..

Cs_HMI/SubProject/AGV/Command.cs

@@ -12,20 +12,75 @@ using AR;
 
 namespace arDev
 {
+    public enum eNarumiTurn
+    {
+        None = 0,
+        LeftIng,
+        Left,
+        RightIng,
+        Right,
+    }
+    public class NarumiTurnInfo
+    {
+        public DateTime Start { get; set; }
+        public DateTime End { get; set; }
+        public TimeSpan Runtime
+        {
+            get
+            {
+                if (End.Year < 2000) return DateTime.Now - Start;
+                if (End < Start) return DateTime.Now - Start;
+                else return End - Start;
+            }
+        }
+        public eNarumiTurn State { get; set; }
+        public NarumiTurnInfo()
+        {
+            Start = new DateTime(1982, 11, 23);
+            End = new DateTime(1982, 11, 23);
+            State = eNarumiTurn.None;
+        }
+    }
+    public class NarumiCommandTime
+    {
+        public DateTime Time { get; set; }
+        public ushort count { get; set; }
+        public NarumiCommandTime(ushort cnt)
+        {
+            Time = DateTime.Now;
+            this.count = cnt;
+        }
+    }
+
+    /// <summary>
+    /// error 이상은모두 처리불가한 오류 조건을 의미한다
+    /// </summary>
+    public enum eNarumiCommandResult : byte
+    {
+        Fail = 0,
+        Success = 1,
+        Wait = 2,
+        Error = 100,
+        Timeout,
+        
+    }
     public partial class Narumi
     {
+        public NarumiTurnInfo TurnInformation { get; set; } = null;
+        Dictionary<string, NarumiCommandTime> SendCommandFailList { get; set; } = new Dictionary<string, NarumiCommandTime>();
 
-        public bool AGVMoveSet(BunkiData opt)
+        public eNarumiCommandResult AGVMoveSet(BunkiData opt)
         {
-            return AddCommand(eAgvCmd.MoveSet, opt.ToString());
+            var param = opt.ToString();
+            return AddCommand(eAgvCmd.MoveSet, param);
         }
 
-        public bool AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
+        public eNarumiCommandResult AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
         {
             var param = opt.ToString() + spd.ToString()[0] + ((int)ss).ToString();
             return AddCommand(eAgvCmd.ManualMove, param);
         }
-        public bool AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
+        public eNarumiCommandResult AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
         {
             System.Text.StringBuilder sb = new StringBuilder();
             if (opt == eRunOpt.Backward) sb.Append("B");
@@ -35,7 +90,7 @@ namespace arDev
             return AddCommand(eAgvCmd.MoveStart, sb.ToString());
         }
 
-        public bool AGVSetSpeed(eSetSpeed item, int speed)
+        public eNarumiCommandResult AGVSetSpeed(eSetSpeed item, int speed)
         {
             string cmd = "SS";
             if (item == eSetSpeed.Rotation) cmd = "SRS";
@@ -43,7 +98,7 @@ namespace arDev
             cmd += speed.ToString("0000");
             return AddCommand(cmd);
         }
-        public bool AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
+        public eNarumiCommandResult AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
         {
             System.Text.StringBuilder sb = new StringBuilder();
             if (opt == eStopOpt.MarkStop) sb.Append("MS");
@@ -53,147 +108,187 @@ namespace arDev
             else sb.Append("0S");
             sb.Append("00");
             sb.Append("0000");   //재기동시간
-            //if (opt == eStopOpt.MarkStop)
-            //    VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
 
             //동작중이면 이 멈춤 명령을 기록으로 남긴다 230116
             if (this.system1.agv_run)
                 RaiseMessage(MessageType.Normal, $"stop command from {Reason}");
-            return AddCommand(eAgvCmd.MoveStop, sb.ToString());
+            var retval = AddCommand(eAgvCmd.MoveStop, sb.ToString());
+            if (retval == eNarumiCommandResult.Success && opt == eStopOpt.MarkStop)
+                VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
+
+            return retval;
         }
-        public bool AGVCommand(string cmd, string data)
+        public eNarumiCommandResult AGVCommand(string cmd, string data)
         {
             return AddCommand(cmd + data);
         }
 
-        public bool LiftControl(LiftCommand cmd)
+        public eNarumiCommandResult LiftControl(LiftCommand cmd)
         {
             return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
         }
-        public bool AGVCharge(int chargetID, bool on, int waittime = 3)
+        public eNarumiCommandResult AGVCharge(int chargetID, bool on, int waittime = 3)
         {
             if (on)
                 return AddCommand(eAgvCmd.ChargeOn, chargetID.ToString("0000"));
             else
                 return AddCommand(eAgvCmd.ChargeOf, chargetID.ToString("0000"));
         }
-        public bool SetBackturnTime(int time)
+        public eNarumiCommandResult SetBackturnTime(int time)
         {
             return AddCommand(eAgvCmd.BackTrunResumeTime, time.ToString("0000"));
         }
-        public bool SetGateOutOffTime(int time)
+        public eNarumiCommandResult SetGateOutOffTime(int time)
         {
             return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
         }
 
-        public bool TurnGDSCenterScope(UInt16 time)
+        public eNarumiCommandResult TurnGDSCenterScope(UInt16 time)
         {
             if (time > 2000) time = 2000;
             return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
         }
-        public bool AGVMoveLeft180Turn()
+        public eNarumiCommandResult AGVMoveLeft180Turn()
         {
             return AddCommand(eAgvCmd.TurnLeft);
         }
-        public bool AGVMoveRight180Turn()
+        public eNarumiCommandResult AGVMoveRight180Turn()
         {
             return AddCommand(eAgvCmd.TurnRight);
         }
-        public bool AGVMoveBack180Turn(bool leftTurn)
+        public eNarumiCommandResult AGVMoveBack180Turn(bool leftTurn)
         {
             var dir = leftTurn ? "L" : "R";
             return AddCommand(eAgvCmd.BackAndTurn, dir);
         }
 
-
-
-        public bool AGVErrorReset()
+        public eNarumiCommandResult AGVErrorReset()
         {
             return AddCommand(eAgvCmd.ErrorReset, "FFFF");
         }
-        public bool AGVTowerLamp(bool on)
+        public eNarumiCommandResult AGVTowerLamp(bool on)
         {
             return AddCommand(eAgvCmd.TowerLamp, (on ? "I" : "O"));
         }
-        public bool AGVSetAddress(int value)
+        public eNarumiCommandResult AGVSetAddress(int value)
         {
             return AddCommand($"SAD{value:0000}");
         }
-        public bool AGVSetPanID(string value)
+        public eNarumiCommandResult AGVSetPanID(string value)
         {
             value = value.PadLeft(4, '0');
             return AddCommand($"SPN{value}");
         }
-        public bool AGVSetChannel(string value)
+        public eNarumiCommandResult AGVSetChannel(string value)
         {
             value = value.PadLeft(4, '0');
             return AddCommand($"SCH{value}");
         }
-        //public bool AGVGateOutTimer(int value)
-        //{
-        //    return AddCommand($"SGT{value:0000}");
-        //}
-        /// <summary>
-        /// 정지감속주기 및 상수
-        /// </summary>
-        /// <returns></returns>
-        public bool AGVSetStopAcc(int interval, int value)
-        {
-            var cmds = new string[] {
-                $"SSK{interval:0000}",
-                $"SCK{value:0000}"
-            };
-            return AddCommand( cmds);
-        }
 
-        public bool AGVSetTagReinputTime(int value)
+        public eNarumiCommandResult AGVSetTagReinputTime(int value)
         {
             return AddCommand($"STT{value:0000}");
         }
-        public bool AGVSetPID(eSetPIDSpeed speed, int P, int I, int D)
-        {
-            var cmd = "S";
-            var cmd2 = "";
-            if (speed == eSetPIDSpeed.High) cmd2 = "K";
-            else if (speed == eSetPIDSpeed.Middle) cmd2 = "M";
-            else if (speed == eSetPIDSpeed.Low) cmd2 = "L";
-            else if (speed == eSetPIDSpeed.Stop) cmd2 = "S";
 
-            var cmds = new string[] {
-                $"{cmd}P{cmd2}{P:0000}",
-                $"{cmd}I{cmd2}{I:0000}",
-                $"{cmd}D{cmd2}{D:0000}",
-            };
-            return AddCommand( cmds);
-        }
-
-        /// <summary>
-        /// 전송을시도한 시간
-        /// </summary>
-        //public Dictionary<String,DateTime> LastCommandTime { get; set; }
-
-        /// <summary>
-        /// 전송에 성공한 명령시간
-        /// </summary>
-        //public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
-        protected bool AddCommand(params string[] cmds)
+        ///// <summary>
+        ///// 전송에 성공한 명령시간
+        ///// </summary>
+        ////public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
+        protected bool SendCommand(string cmdline)
         {
             bool ret = true;
-            ACKData = string.Empty;     //회신값 제거
-            //LastCommandTime.Add(cmd, DateTime.Now);
-            foreach (var cmdline in cmds)
-            {
-                var fullcmd = MakeCheckSum(cmdline);
-                //commandQueue.Enqueue(fullcmd);
-                if (WriteData(fullcmd) == false) ret = false;
-                //else LastCommandOKTime.Add(cmd, DateTime.Now);
-                System.Threading.Thread.Sleep(1);
-            }
+            ACKData = string.Empty;
+            var fullcmd = MakeCheckSum(cmdline);
+            if (WriteData(fullcmd) == false) ret = false;
+            System.Threading.Thread.Sleep(1);
             return ret;
         }
 
+        ManualResetEvent mrecmd = new ManualResetEvent(true);
+        public eNarumiCommandResult AddCommand(string cmd, int waitms = 1)
+        {
+            if (mrecmd.WaitOne(waitms) == false)
+            {
+                //다른명령을 처리하는 중이므로 대기상태로 반환한다
+                return eNarumiCommandResult.Wait;
+            }
 
-        protected bool AddCommand(eAgvCmd command, BunkiData param)
+            //다른신호를 처리하지 못하게한다.
+            mrecmd.Reset();
+
+            try
+            {
+                if (SendCommandFailList.ContainsKey(cmd) == false)
+                {
+                    //실패기록이 없다
+                    var ret = SendCommand(cmd);
+                    if (ret == false)
+                    {
+                        SendCommandFailList.Add(cmd, new NarumiCommandTime(1));
+                        return eNarumiCommandResult.Fail;
+                    }
+                    else return eNarumiCommandResult.Success;
+                }
+                else
+                {
+                    //실패기록이 존재한다.
+                    //1.동일 명령이 아니면 바로 전송한다
+                    var precmd = SendCommandFailList[cmd];
+
+                    //동일명령의 실패기록이 존재한다.
+                    //2초간의 간격을 둔다
+                    var ts = DateTime.Now - precmd.Time;
+                    if (ts.TotalSeconds < 2)
+                    {
+                        precmd.Time = DateTime.Now;
+                        SendCommandFailList[cmd] = precmd;
+                        return eNarumiCommandResult.Wait; //대기한다
+                    }
+                    else
+                    {
+                        //오류가 누적되었다.
+                        var ret = SendCommand(cmd);
+                        if (ret == false)
+                        {
+                            precmd.Time = DateTime.Now;
+                            precmd.count += 1;
+                            SendCommandFailList[cmd] = precmd;
+
+                            //5회연속 실패했다면 타임아웃처리한다
+                            if (precmd.count > 5)
+                            {
+                                //타임아웃
+                                return eNarumiCommandResult.Timeout;
+                            }
+                            else
+                            {
+                                //실패
+                                return eNarumiCommandResult.Fail;
+                            }
+                        }
+                        else
+                        {
+                            //전송이성공했으니 키를 제거한다.
+                            SendCommandFailList.Remove(cmd);
+                            return eNarumiCommandResult.Success;
+                        }
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"narumi addCommand error : {ex.Message}");
+                return eNarumiCommandResult.Error;
+            }
+            finally
+            {
+                mrecmd.Set();
+            }
+        }
+
+
+        protected eNarumiCommandResult AddCommand(eAgvCmd command, BunkiData param)
         {
             return AddCommand(command, param.ToString());
         }
@@ -204,15 +299,15 @@ namespace arDev
         /// </summary>
         /// <param name="param"></param>
         /// <param name="Repeat"></param>
-        protected bool AddCommand(BunkiData param)
+        protected eNarumiCommandResult AddCommand(BunkiData param)
         {
             return AddCommand(eAgvCmd.MoveSet, param.ToString());
         }
 
-        protected bool AddCommand(eAgvCmd command, string param = "")
+        protected eNarumiCommandResult AddCommand(eAgvCmd command, string param = "")
         {
             string cmdString;
-            bool retval = false;
+            eNarumiCommandResult retval = eNarumiCommandResult.Error;
             switch (command)
             {
                 case eAgvCmd.ErrorReset:
@@ -247,10 +342,24 @@ namespace arDev
                 case eAgvCmd.TurnLeft:
                     cmdString = $"CTL0000";
                     retval = AddCommand(cmdString);
+                    if (retval == eNarumiCommandResult.Success)
+                    {
+                        if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
+                        TurnInformation.Start = DateTime.Now;
+                        TurnInformation.End = new DateTime(1982, 11, 23);
+                        TurnInformation.State = eNarumiTurn.LeftIng;
+                    }
                     break;
                 case eAgvCmd.TurnRight:
                     cmdString = $"CTR0000";
                     retval = AddCommand(cmdString);
+                    if (retval == eNarumiCommandResult.Success)
+                    {
+                        if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
+                        TurnInformation.Start = DateTime.Now;
+                        TurnInformation.End = new DateTime(1982, 11, 23);
+                        TurnInformation.State = eNarumiTurn.RightIng;
+                    }
                     break;
                 case eAgvCmd.BackAndTurn:
                     if (param.isEmpty()) param = "L";