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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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2
AGVLogic/EnigProtocol/enigprotocol/Commands.cs
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@@ -67,6 +67,8 @@ namespace ENIGProtocol
NOTSET_CHARGEPOINT, NOTSET_CHARGEPOINT,
ALREADY_CHARGE, ALREADY_CHARGE,
CHARGE_RETRY_OVER, CHARGE_RETRY_OVER,
MAGNET_ON_ERROR,
MAGNET_OF_ERROR,
} }
public static class AGVUtility public static class AGVUtility

28
HMI/Project/Device/Xbee.cs
View File

@@ -162,7 +162,10 @@ namespace Project.Device
byte cmd = (byte)ENIGProtocol.AGVCommandEH.Arrived; byte cmd = (byte)ENIGProtocol.AGVCommandEH.Arrived;
var data = System.Text.Encoding.Default.GetBytes(tag); var data = System.Text.Encoding.Default.GetBytes(tag);
var packet = proto.CreatePacket(id, cmd, data); 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> /// <summary>
@@ -174,7 +177,10 @@ namespace Project.Device
byte cmd = (byte)ENIGProtocol.AGVCommandEH.ReadRFID; byte cmd = (byte)ENIGProtocol.AGVCommandEH.ReadRFID;
var data = System.Text.Encoding.Default.GetBytes(tag); var data = System.Text.Encoding.Default.GetBytes(tag);
var packet = proto.CreatePacket(id, cmd, data); 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> /// <summary>
@@ -189,15 +195,18 @@ namespace Project.Device
var id = PUB.setting.XBE_ID; var id = PUB.setting.XBE_ID;
byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error; 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>(); var data = new List<byte>();
data.Add((byte)errcode); data.Add((byte)errcode);
//var datamsg = System.Text.Encoding.Default.GetBytes(errormessage); //var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
// data.AddRange(datamsg); // data.AddRange(datamsg);
var packet = proto.CreatePacket(id, cmd, data.ToArray()); 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; public eDocStep StepMC { get; set; } = eDocStep.NotSet;
@@ -237,7 +246,7 @@ namespace Project.Device
data.Add(value); data.Add(value);
// RunSt // RunSt
if (PUB.AGV.error.Emergency) if (PUB.AGV.error.Value > 0)
value = 2; // error value = 2; // error
else if (PUB.AGV.system1.agv_run) else if (PUB.AGV.system1.agv_run)
value = 1; // run value = 1; // run
@@ -245,6 +254,11 @@ namespace Project.Device
value = 0; // stop value = 0; // stop
data.Add(value); data.Add(value);
//나르미오류코드전송필요 260202
//agv\structure\errorflag.cs 파일의 public enum eflag 에 내용있음
data.AddRange(BitConverter.GetBytes(PUB.AGV.error.Value));
//runstep //runstep
value = (byte)PUB.sm.RunStep; value = (byte)PUB.sm.RunStep;
data.Add(value); data.Add(value);
@@ -310,7 +324,7 @@ namespace Project.Device
if (Send(packet)) if (Send(packet))
PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}"); PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}");
else 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; LastStatusSendTime = DateTime.Now;
} }
catch (Exception ex) catch (Exception ex)

8
HMI/Project/Dialog/fLog.Designer.cs generated
View File

@@ -28,6 +28,7 @@
/// </summary> /// </summary>
private void InitializeComponent() private void InitializeComponent()
{ {
this.components = new System.ComponentModel.Container();
this.rtsys = new arCtl.LogTextBox(); this.rtsys = new arCtl.LogTextBox();
this.rtTx = new arCtl.LogTextBox(); this.rtTx = new arCtl.LogTextBox();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
@@ -40,6 +41,7 @@
this.panel4 = new System.Windows.Forms.Panel(); this.panel4 = new System.Windows.Forms.Panel();
this.rtAGV = new arCtl.LogTextBox(); this.rtAGV = new arCtl.LogTextBox();
this.titleAGV = new System.Windows.Forms.Label(); this.titleAGV = new System.Windows.Forms.Label();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.tableLayoutPanel1.SuspendLayout(); this.tableLayoutPanel1.SuspendLayout();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
this.panel2.SuspendLayout(); this.panel2.SuspendLayout();
@@ -230,6 +232,11 @@
this.titleAGV.Text = "AGV"; this.titleAGV.Text = "AGV";
this.titleAGV.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.titleAGV.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
// //
// timer1
//
this.timer1.Interval = 1000;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// fLog // fLog
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -263,5 +270,6 @@
private System.Windows.Forms.Panel panel4; private System.Windows.Forms.Panel panel4;
private System.Windows.Forms.Label titleBMS; private System.Windows.Forms.Label titleBMS;
private System.Windows.Forms.Label titleAGV; private System.Windows.Forms.Label titleAGV;
private System.Windows.Forms.Timer timer1;
} }
} }

21
HMI/Project/Dialog/fLog.cs
View File

@@ -20,12 +20,31 @@ namespace Project.Dialog
private void FLog_FormClosed(object sender, FormClosedEventArgs e) private void FLog_FormClosed(object sender, FormClosedEventArgs e)
{ {
timer1.Stop();
PUB.log.RaiseMsg -= Log_RaiseMsg; PUB.log.RaiseMsg -= Log_RaiseMsg;
PUB.logagv.RaiseMsg -= Log_RaiseMsgagv; PUB.logagv.RaiseMsg -= Log_RaiseMsgagv;
PUB.logplc.RaiseMsg -= Log_RaiseMsgplc; PUB.logplc.RaiseMsg -= Log_RaiseMsgplc;
PUB.logbms.RaiseMsg -= Log_RaiseMsgbms; PUB.logbms.RaiseMsg -= Log_RaiseMsgbms;
PUB.logxbee.RaiseMsg -= Log_RaiseMsgcal; PUB.logxbee.RaiseMsg -= Log_RaiseMsgcal;
} }
private void timer1_Tick(object sender, EventArgs e)
{
//포트열림상태표시 2600202
if (PUB.XBE.IsOpen)
titleXBEE.BackColor = Color.Lime;
else
titleXBEE.BackColor = Color.Tomato;
if (PUB.AGV.IsOpen)
titleAGV.BackColor = Color.Lime;
else
titleAGV.BackColor = Color.Tomato;
if (PUB.BMS.IsOpen)
titleBMS.BackColor = Color.Lime;
else
titleBMS.BackColor = Color.Tomato;
}
private void fLog_Load(object sender, EventArgs e) private void fLog_Load(object sender, EventArgs e)
{ {
@@ -52,6 +71,7 @@ namespace Project.Dialog
PUB.logplc.RaiseMsg += Log_RaiseMsgplc; PUB.logplc.RaiseMsg += Log_RaiseMsgplc;
PUB.logbms.RaiseMsg += Log_RaiseMsgbms; PUB.logbms.RaiseMsg += Log_RaiseMsgbms;
PUB.logxbee.RaiseMsg += Log_RaiseMsgcal; PUB.logxbee.RaiseMsg += Log_RaiseMsgcal;
timer1.Start();
} }
private void Log_RaiseMsg(DateTime LogTime, string TypeStr, string Message) private void Log_RaiseMsg(DateTime LogTime, string TypeStr, string Message)
@@ -81,5 +101,6 @@ namespace Project.Dialog
rtRx.AddMsg(LogTime, TypeStr, Message); rtRx.AddMsg(LogTime, TypeStr, Message);
} }
} }
} }
} }

3
HMI/Project/Dialog/fLog.resx
View File

@@ -117,4 +117,7 @@
<resheader name="writer"> <resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader> </resheader>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root> </root>

2
HMI/Project/PUB.cs
View File

@@ -733,6 +733,8 @@ namespace Project
SaveTime = DateTime.Now SaveTime = DateTime.Now
}; };
var fi = new System.IO.FileInfo(LastPosFilePath);
if (fi.Directory.Exists == false) fi.Directory.Create();
string json = JsonConvert.SerializeObject(data, Formatting.Indented); string json = JsonConvert.SerializeObject(data, Formatting.Indented);
File.WriteAllText(LastPosFilePath, json); File.WriteAllText(LastPosFilePath, json);
} }

131
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
View File

@@ -145,9 +145,8 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//버퍼에들어갈때에는 가져다 놓을때도 가지러 갈때에도 리프트는 내려서 들어간다 //버퍼에들어갈때에는 가져다 놓을때도 가지러 갈때에도 리프트는 내려서 들어간다
var liftCmd = arDev.Narumi.LiftCommand.DN;
PUB.AGV.LiftControl(liftCmd);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트를 내립니다"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트를 내립니다");
VAR.I32[eVarInt32.RetryLift] = 0;
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -156,17 +155,9 @@ namespace Project
//리프트 센서 확인 //리프트 센서 확인
if (PUB.AGV.signal1.lift_down == false) if (PUB.AGV.signal1.lift_down == false)
{ {
if (seqtime.TotalSeconds > 20) VAR.I32[eVarInt32.RetryLift] = 0;
{ var rlt = PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않아 1회 재시도 합니다"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 실행:{rlt}");
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
//재시도를 했으니 다음으로 진행하게한다
}
else
{
PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
return false;
}
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
@@ -178,16 +169,64 @@ namespace Project
{ {
if (seqtime.TotalSeconds > 20) if (seqtime.TotalSeconds > 20)
{ {
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않습니다"); if (VAR.I32[eVarInt32.RetryLift] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR,
$"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않습니다");
VAR.I32[eVarInt32.RetryLift] = 0;
}
} }
else PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)"); else PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
return false; return false;
} }
VAR.I32[eVarInt32.RetryManget] = 0;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 완료"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 완료");
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++)
{
if(PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마그넷ON");
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마그넷센서가 들어오는지 5초간 확인한다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter &&
PUB.AGV.signal1.magnet_on == false)
{
if (seqtime.TotalSeconds > 5)
{
if (VAR.I32[eVarInt32.RetryManget] < 3)
{
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
var errmsg = $"[{funcname}] 마그넷이 ON 되지 않았습니다";
SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_ON_ERROR, errmsg);
VAR.I32[eVarInt32.RetryManget] = 0;
}
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//저속이동 (후진 진입) //저속이동 (후진 진입)
@@ -220,16 +259,17 @@ namespace Project
return false; return false;
} }
//후진이동을한다 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 도킹을 위해 후진 이동 시작 (Dir:Backward, Spd:Low)");
PUB._mapCanvas.SetAlertMessage($"도킹을 위해 후진 이동 시작");
VAR.I32[eVarInt32.RetryMove] = 0;
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//이동확인을 한다. VAR.I32[eVarInt32.RetryMove] += 1;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 도킹을 위해 후진 이동 시작 (Dir:Backward, Spd:Low)"); var rlt = PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB._mapCanvas.SetAlertMessage($"도킹을 위해 후진 이동 시작"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이동명령 결과:{rlt}");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -240,8 +280,18 @@ namespace Project
{ {
if (seqtime.TotalSeconds > 10) if (seqtime.TotalSeconds > 10)
{ {
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL); if (VAR.I32[eVarInt32.RetryMove] < 3)
{
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이동명령 재전송");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
VAR.I32[eVarInt32.RetryMove] = 0;
}
} }
else PUB._mapCanvas.SetAlertMessage($"AGV이동 확인 중");
return false; return false;
} }
@@ -309,11 +359,50 @@ namespace Project
return false; return false;
} }
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마크센서 확인완료"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마크센서 확인완료");
VAR.I32[eVarInt32.RetryManget] = 0;
VAR.TIME.Update(eVarTime.LastTurnCommandTime); VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
//마그넷센서가 들어오는지 5초간 확인한다.
if (PUB.AGV.signal1.magnet_on == true)
{
if (seqtime.TotalSeconds > 5)
{
if (VAR.I32[eVarInt32.RetryManget] < 3)
{
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
VAR.I32[eVarInt32.RetryManget] = 0;
var errmsg = $"[{funcname}] 마그넷이 OFF 되지 않았습니다";
SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_OF_ERROR, errmsg);
}
}
return false;
}
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{ {
if (seqtime.TotalSeconds < 2) return false; if (seqtime.TotalSeconds < 2) return false;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 작업({PUB.NextWorkCmd}) 완료. 대기 상태로 전환 (퇴출 명령 대기)"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 작업({PUB.NextWorkCmd}) 완료. 대기 상태로 전환 (퇴출 명령 대기)");

73
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -37,12 +37,14 @@ namespace Project
PUB.Speak(Lang.진출을시작합니다); PUB.Speak(Lang.진출을시작합니다);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
SpeedSetRetry = false; SpeedSetRetry = false;
VAR.I32[eVarInt32.RetryLift] = 0;
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN; arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트제어 {lift}"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트제어 {lift}");
VAR.I32[eVarInt32.RetryLift] += 1;
PUB.AGV.LiftControl(lift); PUB.AGV.LiftControl(lift);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
@@ -55,31 +57,23 @@ namespace Project
{ {
if (seqtime.TotalSeconds > 20) if (seqtime.TotalSeconds > 20)
{ {
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 완료되지 않아 1회 재시도 합니다"); if(VAR.I32[eVarInt32.RetryLift] < 3)
arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN; {
PUB.AGV.LiftControl(lift); PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 완료되지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
VAR.I32[eVarInt32.RetryLift] = 0;
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작하지 않습니다");
}
} }
else return false; else return false;
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트 센서 확인
var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
if (checksensor == false)
{
if (seqtime.TotalSeconds > 20)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작하지 않습니다");
}
return false;
}
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
if (PUB.AGV.signal1.mark_sensor == false) if (PUB.AGV.signal1.mark_sensor == false)
@@ -111,6 +105,7 @@ namespace Project
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 이동 설정 완료 (Dir:Forward, Spd:Low)"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 이동 설정 완료 (Dir:Forward, Spd:Low)");
} }
VAR.I32[eVarInt32.RetryMove] = 0;
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -119,10 +114,10 @@ namespace Project
//전진이동 //전진이동
if (PUB.AGV.signal1.mark_sensor == false) if (PUB.AGV.signal1.mark_sensor == false)
{ {
VAR.I32[eVarInt32.RetryMove] += 1;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 전진 구동 시작"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 전진 구동 시작");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward); PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -135,17 +130,32 @@ namespace Project
{ {
if (seqtime.TotalSeconds > 3) if (seqtime.TotalSeconds > 3)
{ {
//구동이확인되지 않으면 오류처리를 한다. if(VAR.I32[eVarInt32.RetryMove] < 3)
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL); {
//재시도를 하게한다.
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
//구동이확인되지 않으면 오류처리를 한다.
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
VAR.I32[eVarInt32.RetryMove] = 0;
}
} }
return false; return false;
} }
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 구동 확인 완료"); PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 구동 확인 완료");
//마크스탑설정
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 명령 전송 (진출 정지 장소)");
} }
VAR.I32[eVarInt32.RetryMarkStop] = 0;
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
VAR.I32[eVarInt32.RetryMarkStop] += 1;
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 명령 전송 (진출 정지 장소)");
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -158,7 +168,16 @@ namespace Project
{ {
if (seqtime.TotalSeconds > 3) if (seqtime.TotalSeconds > 3)
{ {
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT); if(VAR.I32[eVarInt32.RetryMarkStop] < 3)
{
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 재시도");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
VAR.I32[eVarInt32.RetryMarkStop] = 0;
}
return false; return false;
} }
return false; return false;

96
HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
View File

@@ -36,7 +36,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//마크센서가 감지된상태여야 완전한위치로 가정한다 //마크센서가 감지된상태여야 완전한위치로 가정한다
if(PUB.AGV.signal1.mark_sensor == false) if (PUB.AGV.signal1.mark_sensor == false)
{ {
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL, $"[{funcname}] 마크센서가 감지되지 않습니다"); SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL, $"[{funcname}] 마크센서가 감지되지 않습니다");
} }
@@ -95,15 +95,54 @@ namespace Project
var errmsg = $"[{funcname}] 리프트다운이 확인되지 않습니다"; var errmsg = $"[{funcname}] 리프트다운이 확인되지 않습니다";
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, errmsg); SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, errmsg);
} }
return false; return false;
}
else
{
PUB.log.Add("리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
} }
VAR.I32[eVarInt32.RetryManget] = 0;
PUB.log.Add("리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
//마그넷센서가 들어오는지 5초간 확인한다.
if (PUB.AGV.signal1.magnet_on == false)
{
if (seqTime.TotalSeconds > 5)
{
if(VAR.I32[eVarInt32.RetryManget] < 3)
{
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
var errmsg = $"[{funcname}] 마그넷이 ON 되지 않았습니다";
SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_ON_ERROR, errmsg);
VAR.I32[eVarInt32.RetryManget] = 0;
}
}
return false;
}
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//저속이동 (후진 진입) //저속이동 (후진 진입)
@@ -114,6 +153,7 @@ namespace Project
PBSSensor = 0, PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low, Speed = arDev.Narumi.eMoveSpd.Low,
}); });
//명령이 실패되었다면 재시도를 한다 //명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success) if (ret != arDev.eNarumiCommandResult.Success)
{ {
@@ -198,10 +238,50 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//완료되었다. //완료되었다.
PUB.log.Add("진입 완료"); PUB.log.Add("진입 완료 마그넷을 off합니다");
VAR.I32[eVarInt32.RetryManget] = 0;
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off 조건이라면. 마그넷을 on 한후에 민다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
//마그넷센서가 들어오는지 5초간 확인한다.
if (PUB.AGV.signal1.magnet_on == true)
{
if (seqTime.TotalSeconds > 5)
{
if (VAR.I32[eVarInt32.RetryManget] < 3)
{
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
VAR.I32[eVarInt32.RetryManget] = 0;
var errmsg = $"[{funcname}] 마그넷이 OFF 되지 않았습니다";
SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_OF_ERROR, errmsg);
}
}
return false;
}
}
PUB.sm.UpdateRunStepSeq();
return false;
}
return true; return true;
} }

3
HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs
View File

@@ -109,6 +109,9 @@ namespace Project
PUB.log.Add($"[GOTO] Step {idx - 1}: Movement Finished. Waiting for full stop."); PUB.log.Add($"[GOTO] Step {idx - 1}: Movement Finished. Waiting for full stop.");
PUB.Speak(Lang.이동완료, true); PUB.Speak(Lang.이동완료, true);
PUB.AddEEDB($"이동완료({PUB._virtualAGV.TargetNode.ID2})"); PUB.AddEEDB($"이동완료({PUB._virtualAGV.TargetNode.ID2})");
//ㅇ목적지 완료신호를 ACS에전송한다.
PUB.XBE.SendMoveComplete(PUB._virtualAGV.TargetNode.RfidId.ToString("0000"));
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }

9
HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -287,10 +287,19 @@ namespace Project
{ {
if (PUB.AGV.system1.agv_run == false) if (PUB.AGV.system1.agv_run == false)
{ {
//마크센서확인
if(PUB.AGV.signal1.mark_sensor==false)
{
PUB.log.AddI($"목표도착되었으나 마크센서가 감지되지 않아 경로를 삭제 합니다");
PUB._virtualAGV.SetPath(null);
return false;
}
// 경로가 존재한다면... // 경로가 존재한다면...
if (PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any()) if (PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any())
{ {
var lastInfo = PUB._virtualAGV.CurrentPath.DetailedPath.Last(); var lastInfo = PUB._virtualAGV.CurrentPath.DetailedPath.Last();
// 위치와 방향이 모두 일치해야 완료된 것으로 본다. // 위치와 방향이 모두 일치해야 완료된 것으로 본다.
if (PUB._virtualAGV.CurrentNode.Id == lastInfo.NodeId && if (PUB._virtualAGV.CurrentNode.Id == lastInfo.NodeId &&
PUB._virtualAGV.CurrentDirection == lastInfo.MotorDirection) PUB._virtualAGV.CurrentDirection == lastInfo.MotorDirection)

20
HMI/Project/fMain.Designer.cs generated
View File

@@ -119,6 +119,7 @@ namespace Project
this.demoListLotToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.demoListLotToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripMenuItem5 = new System.Windows.Forms.ToolStripMenuItem(); this.toolStripMenuItem5 = new System.Windows.Forms.ToolStripMenuItem();
this.refreshListToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.refreshListToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.pandBottomDIO = new System.Windows.Forms.Panel(); this.pandBottomDIO = new System.Windows.Forms.Panel();
this.panel9 = new System.Windows.Forms.Panel(); this.panel9 = new System.Windows.Forms.Panel();
@@ -127,7 +128,6 @@ namespace Project
this.panDlg = new System.Windows.Forms.Panel(); this.panDlg = new System.Windows.Forms.Panel();
this.arPanel2 = new arCtl.arPanel(); this.arPanel2 = new arCtl.arPanel();
this.arPanel1 = new arCtl.arPanel(); this.arPanel1 = new arCtl.arPanel();
this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.panRight.SuspendLayout(); this.panRight.SuspendLayout();
this.tableLayoutPanel1.SuspendLayout(); this.tableLayoutPanel1.SuspendLayout();
this.panel4.SuspendLayout(); this.panel4.SuspendLayout();
@@ -1676,7 +1676,7 @@ namespace Project
this.refreshListToolStripMenuItem, this.refreshListToolStripMenuItem,
this.xbeeSettingToolStripMenuItem}); this.xbeeSettingToolStripMenuItem});
this.cmDebug.Name = "cmVision"; this.cmDebug.Name = "cmVision";
this.cmDebug.Size = new System.Drawing.Size(229, 368); this.cmDebug.Size = new System.Drawing.Size(229, 346);
// //
// mapFileToolStripMenuItem // mapFileToolStripMenuItem
// //
@@ -1727,6 +1727,13 @@ namespace Project
this.refreshListToolStripMenuItem.Size = new System.Drawing.Size(228, 22); this.refreshListToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
this.refreshListToolStripMenuItem.Text = "Refresh List"; this.refreshListToolStripMenuItem.Text = "Refresh List";
// //
// xbeeSettingToolStripMenuItem
//
this.xbeeSettingToolStripMenuItem.Name = "xbeeSettingToolStripMenuItem";
this.xbeeSettingToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
//
// debugtestToolStripMenuItem // debugtestToolStripMenuItem
// //
this.debugtestToolStripMenuItem.Name = "debugtestToolStripMenuItem"; this.debugtestToolStripMenuItem.Name = "debugtestToolStripMenuItem";
@@ -1824,7 +1831,7 @@ namespace Project
this.IOState.Text = "gridView2"; this.IOState.Text = "gridView2";
this.IOState.TextAttachToImage = true; this.IOState.TextAttachToImage = true;
this.IOState.Titles = new string[] { this.IOState.Titles = new string[] {
"EMG|TAG|DIR|STS|SPD|SEN|CAL|RUN|MARK|CHG|ITM"}; "EMG|TAG|DIR|STS|SPD|SEN|CAL|RUN|MARK|CHG|CART"};
this.IOState.Values = new ushort[] { this.IOState.Values = new ushort[] {
((ushort)(0)), ((ushort)(0)),
((ushort)(1)), ((ushort)(1)),
@@ -1970,13 +1977,6 @@ namespace Project
this.arPanel1.TextShadow = false; this.arPanel1.TextShadow = false;
this.arPanel1.UseProgressBar = false; this.arPanel1.UseProgressBar = false;
// //
// xbeeSettingToolStripMenuItem
//
this.xbeeSettingToolStripMenuItem.Name = "xbeeSettingToolStripMenuItem";
this.xbeeSettingToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
//
// fMain // fMain
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;

247
HMI/Project/fMain.resx
View File

@@ -126,163 +126,160 @@
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4
HMI/SubProject/CommData/Enum.cs
View File

@@ -14,6 +14,10 @@ namespace COMM
ChargeWaitSec, ChargeWaitSec,
SyncItemCount, SyncItemCount,
PathValidationError, PathValidationError,
RetryManget,
RetryLift,
RetryMove,
RetryMarkStop,
} }
public enum eVarUInt32 public enum eVarUInt32
{ {