Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

..

Browse Source
This commit is contained in:
backuppc
2026-01-06 17:35:34 +09:00
parent 649d87cae3
commit 90340f4a7d
39 changed files with 2127 additions and 685 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -79,25 +79,37 @@ namespace Project
var currNode = PUB._virtualAGV.CurrentNode;
if (currNode == null)
{
PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다 NodeID:{PUB._virtualAGV.CurrentNode.Id}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Node");
PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Current Node");
return;
}
PUB.NextWorkCmd = cmd;
ERunStep nextStep = ERunStep.READY;
var targetNode = PUB._virtualAGV.TargetNode;
if (targetNode == null)
{
PUB.log.AddE($"[{logPrefix}-{cmd}] 목표 노드를 알 수 없습니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Target Node");
return;
}
switch (currNode.StationType)
//버퍼의 경우 직전에 멈추기 때문에 스테이션종류를 보정해준다
var StationType = currNode.StationType;
if (StationType == StationType.Normal && targetNode.StationType == StationType.Buffer)
StationType = StationType.Buffer;
ERunStep nextStep = ERunStep.READY;
switch (StationType)
{
case StationType.Loader: nextStep = ERunStep.LOADER_IN; break;
case StationType.UnLoader: nextStep = ERunStep.UNLOADER_IN; break;
case StationType.Buffer: nextStep = ERunStep.BUFFER_IN; break;
case StationType.Clearner: nextStep = ERunStep.CLEANER_IN; break;
default:
PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({currNode.Type})은 작업을 지원하지 않습니다.");
PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
return;
}
PUB.NextWorkCmd = cmd;
PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
PUB.sm.SetNewRunStep(nextStep);
}
@@ -118,10 +130,10 @@ namespace Project
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
MapNode targetNode = null;
if(cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
if (cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
{
targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == currTag);
}
}
else
{
if (ushort.TryParse(currTag, out ushort currtagvalue))
@@ -155,14 +167,14 @@ namespace Project
{
PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
}
//대상이동으로 처리한다.
if(PUB.sm.RunStep != ERunStep.GOTO)
{
if (PUB.sm.RunStep != ERunStep.GOTO)
{
PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
PUB.sm.ResetRunStepSeq();
}
//Move to
PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}");
@@ -242,9 +254,15 @@ namespace Project
if (Lidar == 0) bunkidata.PBSSensor = 0;
else bunkidata.PBSSensor = 2;
PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
PUB.AGV.AGVMoveSet(bunkidata);
PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
if (PUB.AGV.AGVMoveSet(bunkidata) != eNarumiCommandResult.Success)
PUB.log.AddE($"AGV속도설정실패로 인해 자동전환이 실패되었습니다");
else
{
PUB.log.Add($"XBE 에서 자동모드로 전환합니다");
PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
}
break;
case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
@@ -274,7 +292,7 @@ namespace Project
PUB.log.AddI($"충전을 시작합니다");
}
break;
default:
PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
@@ -323,7 +341,7 @@ namespace Project
advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
//마지막대상이 버퍼라면 시퀀스처리를 해야한다
if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
if (targetNode.StationType == StationType.Buffer && advancedResult.DetailedPath.Any())
{
var lastDetailPath = advancedResult.DetailedPath.Last();
if (lastDetailPath.NodeId == targetNode.Id) //마지막노드 재확인
@@ -349,7 +367,7 @@ namespace Project
//UpdateAdvancedPathDebugInfo(advancedResult);
}
else if(advancedResult != null)
else if (advancedResult != null)
{
// 경로 실패시 디버깅 정보 초기화
//_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";