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backuppc
2026-01-06 17:35:34 +09:00
parent 649d87cae3
commit 90340f4a7d
39 changed files with 2127 additions and 685 deletions
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49
AGVEmulator/DevXBE.cs
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@@ -61,29 +61,52 @@ namespace AGVEmulator
/// </summary>
public void SendGotoTag(byte id, uint tag)
{
var idSTR = id.ToString("X2");
var tagSTR = tag.ToString("0000");
var dataStr = $"{idSTR}{tagSTR}";
Send(ENIGProtocol.AGVCommandHE.Goto, dataStr);
//var idSTR = id.ToString("X2");
//var tagSTR = tag.ToString("0000");
//var dataStr = $"{idSTR}{tagSTR}";
var data = new List<byte>();
data.Add(id);
data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
Send(ENIGProtocol.AGVCommandHE.Goto, data.ToArray());
}
/// <summary>
/// 카트를 가지러 들어간다
/// </summary>
/// <param name="id"></param>
public void SendPickOn(byte id)
{
var data = new List<byte>();
data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOn, data.ToArray());
}
/// <summary>
/// 카트를 내려놓는다
/// </summary>
/// <param name="id"></param>
public void SendPickOff(byte id)
{
var data = new List<byte>();
data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOff, data.ToArray());
}
public void SendCurrentPos(byte id, uint tag)
{
var idSTR = id.ToString("X2");
var tagSTR = tag.ToString("0000");
var dataStr = $"{idSTR}{tagSTR}";
Send(ENIGProtocol.AGVCommandHE.SetCurrent, dataStr);
var data = new List<byte>();
data.Add(id);
data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
Send(ENIGProtocol.AGVCommandHE.SetCurrent, data.ToArray());
}
private void Send(ENIGProtocol.AGVCommandHE Command, string datastr)
private void Send(ENIGProtocol.AGVCommandHE Command, byte[] data)
{
byte id = 0;
byte cmd = (byte)Command; //move to target
byte[] data = null;
if (datastr != null && string.IsNullOrEmpty(datastr) == false)
data = System.Text.Encoding.Default.GetBytes(datastr);
var packet = proto.CreatePacket(id, cmd, data);
if (WriteData(packet, false))
{
var hexstr = System.Text.Encoding.Default.GetString(data);
var hexstr =(data == null || data.Any()==false) ? string.Empty : System.Text.Encoding.Default.GetString(data);
RaiseMessage(MessageType.Send, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
}
}