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backuppc
2026-01-27 14:01:30 +09:00
parent a04a0505d0
commit 9ee8295489
18 changed files with 644 additions and 1073 deletions
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32
Cs_HMI/Project/StateMachine/Step/_Util.cs
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@@ -110,30 +110,17 @@ namespace Project
PUB.AGV.AGVMoveStop("경로재생성");
}
var PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode);
if(PathResult.result !=null &&
PathResult.result.Success == true &&
PathResult.result.DetailedPath.Where(t => t.NodeId == currentNode.Id).Any() == false)
{
PUB._virtualAGV.StartNode = PUB._virtualAGV.CurrentNode;
PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode);
}
if (PathResult.result == null)
PUB._virtualAGV.StartNode = PUB._virtualAGV.CurrentNode;
var PathResult = CalcPath(currentNode, PUB._virtualAGV.TargetNode);
if (PathResult.Success == false)
{
PUB.log.AddE($"경로가 계산되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.READY);
return false;
}
else
{
PUB._mapCanvas.CurrentPath = PathResult.result;
PUB._virtualAGV.SetPath(PathResult.result);
}
PUB._mapCanvas.CurrentPath = PathResult;
PUB._virtualAGV.SetPath(PathResult);
PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
}
@@ -161,23 +148,22 @@ namespace Project
if (PUB._virtualAGV.CurrentPath.DetailedPath.Count > 5)
{
var PathResult2 = CalcPath(PUB._virtualAGV.CurrentNode, PUB._virtualAGV.TargetNode);
if (PathResult2.result != null && PathResult2.result.Success)
if (PathResult2 != null && PathResult2.Success)
{
//절반이상 경로가 짧을때에는 재계산을 하게한다
var halfcnt = (int)(PUB._virtualAGV.CurrentPath.DetailedPath.Count / 2.0);
if (PathResult2.result.DetailedPath.Count < halfcnt)
if (PathResult2.DetailedPath.Count < halfcnt)
{
var msg = $"단축경로가 확인되었습니다. 경로를 삭제 합니다";
PUB.log.AddE(msg);
Console.WriteLine(msg);
PUB._virtualAGV.SetPath(null);
return false;
}
return false;
}
}
//predict 를 이용하여 다음 이동을 모두 확인한다.
var nextAction = PUB._virtualAGV.Predict();
if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)