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턴 조건 변경 센서->메세지

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backuppc
2026-01-29 15:13:41 +09:00
parent 92340308be
commit af0c32215b
2 changed files with 17 additions and 4 deletions
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4
HMI/Project/StateMachine/_AGV.cs
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@@ -219,6 +219,7 @@ namespace Project
//이 후 상황을 예측한다
if (PUB._mapCanvas != null && PUB._virtualAGV != null)
{
var nextAction = PUB._virtualAGV.Predict();
var message = $"[다음 행동 예측]\n\n";
@@ -262,7 +263,8 @@ namespace Project
$"---\n" +
$"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
$"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
$"턴: {PUB._virtualAGV.Turn}\n" +
$"S/W 턴 상태: {PUB._virtualAGV.Turn}\n" +
$"H/W 턴 상태: {PUB.AGV.TurnInformation?.State}\n" +
$"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
$"대상 노드: {targetpos}\n" +

17
HMI/SubProject/AGV/Narumi.cs
View File

@@ -157,9 +157,19 @@ namespace arDev
}
else if (frame.DataString.StartsWith("$"))
{
// [Turn Completion Check]
if (frame.DataString.Contains("LEFT-TURN OK"))
{
if (TurnInformation != null) { TurnInformation.State = eNarumiTurn.Left; TurnInformation.End = DateTime.Now; }
}
else if (frame.DataString.Contains("RIGHT-TURN OK"))
{
if (TurnInformation != null) { TurnInformation.State = eNarumiTurn.Right; TurnInformation.End = DateTime.Now; }
}
// $로 시작되는 AGV 상태 표시
//var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
//var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
//AGV RIGHT-TURN OK
RaiseMessage(MessageType.Normal, "$메세지수신:" + frame.DataString);
}
else
@@ -266,9 +276,10 @@ namespace arDev
nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
signal1.SetValue(nDataTemp); idx += 2;
//agv가 멈춰있고 마크센서가 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
if (system1.agv_run == false && system1.agv_stop == true &&
TurnInformation != null && signal1.mark_sensor)
//agv가 멈춰있고 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
// [REMOVED] Logic replaced by message-based check ($AGV...TURN OK)
if (false && system1.agv_run == false && system1.agv_stop == true &&
TurnInformation != null)
{
if (TurnInformation.Start.Year > 2000)
{