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agv 오류코드가 전송되도록함, 에뮬레이터에서 표시되게 함

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This commit is contained in:
backuppc
2026-02-02 15:04:05 +09:00
parent 9bca8f67d1
commit b25be68986
5 changed files with 133 additions and 85 deletions
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23
AGVEmulator/RunCode/_XBEE.cs
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@@ -33,19 +33,22 @@ namespace AGVEmulator
if (cmd == ENIGProtocol.AGVCommandEH.Status)
{
if (data.Length >= 14)
if (data.Length >= 16)
{
_remoteStatus.Mode = data[0];
_remoteStatus.RunSt = data[1];
_remoteStatus.RunStep = data[2];
_remoteStatus.RunStepSeq = data[3];
_remoteStatus.MotorDir = data[4];
_remoteStatus.MagnetDir = data[5];
_remoteStatus.ChargeSt = data[6];
_remoteStatus.CartSt = data[7];
_remoteStatus.LiftSt = data[8];
_remoteStatus.ErrorCode = data[9];
_remoteStatus.LastTag = Encoding.ASCII.GetString(data, 10, 4);
_remoteStatus.HWError = BitConverter.ToUInt16(data, 2);
_remoteStatus.RunStep = data[4];
_remoteStatus.RunStepSeq = data[5];
_remoteStatus.MotorDir = data[6];
_remoteStatus.MagnetDir = data[7];
_remoteStatus.ChargeSt = data[8];
_remoteStatus.CartSt = data[9];
_remoteStatus.LiftSt = data[10];
_remoteStatus.ErrorCode = data[11];
_remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[11];
_remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
_remoteStatus.LastTag = Encoding.ASCII.GetString(data, 12, 4);
UpdateUIStatus();
}