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This commit is contained in:
backuppc
2026-02-02 14:59:48 +09:00
parent 02105d49a3
commit 9bca8f67d1
15 changed files with 452 additions and 201 deletions
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30
HMI/Project/Device/Xbee.cs
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@@ -162,7 +162,10 @@ namespace Project.Device
byte cmd = (byte)ENIGProtocol.AGVCommandEH.Arrived;
var data = System.Text.Encoding.Default.GetBytes(tag);
var packet = proto.CreatePacket(id, cmd, data);
Send(packet);
if (Send(packet))
PUB.logxbee.AddI($"Send SendMoveComplete [O] : {packet.Length} {packet.HexString()}");
else
PUB.logxbee.AddE($"Send SendMoveComplete [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
}
/// <summary>
@@ -174,7 +177,10 @@ namespace Project.Device
byte cmd = (byte)ENIGProtocol.AGVCommandEH.ReadRFID;
var data = System.Text.Encoding.Default.GetBytes(tag);
var packet = proto.CreatePacket(id, cmd, data);
Send(packet);
if (Send(packet))
PUB.logxbee.AddI($"Send SendRFIDTag [O] : {packet.Length} {packet.HexString()}");
else
PUB.logxbee.AddE($"Send SendRFIDTag [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
}
/// <summary>
@@ -189,15 +195,18 @@ namespace Project.Device
var id = PUB.setting.XBE_ID;
byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error;
// if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
// if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
var data = new List<byte>();
data.Add((byte)errcode);
//var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
// data.AddRange(datamsg);
// data.AddRange(datamsg);
var packet = proto.CreatePacket(id, cmd, data.ToArray());
Send(packet);
if (Send(packet))
PUB.logxbee.AddI($"Send SendError [O] : {packet.Length} {packet.HexString()}");
else
PUB.logxbee.AddE($"Send SendError [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
}
public eDocStep StepMC { get; set; } = eDocStep.NotSet;
@@ -237,7 +246,7 @@ namespace Project.Device
data.Add(value);
// RunSt
if (PUB.AGV.error.Emergency)
if (PUB.AGV.error.Value > 0)
value = 2; // error
else if (PUB.AGV.system1.agv_run)
value = 1; // run
@@ -245,6 +254,11 @@ namespace Project.Device
value = 0; // stop
data.Add(value);
//나르미오류코드전송필요 260202
//agv\structure\errorflag.cs 파일의 public enum eflag 에 내용있음
data.AddRange(BitConverter.GetBytes(PUB.AGV.error.Value));
//runstep
value = (byte)PUB.sm.RunStep;
data.Add(value);
@@ -298,7 +312,7 @@ namespace Project.Device
// ErrorCode [New RunStepErrorCode]
value = (byte)PUB.Result.RunStepErrorCode;
data.Add(value);
// LastTag
string lastTag = PUB.AGV.data.TagNo.ToString("0000") ?? "0000";
byte[] tagBytes = Encoding.ASCII.GetBytes(lastTag.PadRight(4, '0'));
@@ -310,7 +324,7 @@ namespace Project.Device
if (Send(packet))
PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}");
else
PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()}");
PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
LastStatusSendTime = DateTime.Now;
}
catch (Exception ex)