test_acs 프로젝트 변경
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backuppc
@@ -55,16 +55,35 @@ namespace Test_ACS
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// AGV 상태 수신 처리 (cmd = 3)
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var device = e.ReceivedPacket.ID;
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var command = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;
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var data = e.ReceivedPacket.Data;
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switch (command)
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{
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case AGVCommandEH.Status:
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UpdateAGVStatus(e.ReceivedPacket.Data);
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_remoteStatus.Mode = data[0];
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_remoteStatus.RunSt = data[1];
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_remoteStatus.HWError = BitConverter.ToUInt16(data, 2);
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_remoteStatus.RunStep = data[4];
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_remoteStatus.RunStepSeq = data[5];
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_remoteStatus.MotorDir = data[6];
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_remoteStatus.MagnetDir = data[7];
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_remoteStatus.ChargeSt = data[8];
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_remoteStatus.CartSt = data[9];
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_remoteStatus.LiftSt = data[10];
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_remoteStatus.ErrorCode = data[11];
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_remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[11];
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_remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
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_remoteStatus.LastTag = Encoding.ASCII.GetString(data, 12, 4);
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UpdateUIStatus();
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break;
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case AGVCommandEH.Error:
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var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
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var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
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AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
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_remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[0];
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// _remoteErrorMessage = ... Error 메시지 자체는 패킷에 포함되지 않으므로 유틸리티 사용 가능
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_remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
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UpdateUIStatus();
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AddLog($"Error Received : {_remoteErrorCode} ID:{e.ReceivedPacket.ID} MSG:{_remoteErrorMessage}", LogType.Info);
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break;
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default:
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AddLog($"unknown command:{command}", LogType.Error);
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@@ -305,20 +324,21 @@ namespace Test_ACS
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private void btnLiftUp_Click(object sender, EventArgs e)
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{
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SendLiftCommand(1); // Up
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SendLiftCommand( arDev.Narumi.LiftCommand.UP); // Up
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}
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private void btnLiftDown_Click(object sender, EventArgs e)
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{
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SendLiftCommand(2); // Down
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SendLiftCommand( arDev.Narumi.LiftCommand.DN); // Down
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}
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private void btnLiftStop_Click(object sender, EventArgs e)
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{
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SendLiftCommand(0); // Stop
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SendLiftCommand( arDev.Narumi.LiftCommand.STP); // Stop
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}
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private void SendLiftCommand(byte liftCmd)
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private void SendLiftCommand(arDev.Narumi.LiftCommand liftCmd)
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{
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// LiftControl: data = TargetID(2 hex) + LiftCommand(1 byte)
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var targetID = selectedAGV.ToString("X2");
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@@ -372,124 +392,56 @@ namespace Test_ACS
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AddLog($"전송 실패: {ex.Message}", LogType.Error);
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}
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}
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private void UpdateAGVStatus(byte[] data)
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public ENIGProtocol.AGVErrorCode _remoteErrorCode = ENIGProtocol.AGVErrorCode.None;
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public string _remoteErrorMessage = "";
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public RemoteStatus _remoteStatus = new RemoteStatus();
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private void UpdateUIStatus()
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{
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if (data.Length < 12)
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if (this.InvokeRequired)
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{
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AddLog($"AGV 상태 데이터 길이 오류: {data.Length} bytes", LogType.Error);
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return;
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}
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if (InvokeRequired)
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{
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BeginInvoke(new Action(() => UpdateAGVStatus(data)));
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this.BeginInvoke(new Action(UpdateUIStatus));
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return;
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}
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try
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{
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// Mode[1]: 0=manual, 1=auto
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lblModeValue.Text = data[0] == 0 ? "수동" : "자동";
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lblModeValue.ForeColor = data[0] == 0 ? Color.Blue : Color.Green;
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// RunSt[1]: 0=stop, 1=run, 2=error
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switch (data[1])
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rtStatus.Text = _remoteStatus.ToString();
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string errCode = _remoteErrorCode.ToString();
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string errMsg = _remoteErrorMessage;
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if (_remoteStatus.HWError > 0)
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{
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case 0:
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lblRunStValue.Text = "정지";
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lblRunStValue.ForeColor = Color.Gray;
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break;
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case 1:
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lblRunStValue.Text = "실행";
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lblRunStValue.ForeColor = Color.Green;
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break;
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case 2:
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lblRunStValue.Text = "에러";
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lblRunStValue.ForeColor = Color.Red;
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break;
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default:
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lblRunStValue.Text = "알 수 없음";
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lblRunStValue.ForeColor = Color.Black;
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break;
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errCode = $"HW:{_remoteStatus.HWError:X4}" + (errCode == "None" ? "" : $" | {errCode}");
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StringBuilder sbHw = new StringBuilder();
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for (int i = 0; i < 16; i++)
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{
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if (((ushort)_remoteStatus.HWError & (1 << i)) != 0)
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{
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sbHw.Append($"{(arDev.Narumi.eflag)i}, ");
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}
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}
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errMsg = $"[HW] {sbHw}" + (string.IsNullOrEmpty(errMsg) ? "" : $" | {errMsg}");
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}
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// Mot Direction[1]: 0=forward, 1:backward
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switch (data[2])
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tbErCode.Text = errCode;
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tbErmsg.Text = errMsg;
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if (_remoteErrorCode != ENIGProtocol.AGVErrorCode.None || _remoteStatus.HWError > 0)
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{
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case 0:
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lblDirectionValue.Text = "전진";
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break;
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case 1:
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lblDirectionValue.Text = "후진";
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break;
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default:
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lblDirectionValue.Text = "??";
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break;
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tbErCode.BackColor = Color.Red;
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tbErCode.ForeColor = Color.White;
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}
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else
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{
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tbErCode.BackColor = SystemColors.Window;
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tbErCode.ForeColor = SystemColors.WindowText;
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}
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// Direction[1]: 0=straight, 1=left, 2=right, 3=markstop
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switch (data[3])
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{
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case 0:
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lblDirectionValue.Text += "/직진";
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break;
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case 1:
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lblDirectionValue.Text += "/좌회전";
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break;
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case 2:
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lblDirectionValue.Text += "/우회전";
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break;
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default:
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lblDirectionValue.Text += "/??";
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break;
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}
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// Inposition[1]: 0=off, 1=on
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lblInpositionValue.Text = data[4] == 0 ? "OFF" : "ON";
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lblInpositionValue.ForeColor = data[4] == 0 ? Color.Gray : Color.Green;
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// ChargeSt[1]: 0=off, 1=on
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lblChargeStValue.Text = data[5] == 0 ? "OFF" : "ON";
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lblChargeStValue.ForeColor = data[5] == 0 ? Color.Gray : Color.Orange;
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// CartSt[1]: 0=off, 1=on, 2=unknown
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switch (data[6])
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{
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case 0:
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lblCartStValue.Text = "없음";
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lblCartStValue.ForeColor = Color.Gray;
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break;
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case 1:
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lblCartStValue.Text = "있음";
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lblCartStValue.ForeColor = Color.Green;
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break;
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default:
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lblCartStValue.Text = "??";
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lblCartStValue.ForeColor = Color.Red;
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break;
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}
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// LiftSt[1]: 0=down, 1=up, 2=unknown
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switch (data[7])
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{
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case 0:
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lblLiftStValue.Text = "하강";
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lblLiftStValue.ForeColor = Color.Blue;
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break;
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case 1:
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lblLiftStValue.Text = "상승";
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lblLiftStValue.ForeColor = Color.Green;
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break;
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default:
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lblLiftStValue.Text = "??";
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lblLiftStValue.ForeColor = Color.Red;
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break;
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}
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string lastTag = Encoding.ASCII.GetString(data, 8, 4);
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lblLastTagValue.Text = lastTag;
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lblLastTagValue.ForeColor = Color.Black;
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}
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catch (Exception ex)
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{
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@@ -585,6 +537,8 @@ namespace Test_ACS
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private void button7_Click(object sender, EventArgs e)
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{
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//lt180
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var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
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if (dlg != DialogResult.Yes) return;
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.LTurn180, targetID);
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}
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@@ -592,6 +546,8 @@ namespace Test_ACS
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private void button8_Click(object sender, EventArgs e)
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{
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//rt180
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var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
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if (dlg != DialogResult.Yes) return;
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.RTurn180, targetID);
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}
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@@ -599,6 +555,8 @@ namespace Test_ACS
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private void button9_Click(object sender, EventArgs e)
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{
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//l turn
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var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
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if (dlg != DialogResult.Yes) return;
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.LTurn, targetID);
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}
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@@ -606,8 +564,20 @@ namespace Test_ACS
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private void button10_Click(object sender, EventArgs e)
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{
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///r-turn
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var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
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if (dlg != DialogResult.Yes) return;
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.RTurn, targetID);
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}
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private void button12_Click(object sender, EventArgs e)
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{
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SendLiftCommand(arDev.Narumi.LiftCommand.ON);
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}
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private void button11_Click(object sender, EventArgs e)
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{
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SendLiftCommand(arDev.Narumi.LiftCommand.OFF);
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}
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}
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}
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