:
//changed = this.sts_sensor.Equals(value);
sts_sensor = value;
break;
case estsvaluetype.direction:
//changed = this.sts_dir.Equals(value);
sts_dir = value;
break;
case estsvaluetype.speed:
//changed = this.sts_speed.Equals(value);
sts_speed = value;
break;
case estsvaluetype.bunki:
//changed = this.sts_bunki.Equals(value);
sts_bunki = value;
break;
}
//if(changed)
{
StsValueChanged?.Invoke(this, new StsValueChangedArgs(target, value));
}
}
#endregion
public override bool ProcessRecvData(byte[] data)
{
//dd로 시작하고 34개의 데이터
//STS258FFFF40000000LSF0000003A
//02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
var frame = new FrameData(data);
switch (frame.cmd)
{
case "CRN": //기동명령
//sts_dir = frame.data[0];
SetSTS(estsvaluetype.direction, frame.data[0]);
SetAGV(esystemflag1.agv_stop, false);
SetAGV(esystemflag1.agv_run, true);
break;
case "CST": //중지명령
//(바로 중지한다)
if (frame.data.StartsWith("M"))
{
Command?.Invoke(this, new commandargs("stopmark"));
}
else
{
SetAGV(esystemflag1.agv_run, false);
SetAGV(esystemflag1.agv_stop, true);
}
break;
case "CBR": //분기명령
//FSL
SetSTS(estsvaluetype.direction, frame.data[0]);
SetSTS(estsvaluetype.bunki, frame.data[1]);
SetSTS(estsvaluetype.speed, frame.data[2]);
SetSTS(estsvaluetype.sensor, frame.data[3]);
break;
case "CRT"://수동제어
sts_dir = frame.data[0];
sts_bunki = frame.data[1];
sts_speed = frame.data[2];
sts_sensor = frame.data[3];
SetAGV(esystemflag1.agv_stop, false);
SetAGV(esystemflag1.agv_run, true);
break;
case "ACK": //응답ok
RaiseMessage(MessageType.Normal, $">> {frame.cmd} DATA={frame.data}");
break;
case "SFR": //reset
SetAGV(DevAGV.eerror.Emergency, false);
SetAGV(DevAGV.eerror.line_out_error, false);
SetAGV(DevAGV.eerror.Overcurrent, false);
SetAGV(DevAGV.esystemflag1.agv_run, false);
SetAGV(DevAGV.esystemflag1.agv_stop, true);
break;
case "CBT"://충전작업
SetAGV(DevAGV.esystemflag1.Battery_charging, true);
var id = frame.data.Substring(2, 2);
var cmd = frame.data[4];
var delaytime = int.Parse(frame.data.Substring(5));
if (cmd == 'I') SetAGV(DevAGV.esystemflag1.Battery_charging, true);
else SetAGV(esystemflag1.Battery_charging, false);
break;
case "SSH":
case "SSM":
case "SSL":
case "SSS":
case "SHS":
case "SLS":
case "SPK":
case "SPM":
case "SPL":
case "SPS":
case "SIK":
case "SIM":
case "SIH":
case "SIL":
case "SIS":
case "SDK":
case "SDW":
case "SDL":
case "SDS":
case "SRS":
case "SCK":
case "SSK":
case "STT":
case "SSI":
case "SMD":
case "SSC":
case "SPN":
case "SPH":
case "SCH":
case "SDH":
case "SDM":
case "SLB":
SendCmd("ACK", frame.cmd);
break;
default:
RaiseMessage(MessageType.Normal, $"미처리명령 {frame.cmd} DATA={frame.data}");
break;
}
return true;
}
public void SendCmd(string cmd, string value)
{
var barr = new List<byte>();
barr.Add(0x02);
barr.AddRange(System.Text.Encoding.Default.GetBytes(cmd));
barr.AddRange(System.Text.Encoding.Default.GetBytes(value));
barr.Add((byte)'*');
barr.Add((byte)'*');
barr.Add(0x03);
var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
WriteData(barr.ToArray());
}
public void SendTag(string tagno)
{
tagno = tagno.PadLeft(6, '0');
if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
var barr = new List<byte>();
barr.Add(0x02);
barr.Add((byte)'T');
barr.Add((byte)'A');
barr.Add((byte)'G');
barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
barr.Add((byte)'*');
barr.Add((byte)'*');
barr.Add(0x03);
var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
WriteData(barr.ToArray());
}
public override void AutoSendData()
{
//if (_device.DtrEnable == false) return;
//STS258FFFF40000000LSF0000003A
//02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
var sample = "02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03";
var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
//if (RequestStatusData != null)
//{
//var p = new RequestStatusDataArgs();
//RequestStatusData.Invoke(this, p);
var voltstr = "255";// ((int)(p.volt * 10f)).ToString().PadRight(3, '0');
var bufarr = System.Text.Encoding.Default.GetBytes(voltstr);
Array.Copy(bufarr, 0, barr, 4, bufarr.Length);
bufarr = System.Text.Encoding.Default.GetBytes(system0.ToString("X2").PadLeft(4, '0'));
Array.Copy(bufarr, 0, barr, 7, bufarr.Length);
bufarr = System.Text.Encoding.Default.GetBytes(system1.ToString("X2").PadLeft(4, '0'));
Array.Copy(bufarr, 0, barr, 11, bufarr.Length);
bufarr = System.Text.Encoding.Default.GetBytes(error.ToString("X2").PadLeft(4, '0'));
Array.Copy(bufarr, 0, barr, 15, bufarr.Length);
barr[19] = (byte)this.sts_speed;
barr[20] = (byte)this.sts_bunki;
barr[21] = (byte)this.sts_dir;
barr[22] = (byte)this.sts_sensor;
//bufarr = System.Text.Encoding.Default.GetBytes(p.sensor.ToString().PadLeft(2, '0'));
//Array.Copy(bufarr, 0, barr, 22, bufarr.Length);
bufarr = System.Text.Encoding.Default.GetBytes(signal.ToString("X2").PadLeft(2, '0'));
Array.Copy(bufarr, 0, barr, 23, bufarr.Length);
//barr[22] = (byte)'5';
barr[barr.Length - 3] = (byte)'*';
barr[barr.Length - 2] = (byte)'*';
//}
var cmdstr = System.Text.Encoding.Default.GetString(barr);
RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
WriteData(barr.ToArray());
}
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{
//DD A5 03 00 FF FD 77 0D
//remainBuffer = new byte[] { };
List<byte> remain = new List<byte>();
bool retval = false;
foreach (var b in buf)
{
if (retval)
{
remain.Add(b);
continue;
}
if (b == 0x02) //stx
{
tempBuffer.Clear();
tempBuffer.Add(b);
}
else if (b == 0x03) //etx
{
tempBuffer.Add(b);
retval = true;
}
else
{
//데이터길이가 만족한 상태
tempBuffer.Add(b);
var maxlen = 100;
if (tempBuffer.Count > maxlen)
{
RaiseMessage(MessageType.Error, $"buffer over({maxlen})");
tempBuffer.Clear();
}
}
}
remainBuffer = remain.ToArray();
return retval;
}
}
}

64
Emulator/AGVEmulator/DevCAL.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
namespace AGVEmulator
{
class DevCAL : AR.Dev.RS232
{
public override bool ProcessRecvData(byte[] data)
{
var sample = "02 30 31 32 01 03";
var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
var sendstr = System.Text.Encoding.Default.GetString(barr);
//RaiseMessage(MessageType.Normal, "Tx:" + barr.HexString());
//WriteData(barr);
return true;
}
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{
List<byte> remain = new List<byte>();
bool retval = false;
foreach (var b in buf)
{
if (retval)
{
remain.Add(b);
continue;
}
if (b == 0x02) //stx
{
tempBuffer.Clear();
tempBuffer.Add(b);
}
else if (b == 0x03) //etx
{
tempBuffer.Add(b);
retval = true;
}
else
{
if (tempBuffer.Count > 0 && tempBuffer[0] == 0xDD)
{
tempBuffer.Add(b);
if (tempBuffer.Count > 10)
{
RaiseMessage(MessageType.Error, "buffer over");
tempBuffer.Clear();
retval = false;
}
}
else
{
//trash
}
}
}
remainBuffer = remain.ToArray();
return retval;
}
}
}

298
Emulator/AGVEmulator/DevPLC.cs Normal file
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using System;
using static AGVEmulator.DevBMS;
using System.Collections.Generic;
using System.Linq;
using System.Diagnostics.Contracts;
using arCtl;
using System.Xml.Schema;
using System.Drawing;
namespace AGVEmulator
{
class DevPLC : AR.Dev.RS232
{
byte runtime = 0;
public enum eCommand : byte
{
LOAD = 0, //EEPROM 불러오기
SAVE, //EEPROM 저장
RESET, //초기화
PINGCHK,
SET_PINMODE, //PINMODE 설정
SET_DOUTPUT, //디지털출력설정(포트번호,값[1,0])
SET_AOUTPUT, //아날로그출력설정(포트GET_SETTING = 50, //셋팅값 요청
SET_FLAG,
SET_EEPROM,
SET_MANUALSPEED,
GET_SETTING = 50,
GUIDE_MOT = 90, //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
SET_EEP_DIREV,
};
public enum DOName
{
PINO_GUIDEMOTOR_LDIR,
PINO_GUIDEMOTOR_LRUN,
PINO_GUIDEMOTOR_RDIR,
PINO_GUIDEMOTOR_RRUN,
PINO_EMPTY_26,
PINO_EMPTY_27,
PINO_EMPTY_28,
PINO_EMPTY_29,
}
public enum DIName
{
PINI_EMG,
PINI_BTN_1,
PINI_BTN_2,
PINI_BTN_3,
PINI_BTN_4,
PINI_OVERLOADL,
PINI_OVERLOADR,
PINI_EMPTY_36,
PINI_EMPTY_37,
PINI_EMPTY_38,
PINI_BTN_ZUP,
PINI_BTN_ZDN,
PINI_LIMIT_LU,
PINI_LIMIT_LD,
PINI_LIMIT_RU,
PINI_LIMIT_RD,
PINI_STOP,
}
public class ValueChangedArgs : EventArgs
{
public int Idx { get; set; }
public bool Value { get; set; }
public bool IsOut { get; set; }
public ValueChangedArgs(int idx, bool val, bool isOut)
{
this.Idx = idx;
this.Value = val;
this.IsOut = isOut;
}
}
public class RequestBatteryDataArgs : EventArgs
{
public UInt32 IOValue { get; set; }
public UInt32 FGValue { get; set; }
public RequestBatteryDataArgs()
{
this.IOValue = 0x00;
this.FGValue = 0xFF;
}
}
public event EventHandler<RequestBatteryDataArgs> RequestData;
public event EventHandler<ValueChangedArgs> ValueChanged;
public override bool ProcessRecvData(byte[] data)
{
//dd로 시작하고 34개의 데이터
// var sample = "DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77";
// var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
var datalne = data[2];
byte[] buffer = new byte[datalen];
Array.Copy(data, 3, buffer, 0, buffer.Length);
var cmd = (eCommand)buffer[0];
if (cmd == eCommand.GUIDE_MOT)
{
var p1 = (char)buffer[1];
var p2 = (char)buffer[2];
switch (p1)
{
case 'A': //all
if (p2 == 'P')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, true, true));
}
else if (p2 == 'N')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, false, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, false, true));
}
else if(p2 == 'S')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, false, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, false, true));
}
break;
case 'L':
if (p2 == 'P')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, true, true));
}
else if (p2 == 'N')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, false, true));
}
else if (p2 == 'S')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, false, true));
}
break;
case 'R':
if (p2 == 'P')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, true, true));
}
else if (p2 == 'N')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, false, true));
}
else if (p2 == 'S')
{
ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, false, true));
}
break;
}
}
return true;
}
public override void AutoSendData()
{
//if (_device.DtrEnable == false) return;
List<byte> barr = new List<byte>();
barr.Add((byte)'@');
barr.Add((byte)'@');
barr.Add(10);
barr.Add((byte)'I');
//입/출력포트 각 16접 데이터 입력
UInt32 iovalue = 0;
//플래그 각 16접 데이터 입력
UInt32 fgvalue = 0;
if (RequestData != null)
{
var p = new RequestBatteryDataArgs();
RequestData.Invoke(this, p);
iovalue = p.IOValue;
fgvalue = p.FGValue;
}
var arr_volt = BitConverter.GetBytes(iovalue).ToArray();
foreach (var b in arr_volt)
barr.Add(b);
arr_volt = BitConverter.GetBytes(fgvalue).ToArray();
foreach (var b in arr_volt)
barr.Add(b);
if (runtime < 255) runtime += 1;
else runtime = 0;
barr.Add(runtime);
//체크섬무시
barr.Add((byte)'*');
//barr.Add((byte)'*');
barr.Add(0x0D);
barr.Add(0x0A);
RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
WriteData(barr.ToArray());
}
bool findstx2 = false;
byte datalen = 0;
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{
//DD A5 03 00 FF FD 77 0D
//remainBuffer = new byte[] { };
List<byte> remain = new List<byte>();
bool retval = false;
foreach (var b in buf)
{
if (retval)
{
remain.Add(b);
continue;
}
if (findSTX == false)
{
if (b == '@')
{
tempBuffer.Clear();
tempBuffer.Add(b);
findSTX = true;
findstx2 = false;
datalen = 0;
}
}
else if (findstx2 == false)
{
if (b == '@')
{
tempBuffer.Add(b);
findstx2 = true;
datalen = 0;
}
else
{
tempBuffer.Clear();
findSTX = false;
findstx2 = false;
}
}
else if (datalen == 0)
{
tempBuffer.Add(b);
datalen = b;
}
else
{
//데이터길이가 만족한 상태
tempBuffer.Add(b);
var maxlen = datalen + 3 + 3;
if (tempBuffer.Count == maxlen)
{
if (tempBuffer[tempBuffer.Count - 1] == 0x0A && tempBuffer[tempBuffer.Count - 2] == 0x0D)
{
//무조건 맞는걸로 하자 체크섬은 체크하지 말자
retval = true;
}
}
else if (tempBuffer.Count > maxlen)
{
RaiseMessage(MessageType.Error, $"buffer over({maxlen})");
findstx2 = false;
findSTX = false;
datalen = 0;
tempBuffer.Clear();
}
}
}
remainBuffer = remain.ToArray();
return retval;
}
}
}

1973
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1154
Emulator/AGVEmulator/Form1.cs Normal file
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160
Emulator/AGVEmulator/Form1.resx Normal file
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<?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" />
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<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" />
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</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="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
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</metadata>
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>104, 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">
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34
Emulator/AGVEmulator/Program.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Windows.Forms;
namespace AGVEmulator
{
static class Program
{
/// <summary>
/// 해당 애플리케이션의 주 진입점입니다.
/// </summary>
[STAThread]
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new Form1());
}
}
public static class methodext
{
public static string HexString(this byte[] buf)
{
var sb = new System.Text.StringBuilder();
foreach (var b in buf)
{
sb.Append(" " + b.ToString("X2"));
}
return sb.ToString();
}
}
}

36
Emulator/AGVEmulator/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("AGVEmulator")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("AGVEmulator")]
[assembly: AssemblyCopyright("Copyright © 2022")]
[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("9312ab43-72f6-4365-a266-e767215fa7f5")]
// 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 번호를
// 기본값으로 할 수 있습니다.
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]

63
Emulator/AGVEmulator/Properties/Resources.Designer.cs generated Normal file
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//------------------------------------------------------------------------------
// <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 AGVEmulator.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", "17.0.0.0")]
[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("AGVEmulator.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대해 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
Emulator/AGVEmulator/Properties/Resources.resx Normal file
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<?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>
<xsd:sequence>
<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>
</root>

26
Emulator/AGVEmulator/Properties/Settings.Designer.cs generated Normal file
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//------------------------------------------------------------------------------
// <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 AGVEmulator.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.4.0.0")]
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 {
return defaultInstance;
}
}
}
}

7
Emulator/AGVEmulator/Properties/Settings.settings Normal file
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<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
</Profiles>
<Settings />
</SettingsFile>

481
Emulator/AGVEmulator/RS232.cs Normal file
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading;
namespace AR.Dev
{
public abstract partial class RS232 : IDisposable
{
protected System.IO.Ports.SerialPort _device;
protected ManualResetEvent _mre;
protected byte[] LastReceiveBuffer;
protected List<byte> tempBuffer = new List<byte>();
protected Boolean findSTX = false;
public int WriteError = 0;
public string WriteErrorMessage = string.Empty;
public int WaitTimeout { get; set; } = 1000;
public int MinRecvLength { get; set; } = 1;
/// <summary>
/// 포트이름
/// </summary>
[Description("시리얼 포트 이름")]
[Category("설정"), DisplayName("Port Name")]
public string PortName
{
get
{
if (_device == null) return string.Empty;
else return _device.PortName;
}
set
{
if (this.IsOpen)
{
Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 포트이름을 변경할 수 없습니다", true));
}
else if (String.IsNullOrEmpty(value) == false)
_device.PortName = value;
else
{
Message?.Invoke(this, new MessageEventArgs("No PortName", true));
}
}
}
public int BaudRate
{
get
{
if (_device == null) return 0;
else return _device.BaudRate;
}
set
{
if (this.IsOpen)
{
Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 BaudRate(를) 변경할 수 없습니다", true));
}
else if (value != 0)
_device.BaudRate = value;
else Message?.Invoke(this, new MessageEventArgs("No baud rate", true));
}
}
public string errorMessage { get; set; }
public DateTime LastConnTime { get; set; }
public DateTime LastConnTryTime { get; set; }
public DateTime lastSendTime;
/// <summary>
/// 메세지 수신시 사용하는 내부버퍼
/// </summary>
protected List<byte> _buffer = new List<byte>();
/// <summary>
/// 최종 전송 메세지
/// </summary>
public byte[] lastSendBuffer;
public byte[] LastRecvData;
public string LastRecvString
{
get
{
if (LastRecvData == null) return String.Empty;
else return System.Text.Encoding.Default.GetString(LastRecvData);
}
}
/// <summary>
/// 마지막으로 데이터를 받은 시간
/// </summary>
public DateTime lastRecvTime;
public RS232()
{
_device = new System.IO.Ports.SerialPort();
this.BaudRate = 9600;
_device.DataReceived += barcode_DataReceived;
_device.ErrorReceived += this.barcode_ErrorReceived;
_device.WriteTimeout = 5000;
_device.ReadTimeout = 5000;
_device.DtrEnable = false;
_device.RtsEnable = false;
_device.ReadBufferSize = 8192;
_device.WriteBufferSize = 8192;
errorMessage = string.Empty;
lastRecvTime = DateTime.Parse("1982-11-23");
LastConnTime = DateTime.Parse("1982-11-23");
LastConnTryTime = DateTime.Parse("1982-11-23");
lastRecvTime = DateTime.Parse("1982-11-23");
this._mre = new ManualResetEvent(true);
}
~RS232()
{
Dispose(false);
}
// Flag: Has Dispose already been called?
bool disposed = false;
// Public implementation of Dispose pattern callable by consumers.
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
// Protected implementation of Dispose pattern.
protected virtual void Dispose(bool disposing)
{
if (disposed)
return;
if (disposing)
{
// Free any other managed objects here.
//
}
_device.DataReceived -= barcode_DataReceived;
_device.ErrorReceived -= this.barcode_ErrorReceived;
// Free any unmanaged objects here.
//
disposed = true;
}
public Boolean Open()
{
try
{
_device.Open();
Message?.Invoke(this, new MessageEventArgs(msgtype: MessageType.Normal, $"port open:{_device.IsOpen}"));
return IsOpen;
}
catch (Exception ex)
{
errorMessage = ex.Message;
Message.Invoke(this, new MessageEventArgs(ex.Message, true));
return false;
}
}
public string GetHexString(Byte[] input)
{
System.Text.StringBuilder sb = new System.Text.StringBuilder();
foreach (byte b in input)
sb.Append(" " + b.ToString("X2"));
return sb.ToString();
}
/// <summary>
/// 포트가 열려있는지 확인
/// </summary>
[Description("현재 시리얼포트가 열려있는지 확인합니다")]
[Category("정보"), DisplayName("Port Open")]
public Boolean IsOpen
{
get
{
if (_device == null) return false;
return _device.IsOpen;
}
}
public virtual void Close(Boolean PortClose = true)
{
if (_device != null && _device.IsOpen)
{
_device.DiscardInBuffer();
_device.DiscardOutBuffer();
if (PortClose) _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
}
}
public Boolean RaiseRecvData()
{
return RaiseRecvData(LastReceiveBuffer.ToArray());
}
/// <summary>
/// 수신받은 메세지를 발생 시킵니다
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public virtual Boolean RaiseRecvData(byte[] Data)
{
//181206 - 최종수신 메세지 기록
lastRecvTime = DateTime.Now;
LastRecvData = Data;
try
{
Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
if (ProcessRecvData(Data) == false)
{
//Message?.Invoke(this, new MessageEventArgs(Data, true)); //recvmessage
Message?.Invoke(this, new MessageEventArgs(this.errorMessage, true)); //errormessage
return false;
}
else
{
return true;
}
}
catch (Exception ex)
{
this.errorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
return false;
}
}
/// <summary>
/// 수신받은 자료를 처리한다
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public abstract bool ProcessRecvData(byte[] data);
#region "Internal Events"
void barcode_ErrorReceived(object sender, System.IO.Ports.SerialErrorReceivedEventArgs e)
{
Message?.Invoke(this, new MessageEventArgs(e.ToString(), true));
}
void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
try
{
int ReadCount = _device.BytesToRead;
byte[] buffer = new byte[ReadCount];
_device.Read(buffer, 0, buffer.Length);
System.Text.StringBuilder LogMsg = new StringBuilder();
byte[] remainBuffer;
Repeat:
if (CustomParser(buffer, out remainBuffer))
{
//parser ok
LastReceiveBuffer = tempBuffer.ToArray();
RaiseRecvData();
tempBuffer.Clear();
if (remainBuffer != null && remainBuffer.Length > 0)
{
//버퍼를 변경해서 다시 전송을 해준다.
buffer = new byte[remainBuffer.Length];
Array.Copy(remainBuffer, buffer, buffer.Length);
goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
}
}
}
catch (Exception ex)
{
if (IsOpen)
{
//_device.DiscardInBuffer();
//_device.DiscardOutBuffer();
}
errorMessage = ex.Message;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
}
}
#endregion
#region "External Events"
/// <summary>
/// 오류 및 기타 일반 메세지
/// </summary>
public event EventHandler<MessageEventArgs> Message;
#endregion
#region "Event Args"
/// <summary>
/// 데이터를 수신할떄 사용함(RAW 포함)
/// </summary>
public class ReceiveDataEventArgs : EventArgs
{
private byte[] _buffer = null;
/// <summary>
/// 바이트배열의 버퍼값
/// </summary>
public byte[] Value { get { return _buffer; } }
/// <summary>
/// 버퍼(바이트배열)의 데이터를 문자로 반환합니다.
/// </summary>
public string StrValue
{
get
{
//return string.Empty;
if (_buffer == null || _buffer.Length < 1) return string.Empty;
else return System.Text.Encoding.Default.GetString(_buffer);
}
}
public ReceiveDataEventArgs(byte[] buffer)
{
_buffer = buffer;
}
}
/// <summary>
/// 메세지를 강제 발생
/// </summary>
/// <param name="mt"></param>
/// <param name="message"></param>
protected virtual void RaiseMessage(MessageType mt, string message)
{
this.Message?.Invoke(this, new MessageEventArgs(mt, message));
}
public enum MessageType
{
Normal,
Error,
Send,
Recv,
}
public class MessageEventArgs : EventArgs
{
public MessageType MsgType { get; set; }
private string _message = string.Empty;
/// <summary>
/// Recv,Send,Normal,Error 모두 지원
/// </summary>
public string Message { get { return _message; } }
private byte[] _data = null;
/// <summary>
/// Recv,Send에서만 값이 존재 합니다
/// </summary>
public byte[] Data { get { return _data; } }
public MessageEventArgs(string Message, bool isError = false)
{
if (isError) MsgType = MessageType.Error;
else MsgType = MessageType.Normal;
_message = Message;
}
public MessageEventArgs(MessageType msgtype, string Message)
{
MsgType = msgtype;
_message = Message;
_data = System.Text.Encoding.Default.GetBytes(Message);
}
public MessageEventArgs(byte[] buffer, bool isRecv = true)
{
if (isRecv) MsgType = MessageType.Recv;
else MsgType = MessageType.Send;
_data = new byte[buffer.Length];
Array.Copy(buffer, _data, Data.Length);
_message = System.Text.Encoding.Default.GetString(_data);
}
}
#endregion
public virtual void AutoSendData()
{
}
protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
/// <summary>
/// 데이터수신시간이 설정값보다 x 2.5를 초과하면 false 가 반환됨
/// </summary>
public Boolean IsValid
{
get
{
if (IsOpen == false) return false;
if (lastRecvTime.Year == 1982) return false;
var ts = DateTime.Now - lastRecvTime;
if (ts.TotalSeconds > 5) return false;
return true;
}
}
public bool WriteData(string cmd)
{
return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
}
/// <summary>
/// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
/// </summary>
public Boolean WriteData(byte[] data)
{
Boolean bRet = false;
//171205 : 타임아웃시간추가
if (!_mre.WaitOne(WaitTimeout))
{
errorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
this.Message?.Invoke(this, new MessageEventArgs(errorMessage, true));
return false;
}
_mre.Reset();
//Array.Resize(ref data, data.Length + 2);
try
{
lastSendTime = DateTime.Now;
if (lastSendBuffer == null) lastSendBuffer = new byte[data.Length]; //171113
else Array.Resize(ref lastSendBuffer, data.Length);
Array.Copy(data, lastSendBuffer, data.Length);
for (int i = 0; i < data.Length; i++)
_device.Write(data, i, 1);
//_device.Write(data, 0, data.Length);
//171113
this.Message?.Invoke(this, new MessageEventArgs(data, false));
bRet = true;
WriteError = 0;
WriteErrorMessage = string.Empty;
}
catch (Exception ex)
{
// this.isinit = false;
this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
bRet = false;
WriteError += 1; //연속쓰기오류횟수
WriteErrorMessage = ex.Message;
}
finally
{
_mre.Set();
}
return bRet;
}
}
}

37
Emulator/AGVEmulator/UC/AgvViewer.Designer.cs generated Normal file
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namespace AGVEmulator.UC
{
partial class AgvViewer
{
/// <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 구성 요소 디자이너에서 생성한 코드
/// <summary>
/// 디자이너 지원에 필요한 메서드입니다.
/// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
/// </summary>
private void InitializeComponent()
{
components = new System.ComponentModel.Container();
}
#endregion
}
}

272
Emulator/AGVEmulator/UC/AgvViewer.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;
namespace AGVEmulator.UC
{
public partial class AgvViewer : Control
{
public AgvViewer()
{
InitializeComponent();
// Set Optimized Double Buffer to reduce flickering
this.SetStyle(ControlStyles.UserPaint, true);
this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
// Redraw when resized
this.SetStyle(ControlStyles.ResizeRedraw, true);
}
public class TagArgs : EventArgs
{
public string Data { get; set; }
public bool Active { get; set; }
public TagArgs(string tag,bool act)
{
this.Data = tag;
this.Active = act;
}
}
public event EventHandler<TagArgs> TagTouched;
public event EventHandler<TagArgs> MarkTouched;
public event EventHandler<TagArgs> Command;
public bool StopbyMark { get; set; }
public float mpos = 100;
public float posmax = 1200;
public float posmin = 0;
public float mspd = 10;
public System.Diagnostics.Stopwatch wat = new System.Diagnostics.Stopwatch();
public Font FontTag { get; set; }
public Font FontMrk { get; set; }
public int dir = 1;
public class ptdata
{
public float pos { get; set; } = 0f;
public string data { get; set; } = string.Empty;
public Boolean active { get; set; } = false;
}
public ptdata[] listMRK { get; set; }
public ptdata[] listTAG { get; set; }
public string lasttag { get; set; } = string.Empty;
public string lasttagdir { get; set; } = string.Empty;
public string lastmark { get; set; } = string.Empty;
public string lastmarkdir { get; set; } = string.Empty;
protected override void OnPaint(PaintEventArgs pe)
{
pe.Graphics.Clear(this.BackColor);
var r = new Rectangle(DisplayRectangle.Left + Padding.Left,
DisplayRectangle.Top + Padding.Top,
DisplayRectangle.Width - Padding.Right - Padding.Left - 1,
DisplayRectangle.Height - Padding.Top - Padding.Bottom - 1);
// pe.Graphics.FillRectangle(new SolidBrush(this.BackColor), DisplayRectangle);
pe.Graphics.DrawRectangle(Pens.Black, r);
var ptwidth = 25;
var ptheight = 35;
if (listMRK != null && listMRK.Any() && FontMrk != null)
{
foreach (var item in listMRK)
{
var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
var rr = new RectangleF(x - ptwidth, r.Top + r.Height / 2f - ptheight / 2f, ptwidth * 2, ptheight);
pe.Graphics.DrawLine(Pens.Gray, x, r.Top, x, r.Bottom);
pe.Graphics.FillRectangle(new SolidBrush(Color.FromArgb(120, Color.Gold)), rr);
pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
pe.Graphics.DrawString(item.data, FontMrk, Brushes.Gray, rr, new StringFormat
{
Alignment = StringAlignment.Center,
LineAlignment = StringAlignment.Center,
});
}
}
ptwidth = 15;
if (listTAG != null && listTAG.Any() && FontTag != null)
{
var lst = listTAG.Where(t => t.data.EndsWith("1"));
foreach (var item in lst)
{
var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
var rr = new RectangleF(x - ptwidth, r.Top + 5, ptwidth * 2, 15);
pe.Graphics.DrawLine(Pens.Orange, x, r.Top, x, rr.Top);
pe.Graphics.FillRectangle(Brushes.Orange, rr);
pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
{
Alignment = StringAlignment.Center,
LineAlignment = StringAlignment.Center,
});
}
lst = listTAG.Where(t => t.data.EndsWith("0"));
foreach (var item in lst)
{
var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
var rr = new RectangleF(x - ptwidth, r.Bottom - 20, ptwidth * 2, 15);
pe.Graphics.DrawLine(Pens.Orange, x, rr.Bottom, x, r.Bottom);
pe.Graphics.FillRectangle(Brushes.Orange, rr);
pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
{
Alignment = StringAlignment.Center,
LineAlignment = StringAlignment.Center,
});
}
}
var posX = r.Left + (mpos / posmax) * r.Width;
var posY = r.Top + r.Height / 2f;
var boxw = r.Width * 0.030f;
var boxh = r.Height * 0.15f;
var box = new RectangleF(posX - boxw, posY - boxh, boxw * 2, boxh * 2);
var box2 = new RectangleF(box.Left - 5, box.Top + 3, 10, box.Height - 6);
for (int i = 0; i < posmax; i += 100)
{
var x = r.Left + ((i * 1f) / posmax) * r.Width;
pe.Graphics.DrawLine(Pens.Black, x, r.Bottom - 3, x, r.Bottom);
if (i > 0)
pe.Graphics.DrawString($"{i / 10f}m", this.Font, Brushes.Black, x - 12, r.Bottom - 15);
}
pe.Graphics.FillRectangle(Brushes.LightSkyBlue, box);
pe.Graphics.DrawRectangle(Pens.Black, box.Left, box.Top, box.Width, box.Height);
pe.Graphics.DrawLine(new Pen(Color.Black, 4), posX, box.Top - 5, posX, box.Bottom + 5);
pe.Graphics.FillRectangle(Brushes.Gold, box2);
pe.Graphics.DrawRectangle(Pens.Black, box2.Left, box2.Top, box2.Width, box2.Height);
//pe.Graphics.DrawString((mpos / 10f).ToString("N1") + "m", this.Font, Brushes.Black, box, new StringFormat
//{
// Alignment = StringAlignment.Center,
// LineAlignment = StringAlignment.Center,
//});
if (StopbyMark)
pe.Graphics.DrawString("!MRK-STP!", this.Font, Brushes.Blue, r.Left+2, r.Top+2);
if (wat.IsRunning)
{
var newpos = mspd * (wat.ElapsedMilliseconds / 1000f);
if (dir < 0) //forward
{
if (mpos - newpos < 0)
mpos = posmax;
else mpos -= newpos;
//내위치주변에 마커가 있는지 본다
var mlist = listMRK.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
var mrk = mlist.FirstOrDefault();
if (mrk != null)
{
//대상마커가있다
if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("F") == false)
{
lastmark = mrk.data;
lastmarkdir = "F";
mrk.active = true;
MarkTouched?.Invoke(this, new TagArgs(mrk.data,true));
if(StopbyMark)
{
Command?.Invoke(this, new TagArgs("stop",true));
StopbyMark = false;
}
}
}
else
{
if (string.IsNullOrEmpty(lastmark) == false)
{
foreach(var item in listMRK.Where(t=>t.active))
{
item.active = false;
MarkTouched?.Invoke(this, new TagArgs(item.data,false));
}
}
}
//주변태그확인
var tlist = listTAG.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
var tag = tlist.FirstOrDefault();
if (tag != null)
{
//대상마커가있다
if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("F") == false)
{
lasttag = tag.data;
lasttagdir = "F";
TagTouched?.Invoke(this, new TagArgs(tag.data, true));
}
}
}
else //backward
{
if (mpos + newpos > posmax)
mpos = 0;
else mpos += newpos;
//내위치주변에 마커가 있는지 본다
var mlist = listMRK.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
var mrk = mlist.FirstOrDefault();
if (mrk != null)
{
//대상마커가있다
if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("B") == false)
{
lastmark = mrk.data;
lastmarkdir = "B";
mrk.active = true;
MarkTouched?.Invoke(this, new TagArgs(mrk.data, true));
if (StopbyMark)
{
Command?.Invoke(this, new TagArgs("stop", true));
StopbyMark = false;
}
}
}
else
{
if (string.IsNullOrEmpty(lastmark) == false)
{
foreach (var item in listMRK.Where(t => t.active))
{
item.active = false;
MarkTouched?.Invoke(this, new TagArgs(item.data, false));
}
}
}
//주변태그확인
var tlist = listTAG.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
var tag = tlist.FirstOrDefault();
if (tag != null)
{
//대상마커가있다
if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("B") == false)
{
lasttag = tag.data;
lasttagdir = "B";
TagTouched?.Invoke(this, new TagArgs(tag.data, true));
}
}
}
wat.Restart();
}
}
}
}

162
Emulator/AGVEmulator/UC/SerialConn.Designer.cs generated Normal file
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namespace AGVEmulator
{
partial class SerialConn
{
/// <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 구성 요소 디자이너에서 생성한 코드
/// <summary>
/// 디자이너 지원에 필요한 메서드입니다.
/// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
/// </summary>
private void InitializeComponent()
{
this.cmbBaud = new System.Windows.Forms.ComboBox();
this.cmbPOrt = new System.Windows.Forms.ComboBox();
this.panel1 = new System.Windows.Forms.Panel();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.lbrx = new System.Windows.Forms.Label();
this.lbtx = new System.Windows.Forms.Label();
this.button1 = new System.Windows.Forms.Button();
this.panel1.SuspendLayout();
this.tableLayoutPanel1.SuspendLayout();
this.SuspendLayout();
//
// cmbBaud
//
this.cmbBaud.Dock = System.Windows.Forms.DockStyle.Top;
this.cmbBaud.Font = new System.Drawing.Font("굴림", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.cmbBaud.FormattingEnabled = true;
this.cmbBaud.Items.AddRange(new object[] {
"9600",
"12800",
"25600",
"38400",
"512000"});
this.cmbBaud.Location = new System.Drawing.Point(0, 28);
this.cmbBaud.Name = "cmbBaud";
this.cmbBaud.Size = new System.Drawing.Size(134, 28);
this.cmbBaud.TabIndex = 0;
this.cmbBaud.Text = "9600";
//
// cmbPOrt
//
this.cmbPOrt.Dock = System.Windows.Forms.DockStyle.Top;
this.cmbPOrt.Font = new System.Drawing.Font("굴림", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.cmbPOrt.FormattingEnabled = true;
this.cmbPOrt.Location = new System.Drawing.Point(0, 0);
this.cmbPOrt.Name = "cmbPOrt";
this.cmbPOrt.Size = new System.Drawing.Size(134, 28);
this.cmbPOrt.TabIndex = 1;
//
// panel1
//
this.panel1.Controls.Add(this.tableLayoutPanel1);
this.panel1.Controls.Add(this.cmbBaud);
this.panel1.Controls.Add(this.cmbPOrt);
this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.panel1.Location = new System.Drawing.Point(0, 0);
this.panel1.Name = "panel1";
this.panel1.Size = new System.Drawing.Size(134, 96);
this.panel1.TabIndex = 2;
//
// tableLayoutPanel1
//
this.tableLayoutPanel1.ColumnCount = 2;
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel1.Controls.Add(this.lbrx, 0, 0);
this.tableLayoutPanel1.Controls.Add(this.lbtx, 1, 0);
this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 56);
this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 1;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(134, 40);
this.tableLayoutPanel1.TabIndex = 4;
//
// lbrx
//
this.lbrx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lbrx.Dock = System.Windows.Forms.DockStyle.Fill;
this.lbrx.Font = new System.Drawing.Font("Microsoft Sans Serif", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.lbrx.Location = new System.Drawing.Point(0, 0);
this.lbrx.Margin = new System.Windows.Forms.Padding(0);
this.lbrx.Name = "lbrx";
this.lbrx.Size = new System.Drawing.Size(67, 40);
this.lbrx.TabIndex = 2;
this.lbrx.Text = "RX";
this.lbrx.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lbtx
//
this.lbtx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lbtx.Dock = System.Windows.Forms.DockStyle.Fill;
this.lbtx.Font = new System.Drawing.Font("Microsoft Sans Serif", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.lbtx.Location = new System.Drawing.Point(67, 0);
this.lbtx.Margin = new System.Windows.Forms.Padding(0);
this.lbtx.Name = "lbtx";
this.lbtx.Size = new System.Drawing.Size(67, 40);
this.lbtx.TabIndex = 3;
this.lbtx.Text = "TX";
this.lbtx.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// button1
//
this.button1.Dock = System.Windows.Forms.DockStyle.Right;
this.button1.FlatAppearance.BorderColor = System.Drawing.Color.DodgerBlue;
this.button1.FlatAppearance.BorderSize = 3;
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Font = new System.Drawing.Font("맑은 고딕", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.button1.Location = new System.Drawing.Point(134, 0);
this.button1.Margin = new System.Windows.Forms.Padding(0);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(82, 96);
this.button1.TabIndex = 3;
this.button1.Text = "연결";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// SerialConn
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.panel1);
this.Controls.Add(this.button1);
this.Name = "SerialConn";
this.Size = new System.Drawing.Size(216, 96);
this.panel1.ResumeLayout(false);
this.tableLayoutPanel1.ResumeLayout(false);
this.ResumeLayout(false);
}
#endregion
private System.Windows.Forms.ComboBox cmbBaud;
private System.Windows.Forms.ComboBox cmbPOrt;
private System.Windows.Forms.Panel panel1;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Label lbtx;
private System.Windows.Forms.Label lbrx;
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
}
}

130
Emulator/AGVEmulator/UC/SerialConn.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.Windows.Forms;
namespace AGVEmulator
{
public partial class SerialConn : UserControl
{
public AR.Dev.RS232 dev { get; set; }
public SerialConn()
{
InitializeComponent();
}
void AttachEvent()
{
dev.Message += Dev_Message;
}
void DetachEvent()
{
dev.Message -= Dev_Message;
}
private void Dev_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
{
if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
ToggleRX();
else if (e.MsgType == AR.Dev.RS232.MessageType.Send)
ToggleTX();
}
public void SetPortList(string[] list)
{
cmbPOrt.Items.Clear();
foreach (var item in list)
cmbPOrt.Items.Add(item);
}
public string PortName
{
get
{
return cmbPOrt.Text;
}
set { this.cmbPOrt.Text = value; }
}
public int BaudRate
{
get
{
return int.Parse(cmbBaud.Text);
}
set
{
cmbBaud.Text = value.ToString();
}
}
public void ToggleTX()
{
if (lbtx.BackColor == Color.DeepSkyBlue)
lbtx.BackColor = Color.White;
else lbtx.BackColor = Color.DeepSkyBlue;
}
public void ToggleRX()
{
if (lbrx.BackColor == Color.Lime)
lbrx.BackColor = Color.White;
else lbrx.BackColor = Color.Lime;
}
public void Disconnect()
{
if (this.dev.IsOpen)
{
DetachEvent();
dev.Close();
}
if (dev.IsOpen)
button1.BackColor = Color.Lime;
else button1.BackColor = Color.Tomato;
}
public void Connect()
{
if (this.dev.IsOpen)
{
DetachEvent();
dev.Close();
}
else
{
this.dev.PortName = cmbPOrt.Text;
this.dev.BaudRate = int.Parse(cmbBaud.Text);
AttachEvent();
try
{
dev.Open();
}
catch (Exception ex)
{
button1.BackColor = Color.Red;
}
}
if (dev.IsOpen)
button1.BackColor = Color.Lime;
else button1.BackColor = Color.Tomato;
}
private void button1_Click(object sender, EventArgs e)
{
if (this.dev == null)
{
MessageBox.Show("시리얼 개체가 연결되지 않았습니다");
return;
}
if(int.TryParse(cmbBaud.Text,out int baud)==false)
{
MessageBox.Show("Baudrate 값이 올바르지 않습니다");
return;
}
Connect();
}
}
}

120
Emulator/AGVEmulator/UC/SerialConn.resx Normal file
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<?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>
</root>

3
Emulator/AGVEmulator/app.config Normal file
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<?xml version="1.0" encoding="utf-8"?>
<configuration>
<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/></startup></configuration>

228
Emulator/AGVEmulator/devBMS.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace AGVEmulator
{
class DevBMS : AR.Dev.RS232
{
public class RequestBatteryDataArgs : EventArgs
{
public float Volt { get; set; }
public float Remain { get; set; }
public int CurA { get; set; }
public int MaxA { get; set; }
public RequestBatteryDataArgs()
{
this.Volt = 25;
this.Remain = 79f;
this.CurA = 40;
this.MaxA = 80;
}
}
public class RequestVoltageDataArgs : EventArgs
{
public UInt16[] cellVolt { get; set; }
public RequestVoltageDataArgs()
{
cellVolt = new UInt16[] { 0, 0, 0, 0, 0, 0, 0, 0 };
}
}
public event EventHandler<RequestBatteryDataArgs> RequestBatteryData;
public event EventHandler<RequestVoltageDataArgs> RequestVoltageData;
public override bool ProcessRecvData(byte[] data)
{
//dd로 시작하고 34개의 데이터(명령이 0D로 끝나면 34이고, 77로 끝나면 34보다크다)
var sample000D = "DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77";
var sampleFC77 = "DD 03 00 1B 0A 6E 0D DD 04 00 10 0D 0A 0D 09 0D 0C 0D 09 0D 0A 0D 09 0D 09 0D 0C FF 38 77 DD 04 00 10 0D 0A 0D 09 0D 0C 0D 09 0D 0A 0D 09 0D 09 0D 0C FF 38 77";
var sampleFD77 = "DD 03 00 1B 0A 6E 00 00 1F 4A 29 04 00 4E 2C D7 00 00 00 00 00 00 28 4C 03 08 02 0B 9F 0B A9 FB A7 77 DD 03 00 1B 0A 6E 00 00 1F 4A 29 04 00 4E 2C D7 00 00 00 00 00 00 28 4C 03 08 02 0B 9F 0B AA FB A6 77";
//basic
var basicinfosmaple = "0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66";
var basic_payload = basicinfosmaple.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray(); //old
var barr0D = sample000D.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray(); //old
var barrFC77 = sampleFC77.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray(); //setting
var barrFD77 = sampleFD77.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray(); //normal
if (data.First() != 0xDD || data.Last() != 0x77)
{
RaiseMessage(MessageType.Error, "stx,etx error");
return false;
}
var sts = data[1];
var cmd = data[2];
RaiseMessage(MessageType.Normal, "Rx:" + data.HexString());
byte sendOld = 0;
if (cmd == 0x03) //get basic info
{
if (RequestBatteryData != null)
{
var p = new RequestBatteryDataArgs();
RequestBatteryData.Invoke(this, p);
//전압
var Volt = (UInt16)(p.Volt * 100);
var arr_volt = BitConverter.GetBytes(Volt).Reverse().ToArray();
Array.Copy(arr_volt, 0, basic_payload, 0, arr_volt.Length);
//잔량A
var CurA = (UInt16)p.CurA;
var arr_cura = BitConverter.GetBytes(CurA).Reverse().ToArray();
Array.Copy(arr_cura, 0, basic_payload, 4, arr_cura.Length);
//최대A
var MaxA = (UInt16)p.MaxA;
var arr_maxa = BitConverter.GetBytes(MaxA).Reverse().ToArray();
Array.Copy(arr_maxa, 0, basic_payload, 6, arr_maxa.Length);
//%
var perc = (byte)(int)p.Remain;
Array.Copy(new byte[] { perc }, 0, basic_payload, 19, 1);
var datalen = (byte)basic_payload.Length;
var payload_cs = new List<byte>();
payload_cs.Add(datalen);
payload_cs.AddRange(basic_payload);
var chks = MakeCheckSum(payload_cs);
var buffer = new List<byte>();
buffer.Add(0xdd);
buffer.Add(cmd);
buffer.Add(0x00);
buffer.Add(datalen);
buffer.AddRange(basic_payload);
buffer.AddRange(chks);
buffer.Add(0x77);
////makechecksum
//UInt16 chksum = 0;
//for (int i = 3; i <= 19; i++)
//{
// chksum += barrFD77[i];
//}
//chksum = (UInt16)(0xFFFF - chksum + 1);
//Array.Copy(BitConverter.GetBytes(chksum).Reverse().ToArray(), 0, barrFD77, 20, 2);
RaiseMessage(MessageType.Normal, $"Volt:{p.Volt}v,Remain:{p.Remain}%");
var sendstr = System.Text.Encoding.Default.GetString(barr0D);
RaiseMessage(MessageType.Normal, "Tx:" + barr0D.HexString());
WriteData(buffer.ToArray());
}
}
else if (cmd == 0x04) //get cellvoltage
{
if (RequestVoltageData != null)
{
var p = new RequestVoltageDataArgs();
RequestVoltageData.Invoke(this, p);
//var sig = data.Skip(data.Length - 2).Take(1).First();
//cellvolt 240201
var payload = new byte[8 * 2];
for (int i = 0; i < 8; i++)
{
var volt = p.cellVolt[i];
var arr_cellvolt = BitConverter.GetBytes(volt).Reverse().ToArray();
Array.Copy(arr_cellvolt, 0, payload, ( i * 2), arr_cellvolt.Length);
}
//makechecksum
var datalen = (byte)payload.Length;
var payload_cs = new List<byte>();
payload_cs.Add(datalen);
payload_cs.AddRange(payload);
var chksum = MakeCheckSum(payload_cs);
var buffer = new List<byte>();
buffer.Add(0xDD);
buffer.Add(cmd);
buffer.Add(0x00);
buffer.Add(datalen);
buffer.AddRange(payload);
buffer.AddRange(chksum);
buffer.Add(0x77);
WriteData(buffer.ToArray());
}
}
return true;
}
public byte[] MakeCheckSum(IEnumerable<byte> payload)
{
UInt16 retval = 0;
var payloadsum = payload.Sum(t => t);
retval = (UInt16)(payloadsum);
retval = (UInt16)(0xFFFF - retval);
retval += 1;
return BitConverter.GetBytes(retval).Reverse().ToArray();
}
protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
{
//DD A5 03 00 FF FD 77 0D
//remainBuffer = new byte[] { };
List<byte> remain = new List<byte>();
bool retval = false;
foreach (var b in buf)
{
if (retval)
{
remain.Add(b);
continue;
}
if (b == 0xDD) //stx
{
tempBuffer.Clear();
tempBuffer.Add(b);
}
else if (b == 0x0D || b == 0x77) //etx
{
//과거데이터 34개이다 (DD A5 03 00 FF FD 77 0D)
//대쉬보드상태일때(DD A5 03 00 FF FD 77)
//설정상태일때-셀전압표시(DD A5 04 00 FF FC 77)
tempBuffer.Add(b);
retval = true;
}
else
{
if (tempBuffer.Count > 0 && tempBuffer[0] == 0xDD)
{
tempBuffer.Add(b);
if (tempBuffer.Count > 10)
{
RaiseMessage(MessageType.Error, "buffer over");
tempBuffer.Clear();
retval = false;
}
}
else
{
//trash
}
}
}
remainBuffer = remain.ToArray();
return retval;
}
}
}

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