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test_acs 프로젝트 변경

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backuppc
2026-02-05 13:18:20 +09:00
parent ec2af6ac1f
commit ba542beaff
26 changed files with 416 additions and 533 deletions
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9
HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
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@@ -6,6 +6,7 @@ using System.Text;
using Project.StateMachine;
using COMM;
using AR;
using AGVNavigationCore.Models;
namespace Project
{
@@ -20,7 +21,7 @@ namespace Project
var funcname = PUB.sm.RunStep.ToString();
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHARGE_GOFF(isFirst, seqTime) == false) return false;
if (_SM_RUN_CHARGE_OFF(isFirst, seqTime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
@@ -78,7 +79,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//pick off/on 상관없이 리프트는 내려서 이동한다
var liftCmd = arDev.Narumi.LiftCommand.DN;
var liftCmd = LiftCommand.DN;
PUB.AGV.LiftControl(liftCmd);
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
@@ -109,7 +110,7 @@ namespace Project
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
PUB.AGV.LiftControl(LiftCommand.ON);
}
PUB.sm.UpdateRunStepSeq();
return false;
@@ -249,7 +250,7 @@ namespace Project
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
PUB.AGV.LiftControl(LiftCommand.OFF);
}
PUB.sm.UpdateRunStepSeq();
return false;