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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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2
AGVLogic/EnigProtocol/enigprotocol/Commands.cs
View File

@@ -74,6 +74,7 @@ namespace ENIGProtocol
MARK_STOP_FAIL,
LIDAR_STOP,
NOT_BUFFERPOINT,
NOT_EQUIPMENTPOINT,
}
public static class AGVUtility
@@ -111,6 +112,7 @@ namespace ENIGProtocol
case AGVErrorCode.ALREADY_CHARGE: return "이미 충전 중 상태임";
case AGVErrorCode.CHARGE_RETRY_OVER: return $"충전명령 재전송 횟수 초과";
case AGVErrorCode.NOT_BUFFERPOINT: return "현재 위치가 버퍼가 아닙니다";
case AGVErrorCode.NOT_EQUIPMENTPOINT: return "현재 위치가 장비 노드가 아닙니다";
default: return ecode.ToString();
}
}

1
HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs
View File

@@ -54,7 +54,6 @@ namespace Project
return false;
}
var idx = 1;
if (PUB.sm.RunStepSeq == idx++)
{

15
HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
View File

@@ -36,6 +36,19 @@ 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++)
{
//마크센서가 감지된상태여야 완전한위치로 가정한다
if (PUB.AGV.signal1.mark_sensor == false)
@@ -126,7 +139,7 @@ namespace Project
{
if (seqTime.TotalSeconds > 5)
{
if(VAR.I32[eVarInt32.RetryManget] < 3)
if (VAR.I32[eVarInt32.RetryManget] < 3)
{
PUB.sm.UpdateRunStepSeq(-1);
}

13
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
View File

@@ -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;