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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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19
HMI/Project/StateMachine/_Xbee.cs
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@@ -75,6 +75,7 @@ namespace Project
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
PUB.SaveLastPosition(); //위치저장 260205
}
else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Value Errorr:{data}");
}
@@ -353,25 +354,25 @@ namespace Project
break;
case ENIGProtocol.AGVCommandHE.LiftControl: //Lift Control
var LiftCommand = data[1]; //0=stop, 1=up, 2=down
arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
PUB.log.Add($"[{logPrefix}-LiftControl] {LCmd}");
PUB.AGV.LiftControl(LCmd); //리프트제어
var LiftCommand = (LiftCommand)data[1];
PUB.log.Add($"[{logPrefix}-LiftControl] {LiftCommand}");
PUB.AGV.LiftControl(LiftCommand); //리프트제어
break;
case ENIGProtocol.AGVCommandHE.ChargeControl: //충전을 제어한다
var chargeAction = data[1] == 1; //0= off, 1=on
//충전시퀀스가 진행되지 않았다면 진행한다
if (PUB.sm.RunStep == StateMachine.ERunStep.GOCHARGE && PUB.sm.RunStepNew != StateMachine.ERunStep.GOCHARGE)
if(chargeAction==true)
{
PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOCHARGE);
PUB.log.AddI($"충전을 시작합니다");
}
else
{
PUB.sm.SetNewRunStep(ERunStep.CHARGEOFF);
PUB.log.AddI($"충전을 해제 합니다");
}
break;
default: