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backuppc
2025-12-15 17:34:43 +09:00
parent 9db88e5d6b
commit a7f938ff19
29 changed files with 535 additions and 1556 deletions
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117
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -48,20 +48,24 @@ namespace Project
if (data.Length > 4)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
if (node == null)
if (ushort.TryParse(currTag, out ushort currtagValue))
{
PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
return;
}
else
{
PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.Id}");
}
var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagValue);
if (node == null)
{
PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
return;
}
else
{
PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.Id}");
}
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
}
else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Value Errorr:{data}");
}
else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
break;
@@ -111,58 +115,61 @@ namespace Project
if (data.Length > 4)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
//자동상태가아니라면 처리하지 않는다.
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
if(ushort.TryParse(currTag, out ushort currtagvalue))
{
PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
}
var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagvalue);
//목적지
PUB._virtualAGV.TargetNode = targetNode;
if (targetNode == null)
{
PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
return;
}
///출발지
var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.Id);
PUB._virtualAGV.StartNode = startNode;
if (startNode == null)
{
PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
}
if (startNode != null)
{
//시작위치가 존재한다면 경로를 예측한다.
var rltGoto = CalcPath(startNode, targetNode);
if (rltGoto.result == null)
//자동상태가아니라면 처리하지 않는다.
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
{
PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
}
else
//목적지
PUB._virtualAGV.TargetNode = targetNode;
if (targetNode == null)
{
//경로예측을 화면에 표시해준다.
PUB._virtualAGV.SetPath(rltGoto.result);
var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapCanvas.Nodes, nodeId)).ToList();
PUB.log.Add($"경로예측결과:{pathWithRfid}");
PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
return;
}
///출발지
var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.RfidId);
PUB._virtualAGV.StartNode = startNode;
if (startNode == null)
{
PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
}
if (startNode != null)
{
//시작위치가 존재한다면 경로를 예측한다.
var rltGoto = CalcPath(startNode, targetNode);
if (rltGoto.result == null)
{
PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
}
else
{
//경로예측을 화면에 표시해준다.
PUB._virtualAGV.SetPath(rltGoto.result);
var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapCanvas.Nodes, nodeId)).ToList();
PUB.log.Add($"경로예측결과:{pathWithRfid}");
}
}
//대상이동으로 처리한다.
PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
//Move to
PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
}
//대상이동으로 처리한다.
PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
//Move to
PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
else PUB.log.AddE($"[{logPrefix}-Goto] TagString Value Error:{data}");
}
else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Errorr:{data.Length}");
else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Error:{data.Length}");
break;
case ENIGProtocol.AGVCommandHE.Stop: //stop