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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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30
Cs_HMI/SubProject/AGV/Narumi.cs
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@@ -229,7 +229,7 @@ namespace arDev
private void RevSTS(Dataframe frame)
{
LastSTS = frame.DataString;
string rcvdNow = frame.DataString.Replace("\0","");
string rcvdNow = frame.DataString.Replace("\0", "");
byte[] bRcvData = frame.Buffer;
var encoding = System.Text.Encoding.Default;
try
@@ -258,21 +258,39 @@ namespace arDev
error.SetValue(nDataTemp);
idx += 4;
data.Speed = rcvdNow.Substring(idx, 1)[0]; idx += 1; //L,M.H
data.Sts = rcvdNow.Substring(idx, 1)[0]; idx += 1; //S(직진),L(좌분기),R(우분기)
data.Direction = rcvdNow.Substring(idx, 1)[0]; idx += 1; //F,B,L,R
data.guidesensor = int.Parse(rcvdNow.Substring(idx, 1)); idx += 1; //가이드 좌측부터 1~9
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal1.SetValue(nDataTemp); idx += 2;
signal1.SetValue(nDataTemp); idx += 2;
if(idx <= rcvdNow.Length-2)
//agv가 멈춰있고 마크센서가 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
if (system1.agv_run == false && system1.agv_stop == true &&
TurnInformation != null && signal1.mark_sensor)
{
if (TurnInformation.Start.Year > 2000)
{
if (TurnInformation.State == eNarumiTurn.LeftIng || TurnInformation.State == eNarumiTurn.RightIng)
{
TurnInformation.End = DateTime.Now;
if (TurnInformation.State == eNarumiTurn.LeftIng) TurnInformation.State = eNarumiTurn.Left;
if (TurnInformation.State == eNarumiTurn.RightIng) TurnInformation.State = eNarumiTurn.Right;
}
}
else
{
//시작시간이 설정되지 않았다면 처리하지 않는다.
}
}
if (idx <= rcvdNow.Length - 2)
{
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal2.SetValue(nDataTemp);
}
DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));
@@ -462,7 +480,7 @@ namespace arDev
OFF
}
private bool CheckSum(byte[] bData)
{
if (bData.Length < 2) // 데이터 길이가 2이하일 경우 비정상 처리