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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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15
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.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 = $"[EXIT-{PUB.sm.RunStep}]";
//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;
@@ -37,8 +38,8 @@ namespace Project
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;
var liftCmd = LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = LiftCommand.UP;
VAR.I32[eVarInt32.RetryLift] += 1;
PUB.AGV.LiftControl(liftCmd);
PUB.sm.UpdateRunStepSeq();
@@ -46,18 +47,18 @@ namespace Project
}
else if (PUB.sm.RunStepSeq == idx++)
{
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
var liftCmd = LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = 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)
if (liftCmd == LiftCommand.DN && liftdnok)
{
//정상조건
}
else if (liftCmd == arDev.Narumi.LiftCommand.UP && liftdnok)
else if (liftCmd == LiftCommand.UP && liftdnok)
{
//정상조건
}