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작업시작전에. 현재 위치를 확인하고 진행하게 함.

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This commit is contained in:
backuppc
2026-02-09 13:59:19 +09:00
parent 7409528fbd
commit c2cc5d67ae
4 changed files with 30 additions and 3 deletions
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13
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
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@@ -37,6 +37,19 @@ namespace Project
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//장비 노드 여부 확인 (버퍼가 아닌 도킹 가능 노드여야 함)
if (PUB._virtualAGV.CurrentNode.StationType != StationType.Loader &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Clearner &&
PUB._virtualAGV.CurrentNode.StationType != StationType.UnLoader)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_EQUIPMENTPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 장비 노드가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//작업형태에 따라서. 리프트를 제어한다.
var liftCmd = LiftCommand.DN;