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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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73
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -4,6 +4,8 @@ using System.Drawing;
using System.Linq;
using System.Text;
using AGVNavigationCore.Models;
using AGVNavigationCore.PathFinding.Core;
using AGVNavigationCore.PathFinding.Planning;
using AGVNavigationCore.Utils;
using AR;
using arDev;
@@ -70,8 +72,8 @@ namespace Project
else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
break;
case ENIGProtocol.AGVCommandHE.PickOn: // 110
case ENIGProtocol.AGVCommandHE.PickOff: // 111
case ENIGProtocol.AGVCommandHE.PickOnEnter: // 110
case ENIGProtocol.AGVCommandHE.PickOffEnter: // 111
{
PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
@@ -109,6 +111,7 @@ namespace Project
return;
}
//다음명령처리
PUB.NextWorkCmd = cmd;
PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
PUB.sm.SetNewRunStep(nextStep);
@@ -307,18 +310,12 @@ namespace Project
else PUB.log.Add(e.Message);
}
AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null;
(AGVNavigationCore.PathFinding.Core.AGVPathResult result, string message) CalcPath(MapNode startNode, MapNode targetNode)
AGVPathResult CalcPath(MapNode startNode, MapNode targetNode)
{
var nodes = PUB._mapCanvas.Nodes;
var _simulatorCanvas = PUB._mapCanvas;
var _mapNodes = PUB._mapCanvas.Nodes;
// 시작 RFID가 없으면 AGV 현재 위치로 설정
if (startNode == null || targetNode == null)
return (null, "시작 RFID와 목표 RFID를 선택해주세요.");
//경로계산기확인
if (_advancedPathfinder == null)
_advancedPathfinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(_mapNodes);
// 현재 AGV 방향 가져오기
var selectedAGV = PUB._virtualAGV;
var currentDirection = selectedAGV.CurrentDirection;
@@ -327,55 +324,15 @@ namespace Project
var prevNode = selectedAGV.PrevNode;
var prevDir = selectedAGV.PrevDirection;
// 고급 경로 계획 사용 (노드 객체 직접 전달)
var advancedResult = _advancedPathfinder.FindBasicPath(startNode, targetNode, prevNode, prevDir);
// Core Logic으로 이관됨
var pathFinder = new AGVPathfinder(nodes);
var result = pathFinder.CalculatePath(startNode, targetNode, prevNode, prevDir);
var _simulatorCanvas = PUB._mapCanvas;
_simulatorCanvas.FitToNodes();
string Message = string.Empty;
if (advancedResult != null && advancedResult.Success)
{
// 도킹 검증이 없는 경우 추가 검증 수행
if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
//마지막대상이 버퍼라면 시퀀스처리를 해야한다
if (targetNode.StationType == StationType.Buffer && advancedResult.DetailedPath.Any())
{
var lastDetailPath = advancedResult.DetailedPath.Last();
if (lastDetailPath.NodeId == targetNode.Id) //마지막노드 재확인
{
//버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
}
}
//게이트웨이노드를 하이라이트강조 한단
_simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
return result;
_simulatorCanvas.CurrentPath = advancedResult;
//_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
//_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
// 🔥 VirtualAGV에도 경로 설정 (Predict()가 동작하려면 필요)
selectedAGV.SetPath(advancedResult);
// 도킹 검증 결과 확인 및 UI 표시
//CheckAndDisplayDockingValidation(advancedResult);
// 고급 경로 디버깅 정보 표시
//UpdateAdvancedPathDebugInfo(advancedResult);
}
else if (advancedResult != null)
{
// 경로 실패시 디버깅 정보 초기화
//_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
Message = $"경로를 찾을 수 없습니다:\n{advancedResult.Message}";
advancedResult = null;
}
return (advancedResult, Message);
}