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backuppc
2026-01-07 17:33:17 +09:00
parent 90340f4a7d
commit 9776205364
17 changed files with 186 additions and 104 deletions
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17
Cs_HMI/Project/StateMachine/_AGV.cs
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@@ -226,12 +226,23 @@ namespace Project
var message = $"[다음 행동 예측]\n\n";
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
message += "[수동모드]\n\n";
message += "[X] 수동모드\n";
if (PUB._virtualAGV.TargetNode == null) message += "[X] 목표노드없음\n";
if (PUB._virtualAGV.CurrentNode == null) message += "[X] 현재노드없음\n";
else if (PUB._virtualAGV.HasPath() == false) message += "[X] 경로계산안됨\n";
if (PUB._virtualAGV.PrevNode == null) message += "[X] 이전노드없음\n";
else message += $"이전노드: {PUB._virtualAGV.PrevNode.ID2} : {PUB._virtualAGV.PrevDirection}\n";
message += $"현재노드: {PUB._virtualAGV.CurrentNode.ID2} : {PUB._virtualAGV.CurrentDirection}\n";
message += "-------------\n";
var node = PUB._virtualAGV.CurrentNode;
var curpos = PUB._virtualAGV.CurrentNodeID2;
var targetpos = PUB._virtualAGV.TargetNode?.ID2 ?? "(X)";
var pathdetail = "";
if (PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any())
{
@@ -250,13 +261,13 @@ namespace Project
$"마그넷: {nextAction.Magnet}\n" +
$"속도: {nextAction.Speed}\n" +
$"이유: {nextAction.Message}\n" +
$"상태머신:{PUB.sm.Step}:{PUB.sm.RunStep}:{PUB.sm.RunStepSeq}\n"+
$"상태머신:{PUB.sm.Step}:{PUB.sm.RunStep}:{PUB.sm.RunStepSeq}\n" +
$"---\n" +
$"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
$"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
$"턴: {PUB._virtualAGV.Turn}\n" +
$"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
$"현재 노드: {curpos}\n" +
$"대상 노드: {targetpos}\n" +
$"상세 경로: {pathdetail}";