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This commit is contained in:
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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20
AGVEmulator/DevAGV.cs
View File

@@ -67,13 +67,13 @@ namespace AGVEmulator
public enum esignal1 public enum esignal1
{ {
front_gate_out = 0, front_gate_out = 0,
rear_sensor_out, rear_gte_out,
mark_sensor_1, mark_sensor_1,
mark_sensor_2, mark_sensor_2,
lift_down_sensor,
lift_up_sensor,
magnet_relay,
charger_align_sensor, charger_align_sensor,
lift_up,
lift_down,
magnet_on
} }
public enum esystemflag0 public enum esystemflag0
{ {
@@ -330,20 +330,20 @@ namespace AGVEmulator
switch(cmd2) switch(cmd2)
{ {
case "ON": case "ON":
SetAGV(esignal1.magnet_on, true); SetAGV(esignal1.magnet_relay, true);
break; break;
case "UP": case "UP":
SetAGV(esignal1.lift_down, false); SetAGV(esignal1.lift_down_sensor, false);
SetAGV(esignal1.lift_up, true); SetAGV(esignal1.lift_up_sensor, true);
break; break;
case "DN": case "DN":
SetAGV(esignal1.lift_up, false); SetAGV(esignal1.lift_up_sensor, false);
SetAGV(esignal1.lift_down, true); SetAGV(esignal1.lift_down_sensor, true);
break; break;
case "ST": case "ST":
break; break;
case "OF": case "OF":
SetAGV(esignal1.magnet_on, false); SetAGV(esignal1.magnet_relay, false);
break; break;
} }

34
AGVEmulator/DevXBE.cs
View File

@@ -74,24 +74,48 @@ namespace AGVEmulator
/// 카트를 가지러 들어간다 /// 카트를 가지러 들어간다
/// </summary> /// </summary>
/// <param name="id"></param> /// <param name="id"></param>
public void SendPickOn(byte id) public void SendPickOnEnter(byte id)
{ {
var data = new List<byte>(); var data = new List<byte>();
data.Add(id); data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOn, data.ToArray()); Send(ENIGProtocol.AGVCommandHE.PickOnEnter, data.ToArray());
} }
/// <summary> /// <summary>
/// 카트를 내려놓는다 /// 카트를 내려놓으로 들어간다
/// </summary> /// </summary>
/// <param name="id"></param> /// <param name="id"></param>
public void SendPickOff(byte id) public void SendPickOffEnter(byte id)
{ {
var data = new List<byte>(); var data = new List<byte>();
data.Add(id); data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOff, data.ToArray()); Send(ENIGProtocol.AGVCommandHE.PickOffEnter, data.ToArray());
} }
/// <summary>
/// 카트를 가지러 들어가서 나온다
/// </summary>
/// <param name="id"></param>
public void SendPickOnExit(byte id)
{
var data = new List<byte>();
data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOnExit, data.ToArray());
}
/// <summary>
/// 카트를 내려놓으러 들어가서 나온다
/// </summary>
/// <param name="id"></param>
public void SendPickOffExit(byte id)
{
var data = new List<byte>();
data.Add(id);
Send(ENIGProtocol.AGVCommandHE.PickOffExit, data.ToArray());
}
public void SendCurrentPos(byte id, uint tag) public void SendCurrentPos(byte id, uint tag)
{ {
var data = new List<byte>(); var data = new List<byte>();

442
AGVEmulator/fMain.Designer.cs generated
View File

@@ -32,35 +32,35 @@ namespace AGVEmulator
private void InitializeComponent() private void InitializeComponent()
{ {
this.components = new System.ComponentModel.Container(); this.components = new System.ComponentModel.Container();
AGVEmulator.UC.AgvViewer.ptdata ptdata113 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata114 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata115 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata116 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata117 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata118 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata119 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata120 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata121 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata122 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata123 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata124 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata125 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata126 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata127 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata128 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata129 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata130 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata131 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata132 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata133 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata134 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata135 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata136 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata137 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata138 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata139 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata140 = new AGVEmulator.UC.AgvViewer.ptdata();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(fMain)); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(fMain));
AGVEmulator.UC.AgvViewer.ptdata ptdata1 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata2 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata3 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata4 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata5 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata6 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata7 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata8 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata9 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata10 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata11 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata12 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata13 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata14 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata15 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata16 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata17 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata18 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata19 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata20 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata21 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata22 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata23 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata24 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata25 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata26 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata27 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata28 = new AGVEmulator.UC.AgvViewer.ptdata();
this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox();
this.rtBMS = new arCtl.LogTextBox(); this.rtBMS = new arCtl.LogTextBox();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
@@ -86,6 +86,7 @@ namespace AGVEmulator
this.label2 = new System.Windows.Forms.Label(); this.label2 = new System.Windows.Forms.Label();
this.label1 = new System.Windows.Forms.Label(); this.label1 = new System.Windows.Forms.Label();
this.trackBar1 = new System.Windows.Forms.TrackBar(); this.trackBar1 = new System.Windows.Forms.TrackBar();
this.serBMS = new AGVEmulator.SerialConn();
this.rtAGV = new arCtl.LogTextBox(); this.rtAGV = new arCtl.LogTextBox();
this.panel4 = new System.Windows.Forms.Panel(); this.panel4 = new System.Windows.Forms.Panel();
this.groupBox9 = new System.Windows.Forms.GroupBox(); this.groupBox9 = new System.Windows.Forms.GroupBox();
@@ -128,6 +129,7 @@ namespace AGVEmulator
this.button4 = new System.Windows.Forms.Button(); this.button4 = new System.Windows.Forms.Button();
this.groupBox3 = new System.Windows.Forms.GroupBox(); this.groupBox3 = new System.Windows.Forms.GroupBox();
this.rtCAL = new arCtl.LogTextBox(); this.rtCAL = new arCtl.LogTextBox();
this.serCAL = new AGVEmulator.SerialConn();
this.timer1 = new System.Windows.Forms.Timer(this.components); this.timer1 = new System.Windows.Forms.Timer(this.components);
this.tabControl1 = new System.Windows.Forms.TabControl(); this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage4 = new System.Windows.Forms.TabPage(); this.tabPage4 = new System.Windows.Forms.TabPage();
@@ -135,6 +137,8 @@ namespace AGVEmulator
this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
this.rtAGVPro = new arCtl.LogTextBox(); this.rtAGVPro = new arCtl.LogTextBox();
this.panel12 = new System.Windows.Forms.Panel(); this.panel12 = new System.Windows.Forms.Panel();
this.agvViewer1 = new AGVEmulator.UC.AgvViewer();
this.serAGV = new AGVEmulator.SerialConn();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.tabPage3 = new System.Windows.Forms.TabPage(); this.tabPage3 = new System.Windows.Forms.TabPage();
this.panel3 = new System.Windows.Forms.Panel(); this.panel3 = new System.Windows.Forms.Panel();
@@ -166,10 +170,10 @@ namespace AGVEmulator
this.sbBMS = new System.Windows.Forms.ToolStripStatusLabel(); this.sbBMS = new System.Windows.Forms.ToolStripStatusLabel();
this.toolStripStatusLabel2 = new System.Windows.Forms.ToolStripStatusLabel(); this.toolStripStatusLabel2 = new System.Windows.Forms.ToolStripStatusLabel();
this.sbCAL = new System.Windows.Forms.ToolStripStatusLabel(); this.sbCAL = new System.Windows.Forms.ToolStripStatusLabel();
this.agvViewer1 = new AGVEmulator.UC.AgvViewer(); this.label12 = new System.Windows.Forms.Label();
this.serAGV = new AGVEmulator.SerialConn(); this.label13 = new System.Windows.Forms.Label();
this.serBMS = new AGVEmulator.SerialConn(); this.button6 = new System.Windows.Forms.Button();
this.serCAL = new AGVEmulator.SerialConn(); this.button13 = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.trbT2)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.trbT2)).BeginInit();
@@ -504,6 +508,18 @@ namespace AGVEmulator
this.trackBar1.Value = 7000; this.trackBar1.Value = 7000;
this.trackBar1.Scroll += new System.EventHandler(this.trackBar1_Scroll); this.trackBar1.Scroll += new System.EventHandler(this.trackBar1_Scroll);
// //
// serBMS
//
this.serBMS.BaudRate = 9600;
this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.serBMS.dev = null;
this.serBMS.Dock = System.Windows.Forms.DockStyle.Top;
this.serBMS.Location = new System.Drawing.Point(3, 17);
this.serBMS.Name = "serBMS";
this.serBMS.PortName = "COM31";
this.serBMS.Size = new System.Drawing.Size(1134, 84);
this.serBMS.TabIndex = 1;
//
// rtAGV // rtAGV
// //
this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24))))); this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24)))));
@@ -997,6 +1013,18 @@ namespace AGVEmulator
this.rtCAL.TabIndex = 2; this.rtCAL.TabIndex = 2;
this.rtCAL.Text = ""; this.rtCAL.Text = "";
// //
// serCAL
//
this.serCAL.BaudRate = 9600;
this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.serCAL.dev = null;
this.serCAL.Dock = System.Windows.Forms.DockStyle.Top;
this.serCAL.Location = new System.Drawing.Point(3, 17);
this.serCAL.Name = "serCAL";
this.serCAL.PortName = "COM41";
this.serCAL.Size = new System.Drawing.Size(776, 84);
this.serCAL.TabIndex = 1;
//
// timer1 // timer1
// //
this.timer1.Interval = 200; this.timer1.Interval = 200;
@@ -1082,6 +1110,149 @@ namespace AGVEmulator
this.panel12.Size = new System.Drawing.Size(1140, 120); this.panel12.Size = new System.Drawing.Size(1140, 120);
this.panel12.TabIndex = 5; this.panel12.TabIndex = 5;
// //
// agvViewer1
//
this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill;
this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F);
this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.agvViewer1.lastmark = "";
this.agvViewer1.lastmarkdir = "";
this.agvViewer1.lasttag = "";
this.agvViewer1.lasttagdir = "";
ptdata113.active = false;
ptdata113.data = "NOT";
ptdata113.pos = 30F;
ptdata114.active = false;
ptdata114.data = "QA";
ptdata114.pos = 200F;
ptdata115.active = false;
ptdata115.data = "CHG";
ptdata115.pos = 300F;
ptdata116.active = false;
ptdata116.data = "QC";
ptdata116.pos = 400F;
ptdata117.active = false;
ptdata117.data = "#FVI-1";
ptdata117.pos = 500F;
ptdata118.active = false;
ptdata118.data = "#FVI-2";
ptdata118.pos = 600F;
ptdata119.active = false;
ptdata119.data = "#FVI-3";
ptdata119.pos = 700F;
ptdata120.active = false;
ptdata120.data = "#FVI-4";
ptdata120.pos = 800F;
ptdata121.active = false;
ptdata121.data = "#FVI-5";
ptdata121.pos = 900F;
ptdata122.active = false;
ptdata122.data = "POT";
ptdata122.pos = 970F;
this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata113,
ptdata114,
ptdata115,
ptdata116,
ptdata117,
ptdata118,
ptdata119,
ptdata120,
ptdata121,
ptdata122};
ptdata123.active = false;
ptdata123.data = "9000";
ptdata123.pos = 80F;
ptdata124.active = false;
ptdata124.data = "9001";
ptdata124.pos = 120F;
ptdata125.active = false;
ptdata125.data = "9010";
ptdata125.pos = 180F;
ptdata126.active = false;
ptdata126.data = "9011";
ptdata126.pos = 220F;
ptdata127.active = false;
ptdata127.data = "9020";
ptdata127.pos = 280F;
ptdata128.active = false;
ptdata128.data = "9021";
ptdata128.pos = 320F;
ptdata129.active = false;
ptdata129.data = "9030";
ptdata129.pos = 380F;
ptdata130.active = false;
ptdata130.data = "9031";
ptdata130.pos = 420F;
ptdata131.active = false;
ptdata131.data = "9040";
ptdata131.pos = 480F;
ptdata132.active = false;
ptdata132.data = "9041";
ptdata132.pos = 520F;
ptdata133.active = false;
ptdata133.data = "9050";
ptdata133.pos = 580F;
ptdata134.active = false;
ptdata134.data = "9051";
ptdata134.pos = 620F;
ptdata135.active = false;
ptdata135.data = "9060";
ptdata135.pos = 680F;
ptdata136.active = false;
ptdata136.data = "9061";
ptdata136.pos = 720F;
ptdata137.active = false;
ptdata137.data = "9070";
ptdata137.pos = 780F;
ptdata138.active = false;
ptdata138.data = "9071";
ptdata138.pos = 820F;
ptdata139.active = false;
ptdata139.data = "9000";
ptdata139.pos = 10F;
ptdata140.active = false;
ptdata140.data = "9001";
ptdata140.pos = 50F;
this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata123,
ptdata124,
ptdata125,
ptdata126,
ptdata127,
ptdata128,
ptdata129,
ptdata130,
ptdata131,
ptdata132,
ptdata133,
ptdata134,
ptdata135,
ptdata136,
ptdata137,
ptdata138,
ptdata139,
ptdata140};
this.agvViewer1.Location = new System.Drawing.Point(241, 0);
this.agvViewer1.Name = "agvViewer1";
this.agvViewer1.Size = new System.Drawing.Size(899, 120);
this.agvViewer1.StopbyMark = false;
this.agvViewer1.TabIndex = 0;
this.agvViewer1.Text = "agvViewer1";
this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
//
// serAGV
//
this.serAGV.BaudRate = 9600;
this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.serAGV.dev = null;
this.serAGV.Dock = System.Windows.Forms.DockStyle.Left;
this.serAGV.Location = new System.Drawing.Point(0, 0);
this.serAGV.Name = "serAGV";
this.serAGV.PortName = "COM21";
this.serAGV.Size = new System.Drawing.Size(241, 120);
this.serAGV.TabIndex = 0;
//
// tabPage2 // tabPage2
// //
this.tabPage2.Controls.Add(this.groupBox1); this.tabPage2.Controls.Add(this.groupBox1);
@@ -1106,6 +1277,10 @@ namespace AGVEmulator
// //
// panel3 // panel3
// //
this.panel3.Controls.Add(this.label13);
this.panel3.Controls.Add(this.button6);
this.panel3.Controls.Add(this.button13);
this.panel3.Controls.Add(this.label12);
this.panel3.Controls.Add(this.button3); this.panel3.Controls.Add(this.button3);
this.panel3.Controls.Add(this.button2); this.panel3.Controls.Add(this.button2);
this.panel3.Controls.Add(this.nudIDAgv); this.panel3.Controls.Add(this.nudIDAgv);
@@ -1128,9 +1303,9 @@ namespace AGVEmulator
// //
// button3 // button3
// //
this.button3.Location = new System.Drawing.Point(246, 339); this.button3.Location = new System.Drawing.Point(204, 305);
this.button3.Name = "button3"; this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(86, 38); this.button3.Size = new System.Drawing.Size(133, 38);
this.button3.TabIndex = 15; this.button3.TabIndex = 15;
this.button3.Tag = "--"; this.button3.Tag = "--";
this.button3.Text = "Pick Off"; this.button3.Text = "Pick Off";
@@ -1139,9 +1314,9 @@ namespace AGVEmulator
// //
// button2 // button2
// //
this.button2.Location = new System.Drawing.Point(246, 295); this.button2.Location = new System.Drawing.Point(65, 305);
this.button2.Name = "button2"; this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(86, 38); this.button2.Size = new System.Drawing.Size(133, 38);
this.button2.TabIndex = 14; this.button2.TabIndex = 14;
this.button2.Tag = "--"; this.button2.Tag = "--";
this.button2.Text = "Pick On"; this.button2.Text = "Pick On";
@@ -1408,172 +1583,45 @@ namespace AGVEmulator
this.sbCAL.Size = new System.Drawing.Size(19, 17); this.sbCAL.Size = new System.Drawing.Size(19, 17);
this.sbCAL.Text = "●"; this.sbCAL.Text = "●";
// //
// agvViewer1 // label12
// //
this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill; this.label12.AutoSize = true;
this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F); this.label12.Location = new System.Drawing.Point(17, 318);
this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); this.label12.Name = "label12";
this.agvViewer1.lastmark = ""; this.label12.Size = new System.Drawing.Size(34, 12);
this.agvViewer1.lastmarkdir = ""; this.label12.TabIndex = 16;
this.agvViewer1.lasttag = ""; this.label12.Text = "Enter";
this.agvViewer1.lasttagdir = "";
ptdata1.active = false;
ptdata1.data = "NOT";
ptdata1.pos = 30F;
ptdata2.active = false;
ptdata2.data = "QA";
ptdata2.pos = 200F;
ptdata3.active = false;
ptdata3.data = "CHG";
ptdata3.pos = 300F;
ptdata4.active = false;
ptdata4.data = "QC";
ptdata4.pos = 400F;
ptdata5.active = false;
ptdata5.data = "#FVI-1";
ptdata5.pos = 500F;
ptdata6.active = false;
ptdata6.data = "#FVI-2";
ptdata6.pos = 600F;
ptdata7.active = false;
ptdata7.data = "#FVI-3";
ptdata7.pos = 700F;
ptdata8.active = false;
ptdata8.data = "#FVI-4";
ptdata8.pos = 800F;
ptdata9.active = false;
ptdata9.data = "#FVI-5";
ptdata9.pos = 900F;
ptdata10.active = false;
ptdata10.data = "POT";
ptdata10.pos = 970F;
this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata1,
ptdata2,
ptdata3,
ptdata4,
ptdata5,
ptdata6,
ptdata7,
ptdata8,
ptdata9,
ptdata10};
ptdata11.active = false;
ptdata11.data = "9000";
ptdata11.pos = 80F;
ptdata12.active = false;
ptdata12.data = "9001";
ptdata12.pos = 120F;
ptdata13.active = false;
ptdata13.data = "9010";
ptdata13.pos = 180F;
ptdata14.active = false;
ptdata14.data = "9011";
ptdata14.pos = 220F;
ptdata15.active = false;
ptdata15.data = "9020";
ptdata15.pos = 280F;
ptdata16.active = false;
ptdata16.data = "9021";
ptdata16.pos = 320F;
ptdata17.active = false;
ptdata17.data = "9030";
ptdata17.pos = 380F;
ptdata18.active = false;
ptdata18.data = "9031";
ptdata18.pos = 420F;
ptdata19.active = false;
ptdata19.data = "9040";
ptdata19.pos = 480F;
ptdata20.active = false;
ptdata20.data = "9041";
ptdata20.pos = 520F;
ptdata21.active = false;
ptdata21.data = "9050";
ptdata21.pos = 580F;
ptdata22.active = false;
ptdata22.data = "9051";
ptdata22.pos = 620F;
ptdata23.active = false;
ptdata23.data = "9060";
ptdata23.pos = 680F;
ptdata24.active = false;
ptdata24.data = "9061";
ptdata24.pos = 720F;
ptdata25.active = false;
ptdata25.data = "9070";
ptdata25.pos = 780F;
ptdata26.active = false;
ptdata26.data = "9071";
ptdata26.pos = 820F;
ptdata27.active = false;
ptdata27.data = "9000";
ptdata27.pos = 10F;
ptdata28.active = false;
ptdata28.data = "9001";
ptdata28.pos = 50F;
this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata11,
ptdata12,
ptdata13,
ptdata14,
ptdata15,
ptdata16,
ptdata17,
ptdata18,
ptdata19,
ptdata20,
ptdata21,
ptdata22,
ptdata23,
ptdata24,
ptdata25,
ptdata26,
ptdata27,
ptdata28};
this.agvViewer1.Location = new System.Drawing.Point(241, 0);
this.agvViewer1.Name = "agvViewer1";
this.agvViewer1.Size = new System.Drawing.Size(899, 120);
this.agvViewer1.StopbyMark = false;
this.agvViewer1.TabIndex = 0;
this.agvViewer1.Text = "agvViewer1";
this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
// //
// serAGV // label13
// //
this.serAGV.BaudRate = 9600; this.label13.AutoSize = true;
this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.label13.Location = new System.Drawing.Point(17, 362);
this.serAGV.dev = null; this.label13.Name = "label13";
this.serAGV.Dock = System.Windows.Forms.DockStyle.Left; this.label13.Size = new System.Drawing.Size(26, 12);
this.serAGV.Location = new System.Drawing.Point(0, 0); this.label13.TabIndex = 19;
this.serAGV.Name = "serAGV"; this.label13.Text = "Exit";
this.serAGV.PortName = "COM21";
this.serAGV.Size = new System.Drawing.Size(241, 120);
this.serAGV.TabIndex = 0;
// //
// serBMS // button6
// //
this.serBMS.BaudRate = 9600; this.button6.Location = new System.Drawing.Point(204, 349);
this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.button6.Name = "button6";
this.serBMS.dev = null; this.button6.Size = new System.Drawing.Size(133, 38);
this.serBMS.Dock = System.Windows.Forms.DockStyle.Top; this.button6.TabIndex = 18;
this.serBMS.Location = new System.Drawing.Point(3, 17); this.button6.Tag = "--";
this.serBMS.Name = "serBMS"; this.button6.Text = "Pick Off";
this.serBMS.PortName = "COM31"; this.button6.UseVisualStyleBackColor = true;
this.serBMS.Size = new System.Drawing.Size(1134, 84); this.button6.Click += new System.EventHandler(this.button6_Click_1);
this.serBMS.TabIndex = 1;
// //
// serCAL // button13
// //
this.serCAL.BaudRate = 9600; this.button13.Location = new System.Drawing.Point(65, 349);
this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.button13.Name = "button13";
this.serCAL.dev = null; this.button13.Size = new System.Drawing.Size(133, 38);
this.serCAL.Dock = System.Windows.Forms.DockStyle.Top; this.button13.TabIndex = 17;
this.serCAL.Location = new System.Drawing.Point(3, 17); this.button13.Tag = "--";
this.serCAL.Name = "serCAL"; this.button13.Text = "Pick On";
this.serCAL.PortName = "COM41"; this.button13.UseVisualStyleBackColor = true;
this.serCAL.Size = new System.Drawing.Size(776, 84); this.button13.Click += new System.EventHandler(this.button13_Click);
this.serCAL.TabIndex = 1;
// //
// fMain // fMain
// //
@@ -1746,6 +1794,10 @@ namespace AGVEmulator
private Button button3; private Button button3;
private Button button2; private Button button2;
private Panel panel2; private Panel panel2;
private Label label12;
private Label label13;
private Button button6;
private Button button13;
} }
} }

20
AGVEmulator/fMain.cs
View File

@@ -938,21 +938,25 @@ namespace AGVEmulator
private void button2_Click(object sender, EventArgs e) private void button2_Click(object sender, EventArgs e)
{ {
var target = (byte)nudIDAgv.Value; var target = (byte)nudIDAgv.Value;
this.XBE.SendPickOn(target); this.XBE.SendPickOnEnter(target);
} }
private void button3_Click(object sender, EventArgs e) private void button3_Click(object sender, EventArgs e)
{ {
var target = (byte)nudIDAgv.Value; var target = (byte)nudIDAgv.Value;
this.XBE.SendPickOff(target); this.XBE.SendPickOffEnter(target);
} }
private void trbT2_Scroll(object sender, EventArgs e) private void trbT2_Scroll(object sender, EventArgs e)
{ {
Temp2 = (UInt16)trbT2.Value; Temp2 = (UInt16)trbT2.Value;
label11.Text = $"{Temp2 / 10f}º"; label11.Text = $"{Temp2 / 10f}º";
} }
private void toolStripButton1_Click(object sender, EventArgs e) private void toolStripButton1_Click(object sender, EventArgs e)
{ {
serAGV.Connect(); serAGV.Connect();
@@ -966,8 +970,16 @@ namespace AGVEmulator
serBMS.Disconnect(); serBMS.Disconnect();
serCAL.Disconnect(); serCAL.Disconnect();
} }
private void button13_Click(object sender, EventArgs e)
{
var target = (byte)nudIDAgv.Value;
this.XBE.SendPickOnExit(target);
}
private void button6_Click_1(object sender, EventArgs e)
{
var target = (byte)nudIDAgv.Value;
this.XBE.SendPickOffExit(target);
}
} }
} }

12
Cs_HMI/Project/AGV4.csproj
View File

@@ -289,24 +289,12 @@
<Compile Include="Properties\AssemblyInfo.cs" /> <Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="PUB.cs" /> <Compile Include="PUB.cs" />
<Compile Include="CSetting.cs" /> <Compile Include="CSetting.cs" />
<Compile Include="StateMachine\Step\_SM_RUN_CLEANER_IN.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="StateMachine\Step\_SM_RUN_CLEANER_OUT.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="StateMachine\Step\_SM_RUN_LOADER_IN.cs"> <Compile Include="StateMachine\Step\_SM_RUN_LOADER_IN.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
<Compile Include="StateMachine\Step\_SM_RUN_LOADER_OUT.cs"> <Compile Include="StateMachine\Step\_SM_RUN_LOADER_OUT.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
<Compile Include="StateMachine\Step\_SM_RUN_UNLOADER_IN.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="StateMachine\Step\_SM_RUN_UNLOADER_OUT.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="StateMachine\Step\_Util.cs"> <Compile Include="StateMachine\Step\_Util.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>

78
Cs_HMI/Project/Device/Xbee.cs
View File

@@ -21,27 +21,27 @@ namespace Project.Device
/// <summary> /// <summary>
/// 투입준비됨 /// 투입준비됨
/// </summary> /// </summary>
InReady = 10, ReadyForEnter = 10,
/// <summary> /// <summary>
/// 투입완료 /// 투입완료
/// </summary> /// </summary>
InComplete = 11, EnterComplete = 11,
/// <summary> /// <summary>
/// 투입(진행중) /// 투입(진행중)
/// </summary> /// </summary>
InIng = 12, EnterIng = 12,
/// <summary> /// <summary>
/// 진출완료 /// 진출완료
/// </summary> /// </summary>
OutComplete = 21, ExitComplete = 21,
/// <summary> /// <summary>
/// 진출중 /// 진출중
/// </summary> /// </summary>
OutIng = 22, ExitIng = 22,
} }
public class Xbee : SerialPort, arDev.ISerialComm public class Xbee : SerialPort, arDev.ISerialComm
@@ -196,10 +196,7 @@ namespace Project.Device
Send(packet); Send(packet);
} }
public eDocStep StepBuffer { get; set; } = eDocStep.NotSet; public eDocStep StepMC { get; set; } = eDocStep.NotSet;
public eDocStep StepUnloader { get; set; } = eDocStep.NotSet;
public eDocStep StepLoader { get; set; } = eDocStep.NotSet;
public eDocStep StepCleaner { get; set; } = eDocStep.NotSet;
ManualResetEvent sendlock = new ManualResetEvent(true); ManualResetEvent sendlock = new ManualResetEvent(true);
@@ -225,67 +222,80 @@ namespace Project.Device
*/ */
try try
{ {
byte[] data = new byte[12]; // 총 12바이트 데이터 List<byte> data = new List<byte>();
byte value = 0;
// Autoron Mode
// Mode value = (byte)(VAR.BOOL[eVarBool.FLAG_AUTORUN] ? 1 : 0);
data[0] = (byte)(VAR.BOOL[eVarBool.FLAG_AUTORUN] ? 1 : 0); data.Add(value);
// RunSt // RunSt
if (PUB.AGV.error.Emergency) if (PUB.AGV.error.Emergency)
data[1] = 2; // error value = 2; // error
else if (PUB.AGV.system1.agv_run) else if (PUB.AGV.system1.agv_run)
data[1] = 1; // run value = 1; // run
else else
data[1] = 0; // stop value = 0; // stop
data.Add(value);
//runstep
value = (byte)PUB.sm.RunStep;
data.Add(value);
//runstepseq
value = (byte)StepMC;
data.Add(value);
// Motor Direction // Motor Direction
if (PUB.AGV.data.Direction == 'F') if (PUB.AGV.data.Direction == 'F')
data[2] = 0; value = 0;
else if (PUB.AGV.data.Direction == 'B') else if (PUB.AGV.data.Direction == 'B')
data[2] = 1; value = 1;
else else
data[2] = 0xff; //unknown value = 0xff; //unknown
data.Add(value);
// Magnet Direction // Magnet Direction
if (PUB.AGV.data.Sts == 'L') if (PUB.AGV.data.Sts == 'L')
data[3] = 1; // left value = 1; // left
else if (PUB.AGV.data.Sts == 'R') else if (PUB.AGV.data.Sts == 'R')
data[3] = 2; // right value = 2; // right
else if (PUB.AGV.data.Sts == 'S') else if (PUB.AGV.data.Sts == 'S')
data[3] = 0; // straight value = 0; // straight
else else
data[3] = 0xFF; //unknown value = 0xFF; //unknown
data.Add(value);
// Inposition
data[4] = (byte)(PUB.AGV.system1.agv_stop ? 1 : 0);
// ChargeSt // ChargeSt
data[5] = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0); value = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0);
data.Add(value);
// CartSt // CartSt
if (PUB.AGV.signal2.cart_detect1 && PUB.AGV.signal2.cart_detect2) if (PUB.AGV.signal2.cart_detect1 && PUB.AGV.signal2.cart_detect2)
data[6] = 1; // 센서두개가 모두 감지되는 경우 value = 1; // 센서두개가 모두 감지되는 경우
else if (PUB.AGV.signal2.cart_detect1 == false && PUB.AGV.signal2.cart_detect2 == false) else if (PUB.AGV.signal2.cart_detect1 == false && PUB.AGV.signal2.cart_detect2 == false)
data[6] = 0; // 센서두개가 모두 감지되지 않는 경우 value = 0; // 센서두개가 모두 감지되지 않는 경우
else else
data[6] = 2; // 센서하나만 감지되는 경우 value = 2; // 센서하나만 감지되는 경우
data.Add(value);
// LiftSt // LiftSt
if (PUB.AGV.signal1.lift_up) if (PUB.AGV.signal1.lift_up)
data[7] = 1; // 위로 올라가는 경우 value = 1; // 위로 올라가는 경우
else if (PUB.AGV.signal1.lift_down) else if (PUB.AGV.signal1.lift_down)
data[7] = 0; // 아래로 내려가는 경우 value = 0; // 아래로 내려가는 경우
else else
data[7] = 2; // unknown (기본값) value = 2; // unknown (기본값)
data.Add(value);
// LastTag // LastTag
string lastTag = PUB.AGV.data.TagNo.ToString("0000") ?? "0000"; string lastTag = PUB.AGV.data.TagNo.ToString("0000") ?? "0000";
byte[] tagBytes = Encoding.ASCII.GetBytes(lastTag.PadRight(4, '0')); byte[] tagBytes = Encoding.ASCII.GetBytes(lastTag.PadRight(4, '0'));
Array.Copy(tagBytes, 0, data, 8, lastTag.Length); data.AddRange(tagBytes);
// 데이터 전송 // 데이터 전송
var cmd = (byte)ENIGProtocol.AGVCommandEH.Status; var cmd = (byte)ENIGProtocol.AGVCommandEH.Status;
var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data); var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data.ToArray());
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

89
Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
View File

@@ -115,10 +115,7 @@ namespace Project
var target = PUB._virtualAGV.TargetNode; var target = PUB._virtualAGV.TargetNode;
PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}"); PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
PUB.XBE.StepLoader = Device.eDocStep.NotSet; PUB.XBE.StepMC = Device.eDocStep.NotSet;
PUB.XBE.StepCleaner = Device.eDocStep.NotSet;
PUB.XBE.StepUnloader = Device.eDocStep.NotSet;
PUB.XBE.StepBuffer = Device.eDocStep.NotSet;
switch (target.StationType) switch (target.StationType)
{ {
@@ -127,12 +124,12 @@ namespace Project
if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id)) if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
{ {
//버퍼진입전 노드에 도착완료했따 //버퍼진입전 노드에 도착완료했따
PUB.XBE.StepBuffer = Device.eDocStep.InReady; PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
} }
else else
{ {
//마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다 //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
PUB.XBE.StepBuffer = Device.eDocStep.NotSet; PUB.XBE.StepMC = Device.eDocStep.NotSet;
PUB.log.AddE($"목적지가 버퍼이나 노드가 불일치 한다 오류사항"); PUB.log.AddE($"목적지가 버퍼이나 노드가 불일치 한다 오류사항");
PUB._mapCanvas.SetAlertMessage("목적지가 버퍼이나 노드 불일치 오류"); PUB._mapCanvas.SetAlertMessage("목적지가 버퍼이나 노드 불일치 오류");
PUB.sm.SetNewRunStep(ERunStep.ERROR); PUB.sm.SetNewRunStep(ERunStep.ERROR);
@@ -144,15 +141,15 @@ namespace Project
break; break;
case AGVNavigationCore.Models.StationType.Loader: case AGVNavigationCore.Models.StationType.Loader:
PUB.XBE.StepLoader = Device.eDocStep.InReady; PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break; break;
case AGVNavigationCore.Models.StationType.Clearner: case AGVNavigationCore.Models.StationType.Clearner:
PUB.XBE.StepCleaner = Device.eDocStep.InReady; PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break; break;
case AGVNavigationCore.Models.StationType.UnLoader: case AGVNavigationCore.Models.StationType.UnLoader:
PUB.XBE.StepUnloader = Device.eDocStep.InReady; PUB.XBE.StepMC = Device.eDocStep.ReadyForEnter;
break; break;
default: default:
@@ -230,69 +227,31 @@ namespace Project
} }
} }
break; break;
case ERunStep.LOADER_OUT: //로더아웃
if (_SM_RUN_LOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
PUB.XBE.StepLoader = Device.eDocStep.OutComplete;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.CLEANER_IN: //클리너도킹
case ERunStep.UNLOADER_IN: //언로더도킹
case ERunStep.LOADER_IN: //로더도킹 case ERunStep.LOADER_IN: //로더도킹
if (_SM_RUN_LOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime)) if (_SM_RUN_LOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{ {
PUB.Speak(Lang.버퍼도킹이완료되었습니다); PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다. //도킹완료상태를 업데이트한다.
PUB.XBE.StepLoader = Device.eDocStep.InComplete; PUB.XBE.StepMC = Device.eDocStep.EnterComplete;
//대기상태로 전환 //대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY); PUB.sm.SetNewRunStep(ERunStep.READY);
return; return;
} }
break; break;
case ERunStep.UNLOADER_OUT: //언로더아웃
if (_SM_RUN_UNLOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
PUB.XBE.StepUnloader = Device.eDocStep.OutComplete;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.UNLOADER_IN: //언로더도킹
if (_SM_RUN_UNLOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
PUB.XBE.StepUnloader = Device.eDocStep.InComplete;
//대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.CLEANER_OUT: //클리너아웃 case ERunStep.CLEANER_OUT: //클리너아웃
if (_SM_RUN_CLEANER_OUT(runStepisFirst, PUB.sm.GetRunSteptime)) case ERunStep.UNLOADER_OUT: //언로더아웃
case ERunStep.LOADER_OUT: //로더아웃
if (_SM_RUN_LOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{ {
PUB.Speak(Lang.버퍼도킹해제완료); PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다. //도킹완료상태를 업데이트한다.
PUB.XBE.StepCleaner = Device.eDocStep.OutComplete; PUB.XBE.StepMC = Device.eDocStep.ExitComplete;
//대기상태로 전환 //대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY); PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -300,33 +259,19 @@ namespace Project
} }
break; break;
case ERunStep.CLEANER_IN: //클리너도킹
if (_SM_RUN_CLEANER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
PUB.XBE.StepCleaner = Device.eDocStep.InComplete;
//클리너아웃으로 자동 진행하지 않음
PUB.sm.SetNewRunStep(ERunStep.READY);
return;
}
break;
case ERunStep.BUFFER_OUT: //버퍼아웃 case ERunStep.BUFFER_OUT: //버퍼아웃
if (_SM_RUN_BUFFER_OUT(runStepisFirst, PUB.sm.GetRunSteptime)) if (_SM_RUN_BUFFER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{ {
PUB.Speak(Lang.버퍼도킹해제완료); PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다. //도킹완료상태를 업데이트한다.
PUB.XBE.StepBuffer = Device.eDocStep.OutComplete; PUB.XBE.StepMC = Device.eDocStep.ExitComplete;
//대기상태로 전환 //대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY); PUB.sm.SetNewRunStep(ERunStep.READY);
return; return;
} }
else PUB.XBE.StepBuffer = Device.eDocStep.OutIng; else PUB.XBE.StepMC = Device.eDocStep.ExitIng;
break; break;
case ERunStep.BUFFER_IN: //버퍼도킹 case ERunStep.BUFFER_IN: //버퍼도킹
@@ -335,13 +280,13 @@ namespace Project
PUB.Speak(Lang.버퍼도킹이완료되었습니다); PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다. //도킹완료상태를 업데이트한다.
PUB.XBE.StepBuffer = Device.eDocStep.InComplete; PUB.XBE.StepMC = Device.eDocStep.EnterComplete;
//대기상태로 전환 //대기상태로 전환
PUB.sm.SetNewRunStep(ERunStep.READY); PUB.sm.SetNewRunStep(ERunStep.READY);
return; return;
} }
else PUB.XBE.StepBuffer = Device.eDocStep.InIng; else PUB.XBE.StepMC = Device.eDocStep.EnterIng;
break; break;
} }

22
Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
View File

@@ -29,7 +29,6 @@ namespace Project
* 3. 후진-저속-마크다운 실행 * 3. 후진-저속-마크다운 실행
*/ */
if (PUB.sm.RunStepSeq == idx++) if (PUB.sm.RunStepSeq == idx++)
{ {
PUB.log.Add($"[{funcname}] 버퍼진입시작({PUB.NextWorkCmd}) Turn:{PUB._virtualAGV.Turn}"); PUB.log.Add($"[{funcname}] 버퍼진입시작({PUB.NextWorkCmd}) Turn:{PUB._virtualAGV.Turn}");
@@ -90,7 +89,7 @@ namespace Project
} }
return false; return false;
} }
PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.L90; //턴완료
PUB.log.Add($"[{funcname}] Turn(left) 완료"); PUB.log.Add($"[{funcname}] Turn(left) 완료");
PUB.sm.UpdateRunStepSeq(); //이미완료된상태이므로 다음으로 진행한다. PUB.sm.UpdateRunStepSeq(); //이미완료된상태이므로 다음으로 진행한다.
return false; return false;
@@ -139,14 +138,6 @@ namespace Project
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{ {
//저속이동 (후진 진입) //저속이동 (후진 진입)
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
@@ -172,11 +163,13 @@ namespace Project
//후진이동을한다 //후진이동을한다
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward); PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑으로 이동 //마크스탑으로 이동
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop); PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -185,8 +178,7 @@ namespace Project
//마크스탑신호가 3초이내로 들어와야 한다 //마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false) if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{ {
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime); if (seqtime.TotalSeconds > 3)
if (ts.TotalSeconds > 3)
{ {
PUB.AGV.AGVMoveStop(funcname); PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE($"[{funcname}] MARK STOP신호가 확인되지 않습니다"); PUB.log.AddE($"[{funcname}] MARK STOP신호가 확인되지 않습니다");

8
Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -39,7 +39,7 @@ namespace Project
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? 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($"[{funcname}] 리프트제어 {lift}"); PUB.log.Add($"[{funcname}] 리프트제어 {lift}");
PUB.AGV.LiftControl(lift); PUB.AGV.LiftControl(lift);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
@@ -48,13 +48,13 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//리프트 센서 확인 //리프트 센서 확인
var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down; var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
if (checksensor == false) if (checksensor == false)
{ {
if (seqtime.TotalSeconds > 20) if (seqtime.TotalSeconds > 20)
{ {
PUB.log.AddAT($"[{funcname}] 리프트가 완료되지 않아 1회 재시도 합니다"); PUB.log.AddAT($"[{funcname}] 리프트가 완료되지 않아 1회 재시도 합니다");
arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? 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.AGV.LiftControl(lift); PUB.AGV.LiftControl(lift);
} }
else return false; else return false;
@@ -65,7 +65,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//리프트 센서 확인 //리프트 센서 확인
var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down; var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
if (checksensor == false) if (checksensor == false)
{ {
if (seqtime.TotalSeconds > 20) if (seqtime.TotalSeconds > 20)

181
Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_IN.cs
View File

@@ -1,181 +0,0 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 클리너 진입
/// </summary>
public Boolean _SM_RUN_CLEANER_IN(bool isFirst, TimeSpan stepTime)
{
var funcname = "_SM_RUN_CLEANER_IN";
var idx = 1;
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
/*
* 클리너 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("클리너진입시작");
PUB.Speak("클리너 작업을 시작합니다");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// [PickOn/PickOff] 초기 리프트 동작
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
liftCmd = arDev.Narumi.LiftCommand.UP;
}
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트 센서 확인
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
// Timebound check
}
PUB.log.Add("리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//저속이동 (후진 진입)
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success)
{
if (ret >= arDev.eNarumiCommandResult.Error)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("agv 속도 설정 오류");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 3)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB._mapCanvas.SetAlertMessage("mark stop 신호 확인 안됨");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB._mapCanvas.SetAlertMessage("agv 가 멈추지 않아 강제 종료");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
return false;
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
PUB.log.Add("클리너 진입 완료. 작업 수행(Lift Pick/Drop)");
var liftCmd = arDev.Narumi.LiftCommand.UP;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
liftCmd = arDev.Narumi.LiftCommand.DN;
}
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// 리프트 동작 대기
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds < 2) return false;
PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("클리너 진입 및 작업 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
PUB.AddEEDB($"클리너작업완료({PUB.Result.TargetPos})");
return true;
}
}
}

92
Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_OUT.cs
View File

@@ -1,92 +0,0 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 클리너 배출
/// </summary>
public Boolean _SM_RUN_CLEANER_OUT(bool isFirst, TimeSpan stepTime)
{
var funcname = "CLEANEROUT";
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Forward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success)
{
if (ret >= arDev.eNarumiCommandResult.Error)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("agv 속도 설정 실패");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑
PUB.AGV.AGVMoveStop("cleaner out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
return true;
}
}
}

196
Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_IN.cs
View File

@@ -14,40 +14,82 @@ namespace Project
/// <summary> /// <summary>
/// 로더 진입 /// 로더 진입
/// </summary> /// </summary>
public Boolean _SM_RUN_LOADER_IN(bool isFirst, TimeSpan stepTime) public Boolean _SM_RUN_LOADER_IN(bool isFirst, TimeSpan seqTime)
{ {
var funcname = "_SM_RUN_LOADER_IN";
var idx = 1; var idx = 1;
var funcname = PUB.sm.RunStep.ToString();
//충전 상태가 OFF되어야 동작하게한다 //충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false; if (_SM_RUN_CHGOFF(isFirst, seqTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다 //라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false; if (CheckLiderStop() == false) return false;
/*
* 로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++) if (PUB.sm.RunStepSeq == idx++)
{ {
PUB.log.Add("로더진입시작"); PUB.log.Add("IN작업-시작");
PUB.Speak("로더 작업을 시작합니다"); // Lang resource might not exist, using string PUB.Speak("작업을 시작합니다");
PUB.AGV.AGVMoveStop(funcname);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
// [PickOn/PickOff] 초기 리프트 동작 //마크센서가 감지된상태여야 완전한위치로 가정한다
var liftCmd = arDev.Narumi.LiftCommand.DN; // Default PickOn (Get -> Go Under -> Down) if(PUB.AGV.signal1.mark_sensor == false)
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{ {
liftCmd = arDev.Narumi.LiftCommand.UP; // PickOff (Put -> Carry In -> Up) var errmsg = $"[{funcname}] 마크센서가 감지되지 않습니다";
PUB.AGV.AGVMoveStop(errmsg);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//작업상태에 따라서 카트감지여부를 확인한ㄷ.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnEnter)
{
//가지러가야하는 경우이므로 카트가 없어야한다.
if (PUB.AGV.signal2.cart_detect1 || PUB.AGV.signal2.cart_detect2)
{
var errmsg = $"[{funcname}] 카트가 존재하여 진입을 할 수 없습니다";
PUB.AGV.AGVMoveStop(errmsg);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
}
else if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
//가져다 놓아야하므로 카트가 존재해야 한다
if (PUB.AGV.signal2.cart_detect1 == false || PUB.AGV.signal2.cart_detect2 == false)
{
var errmsg = $"[{funcname}] 카트감지센서가 인식되지 않았습니다";
PUB.AGV.AGVMoveStop(errmsg);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
}
else
{
var errmsg = $"[{funcname}] 알수없는 작업형태입니다({PUB.NextWorkCmd})";
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.sm.SetNewRunStep(ERunStep.ERROR);
} }
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off/on 상관없이 리프트는 내려서 이동한다
var liftCmd = arDev.Narumi.LiftCommand.DN;
PUB.AGV.LiftControl(liftCmd); PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime); VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
@@ -55,28 +97,24 @@ namespace Project
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//리프트 센서 확인 (Direction에 따라 다름) //리프트 센서 확인
// TODO: UP 센서 확인 로직 추가 필요 시 구현. 현재는 시간체크만 유지하거나 DN확인만 있음. if ((PUB.AGV.signal1.lift_down == true && PUB.AGV.signal1.lift_up == false) == false)
// 일단 기존 로직 유지하되, UP일 경우 스킵 고려 {
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime); if (ts.TotalSeconds > 10)
if (ts.TotalSeconds > 10) {
{ var errmsg = $"[{funcname}] 리프트다운이 확인되지 않습니다";
// Timebound check PUB.AGV.AGVMoveStop(funcname);
// PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP); PUB.log.AddE(errmsg);
// Warning only? PUB._mapCanvas.SetAlertMessage(errmsg);
} PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
PUB.log.Add("리프트 동작 확인 완료"); }
PUB.sm.UpdateRunStepSeq(); else
return false; {
} PUB.log.Add("리프트 동작 확인 완료");
else if (PUB.sm.RunStepSeq == idx++) PUB.sm.UpdateRunStepSeq();
{ }
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
@@ -89,6 +127,7 @@ namespace Project
PBSSensor = 0, PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low, Speed = arDev.Narumi.eMoveSpd.Low,
}); });
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success) if (ret != arDev.eNarumiCommandResult.Success)
{ {
if (ret >= arDev.eNarumiCommandResult.Error) if (ret >= arDev.eNarumiCommandResult.Error)
@@ -100,28 +139,52 @@ namespace Project
} }
return false; return false;
} }
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
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++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV구동을 확인하고 마크스탑을 설정한다.
if (PUB.AGV.system1.agv_run == false)
{
if (seqTime.TotalMilliseconds > 1000)
{
//구동이확인되지 않으면 오류처리를 한다.
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("agv 속도 설정 실패");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
//마크스탑설정
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{ {
//마크스탑신호가 3초이내로 들어와야 한다 //마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false) if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{ {
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime); if (seqTime.TotalMilliseconds > 3000)
if (ts.TotalSeconds > 3)
{ {
PUB.AGV.AGVMoveStop(funcname); PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다"); PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB._mapCanvas.SetAlertMessage("mark stop 신호 확인 불가"); PUB._mapCanvas.SetAlertMessage("mark stop 신호 확인 불가");
PUB.sm.SetNewRunStep(ERunStep.ERROR); PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
} }
return false;
} }
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -130,57 +193,44 @@ namespace Project
//AGV가 멈출때까지 기다린다. //AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true) if (PUB.AGV.system1.agv_run == true)
{ {
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime); if (seqTime.TotalSeconds > 10)
if (ts.TotalSeconds > 10)
{ {
PUB.AGV.AGVMoveStop(funcname); PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다"); PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB._mapCanvas.SetAlertMessage("agv 가 멈추지 않아 강제 종료"); PUB._mapCanvas.SetAlertMessage("agv 가 멈추지 않아 강제 종료");
PUB.sm.SetNewRunStep(ERunStep.ERROR); PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
} }
return false; return false;
} }
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
else if (PUB.sm.RunStepSeq == idx++)
{
// [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
PUB.log.Add("로더 진입 완료. 작업 수행(Lift Pick/Drop)");
var liftCmd = arDev.Narumi.LiftCommand.UP; // Default PickOn (Lift Up to Pick)
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
liftCmd = arDev.Narumi.LiftCommand.DN; // PickOff (Lift Down to Drop)
}
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
// 리프트 동작 대기 //마크센서입력을 확인한다.
// TODO: 센서 확인 if (PUB.AGV.signal1.mark_sensor == false)
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime); {
if (ts.TotalSeconds < 2) return false; // 2초 대기 if (seqTime.TotalSeconds > 5)
{
PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환"); PUB.AGV.AGVMoveStop(funcname);
PUB.sm.UpdateRunStepSeq(); PUB.log.AddE("마크센서가 감지되지 않았습니다");
return false; PUB._mapCanvas.SetAlertMessage("마크센서가 감지되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//완료되었다. //완료되었다.
PUB.log.Add("로더 진입 및 작업 완료"); PUB.log.Add("진입 완료");
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
PUB.AddEEDB($"로더작업완료({PUB.Result.TargetPos})");
return true; return true;
} }
} }

135
Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_OUT.cs
View File

@@ -14,17 +14,71 @@ namespace Project
/// <summary> /// <summary>
/// 로더 배출 /// 로더 배출
/// </summary> /// </summary>
public Boolean _SM_RUN_LOADER_OUT(bool isFirst, TimeSpan stepTime) public Boolean _SM_RUN_LOADER_OUT(bool isFirst, TimeSpan seqTime)
{ {
var funcname = "LOADEROUT"; var idx = 1;
var funcname = PUB.sm.RunStep.ToString();
//충전 상태가 OFF되어야 동작하게한다 //충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false; if (_SM_RUN_CHGOFF(isFirst, seqTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다 //라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false; if (CheckLiderStop() == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++) if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("OUT작업-시작");
PUB.Speak("작업을 시작합니다");
PUB.AGV.AGVMoveStop(funcname);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//작업형태에 따라서. 리프트를 제어한다.
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
PUB.AGV.LiftControl(liftCmd);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
//리프트 센서 확인
var liftdnok = (PUB.AGV.signal1.lift_down == true && PUB.AGV.signal1.lift_up == false);
var liiftupok = (PUB.AGV.signal1.lift_up == true && PUB.AGV.signal1.lift_down == false);
if (liftCmd == arDev.Narumi.LiftCommand.DN && liftdnok)
{
//정상조건
}
else if (liftCmd == arDev.Narumi.LiftCommand.UP && liftdnok)
{
//정상조건
}
else
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
var errmsg = $"[{funcname}] 리프트({liftCmd})이 확인되지 않습니다";
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE(errmsg);
PUB._mapCanvas.SetAlertMessage(errmsg);
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.log.Add("리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{ {
//빈 상태로 아웃해야한다. //빈 상태로 아웃해야한다.
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
@@ -47,7 +101,6 @@ namespace Project
return false; return false;
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
@@ -60,16 +113,36 @@ namespace Project
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//마크스탑 //AGV구동을 확인하고 마크스탑을 설정한다.
PUB.AGV.AGVMoveStop("loader out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false) if (PUB.AGV.system1.agv_run == false)
{ {
if (seqTime.TotalMilliseconds > 1000)
{
//구동이확인되지 않으면 오류처리를 한다.
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("agv 속도 설정 실패");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
//마크스탑설정
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
if (seqTime.TotalMilliseconds > 3000)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB._mapCanvas.SetAlertMessage("mark stop 신호 확인 불가");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false; return false;
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
@@ -77,16 +150,46 @@ namespace Project
} }
else if (PUB.sm.RunStepSeq == idx++) else if (PUB.sm.RunStepSeq == idx++)
{ {
//멈춤확인 //AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true) if (PUB.AGV.system1.agv_run == true)
{ {
if (seqTime.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB._mapCanvas.SetAlertMessage("agv 가 멈추지 않아 강제 종료");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false; return false;
} }
PUB.sm.UpdateRunStepSeq(); PUB.sm.UpdateRunStepSeq();
return false; return false;
} }
// 턴 제거됨 else if (PUB.sm.RunStepSeq == idx++)
{
//마크센서입력을 확인한다.
if (PUB.AGV.signal1.mark_sensor == false)
{
if (seqTime.TotalSeconds > 5)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("마크센서가 감지되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("마크센서가 감지되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("진출 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
return true; return true;
} }
} }

183
Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_IN.cs
View File

@@ -1,183 +0,0 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 언로더 진입
/// </summary>
public Boolean _SM_RUN_UNLOADER_IN(bool isFirst, TimeSpan stepTime)
{
var funcname = "_SM_RUN_UNLOADER_IN";
var idx = 1;
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
/*
* 언로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
* 1. LIFT DOWN
* 2. 후진-저속-마크다운 실행
*/
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("언로더진입시작");
PUB.Speak("언로더 작업을 시작합니다");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// [PickOn/PickOff] 초기 리프트 동작
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
liftCmd = arDev.Narumi.LiftCommand.UP;
}
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//리프트 센서 확인
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
// Timebound check
}
PUB.log.Add("리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑셋팅
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//저속이동 (후진 진입)
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success)
{
if (ret >= arDev.eNarumiCommandResult.Error)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage("agv속도설정오류");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 3)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
PUB._mapCanvas.SetAlertMessage("mark stop 신호 확인 불가");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
PUB._mapCanvas.SetAlertMessage("agv 가 멈추지 않아 강제 종료 합니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
return false;
}
return false;
}
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
PUB.log.Add("언로더 진입 완료. 작업 수행(Lift Pick/Drop)");
var liftCmd = arDev.Narumi.LiftCommand.UP;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
{
liftCmd = arDev.Narumi.LiftCommand.DN;
}
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
// 리프트 동작 대기
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds < 2) return false;
PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//완료되었다.
PUB.log.Add("언로더 진입 및 작업 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
PUB.AddEEDB($"언로더작업완료({PUB.Result.TargetPos})");
return true;
}
}
}

92
Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_OUT.cs
View File

@@ -1,92 +0,0 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;
namespace Project
{
public partial class fMain
{
/// <summary>
/// 언로더 배출
/// </summary>
public Boolean _SM_RUN_UNLOADER_OUT(bool isFirst, TimeSpan stepTime)
{
var funcname = "UNLOADEROUT";
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Forward,
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success)
{
if (ret >= arDev.eNarumiCommandResult.Error)
{
PUB.AGV.AGVMoveStop(funcname);
PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
PUB._mapCanvas.SetAlertMessage($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.ERROR);
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마크스탑
PUB.AGV.AGVMoveStop("unloader out", arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
return true;
}
}
}

32
Cs_HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -110,30 +110,17 @@ namespace Project
PUB.AGV.AGVMoveStop("경로재생성"); PUB.AGV.AGVMoveStop("경로재생성");
} }
var PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode); PUB._virtualAGV.StartNode = PUB._virtualAGV.CurrentNode;
if(PathResult.result !=null && var PathResult = CalcPath(currentNode, PUB._virtualAGV.TargetNode);
PathResult.result.Success == true && if (PathResult.Success == false)
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.log.AddE($"경로가 계산되지 않았습니다"); PUB.log.AddE($"경로가 계산되지 않았습니다");
PUB.sm.SetNewRunStep(ERunStep.READY); PUB.sm.SetNewRunStep(ERunStep.READY);
return false; return false;
} }
else
{
PUB._mapCanvas.CurrentPath = PathResult.result;
PUB._virtualAGV.SetPath(PathResult.result);
}
PUB._mapCanvas.CurrentPath = PathResult;
PUB._virtualAGV.SetPath(PathResult);
PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}"); PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
} }
@@ -161,23 +148,22 @@ namespace Project
if (PUB._virtualAGV.CurrentPath.DetailedPath.Count > 5) if (PUB._virtualAGV.CurrentPath.DetailedPath.Count > 5)
{ {
var PathResult2 = CalcPath(PUB._virtualAGV.CurrentNode, PUB._virtualAGV.TargetNode); 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 //절반이상 경로가 짧을때에는 재계산을 하게한다
var halfcnt = (int)(PUB._virtualAGV.CurrentPath.DetailedPath.Count / 2.0); 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"; var msg = $"단축경로가 확인되었습니다. 경로를 삭제 합니다";
PUB.log.AddE(msg); PUB.log.AddE(msg);
Console.WriteLine(msg); Console.WriteLine(msg);
PUB._virtualAGV.SetPath(null); PUB._virtualAGV.SetPath(null);
return false;
} }
return false;
} }
} }
//predict 를 이용하여 다음 이동을 모두 확인한다. //predict 를 이용하여 다음 이동을 모두 확인한다.
var nextAction = PUB._virtualAGV.Predict(); var nextAction = PUB._virtualAGV.Predict();
if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut) if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)

73
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -4,6 +4,8 @@ using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using AGVNavigationCore.Models; using AGVNavigationCore.Models;
using AGVNavigationCore.PathFinding.Core;
using AGVNavigationCore.PathFinding.Planning;
using AGVNavigationCore.Utils; using AGVNavigationCore.Utils;
using AR; using AR;
using arDev; using arDev;
@@ -70,8 +72,8 @@ namespace Project
else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}"); else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
break; break;
case ENIGProtocol.AGVCommandHE.PickOn: // 110 case ENIGProtocol.AGVCommandHE.PickOnEnter: // 110
case ENIGProtocol.AGVCommandHE.PickOff: // 111 case ENIGProtocol.AGVCommandHE.PickOffEnter: // 111
{ {
PUB.log.AddI($"XBEE:작업명령수신:{cmd}"); PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
@@ -109,6 +111,7 @@ namespace Project
return; return;
} }
//다음명령처리
PUB.NextWorkCmd = cmd; PUB.NextWorkCmd = cmd;
PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})"); PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
PUB.sm.SetNewRunStep(nextStep); PUB.sm.SetNewRunStep(nextStep);
@@ -307,18 +310,12 @@ namespace Project
else PUB.log.Add(e.Message); else PUB.log.Add(e.Message);
} }
AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null; AGVPathResult CalcPath(MapNode startNode, MapNode targetNode)
(AGVNavigationCore.PathFinding.Core.AGVPathResult result, string message) CalcPath(MapNode startNode, MapNode targetNode)
{ {
var nodes = PUB._mapCanvas.Nodes;
var _simulatorCanvas = PUB._mapCanvas;
var _mapNodes = PUB._mapCanvas.Nodes; 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 // 현재 AGV 방향 가져오기
var selectedAGV = PUB._virtualAGV; var selectedAGV = PUB._virtualAGV;
var currentDirection = selectedAGV.CurrentDirection; var currentDirection = selectedAGV.CurrentDirection;
@@ -327,55 +324,15 @@ namespace Project
var prevNode = selectedAGV.PrevNode; var prevNode = selectedAGV.PrevNode;
var prevDir = selectedAGV.PrevDirection; var prevDir = selectedAGV.PrevDirection;
// 고급 경로 계획 사용 (노드 객체 직접 전달) // Core Logic으로 이관됨
var advancedResult = _advancedPathfinder.FindBasicPath(startNode, targetNode, prevNode, prevDir); var pathFinder = new AGVPathfinder(nodes);
var result = pathFinder.CalculatePath(startNode, targetNode, prevNode, prevDir);
var _simulatorCanvas = PUB._mapCanvas; //게이트웨이노드를 하이라이트강조 한단
_simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
_simulatorCanvas.FitToNodes(); return result;
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");
}
}
_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);
} }

8
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -62,12 +62,12 @@ namespace Project.ViewForm
// PickOn // PickOn
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)"); var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOn); pickOn.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOnEnter);
menu.Items.Add(pickOn); menu.Items.Add(pickOn);
// PickOff // PickOff
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)"); var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
pickOff.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOff); pickOff.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOffEnter);
menu.Items.Add(pickOff); menu.Items.Add(pickOff);
// Charge // Charge
@@ -246,11 +246,11 @@ namespace Project.ViewForm
ContextMenuStrip menu = new ContextMenuStrip(); ContextMenuStrip menu = new ContextMenuStrip();
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)"); var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn); pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOnEnter);
menu.Items.Add(pickOn); menu.Items.Add(pickOn);
var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)"); var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff); pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOffEnter);
menu.Items.Add(pickOff); menu.Items.Add(pickOff);
menu.Show(Cursor.Position); menu.Show(Cursor.Position);