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backuppc
2026-02-12 09:58:01 +09:00
parent 2b3a9b3d1d
commit d6aed58516
17 changed files with 914 additions and 402 deletions
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34
HMI/Project/ViewForm/fAuto.cs
View File

@@ -34,7 +34,7 @@ namespace Project.ViewForm
private void InitializeMapCanvas()
{
PUB._mapCanvas.NodeSelect += OnNodeSelected;;
PUB._mapCanvas.NodeSelect += OnNodeSelected; ;
// 스플리터 패널에 맵 캔버스 추가
panel1.Controls.Add(PUB._mapCanvas);
}
@@ -49,8 +49,8 @@ namespace Project.ViewForm
// [Run Mode] Left Click: AGV Operation
if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
{
HandleRunModeClick(mapnode);
return;
HandleRunModeClick(mapnode);
return;
}
if (e.Button != MouseButtons.Right) return;
@@ -71,7 +71,7 @@ namespace Project.ViewForm
menu.Items.Add(pickOff);
// Charge
if (mapnode.StationType == StationType.Charger1 || mapnode.StationType == StationType.Charger2)
if (mapnode.StationType == StationType.Charger )
{
var charge = new ToolStripMenuItem("Charge (Move & Charge)");
charge.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.Charger);
@@ -122,7 +122,7 @@ namespace Project.ViewForm
PUB.log.AddI($"[Manual Command] {cmd} to ({targetNode.Id})");
// FindPathResult contains DetailedPath already.
// PUB._virtualAGV.SetPath(result);
// PUB._virtualAGV.SetPath(result);
PUB._virtualAGV.TargetNode = targetNode as MapNode;
// 3. 작업 설정
@@ -141,7 +141,7 @@ namespace Project.ViewForm
PUB.AGV.DataReceive += AGV_DataReceive;
}
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
{
@@ -185,7 +185,7 @@ namespace Project.ViewForm
private void fAuto_VisibleChanged(object sender, EventArgs e)
{
this.timer1.Enabled = this.Visible;
if (timer1.Enabled)
if (timer1.Enabled)
{
timer1.Start();
}
@@ -194,7 +194,7 @@ namespace Project.ViewForm
private void timer1_Tick_1(object sender, EventArgs e)
{
}
private void HandleRunModeClick(MapNode targetNode)
@@ -204,7 +204,7 @@ namespace Project.ViewForm
ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
string confirmMsg = "";
if (targetNode.StationType == StationType.Charger1 || targetNode.StationType == StationType.Charger2)
if (targetNode.StationType == StationType.Charger)
{
if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
@@ -217,7 +217,7 @@ namespace Project.ViewForm
{
// Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
ContextMenuStrip menu = new ContextMenuStrip();
var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOnEnter);
menu.Items.Add(pickOn);
@@ -249,14 +249,14 @@ namespace Project.ViewForm
if (PUB.sm.Step < eSMStep.IDLE) return;
if (PUB._mapCanvas == null) return;
tmrun = true;
var errmsg = string.Empty;
if(PUB.AGV.IsOpen==false)
if (PUB.AGV.IsOpen == false)
{
errmsg = "AGV컨트롤러 연결실패";
}
else if(PUB.XBE.IsOpen==false )
else if (PUB.XBE.IsOpen == false)
{
errmsg = "XBEE 연결실패";
}
@@ -264,11 +264,11 @@ namespace Project.ViewForm
{
errmsg = "XBEE 통신불가";
}
else if(PUB.AGV.error.Value > 0)
else if (PUB.AGV.error.Value > 0)
{
errmsg = PUB.AGV.error.ToString();
}
else if(PUB.AGV.system1.stop_by_front_detect)
else if (PUB.AGV.system1.stop_by_front_detect)
{
errmsg = "전방 물체감지로 인해 정지";
}
@@ -276,11 +276,11 @@ namespace Project.ViewForm
{
errmsg = "BMS 연결실패";
}
else if(VAR.BOOL[eVarBool.FLAG_AUTORUN]==false)
else if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
{
errmsg = "자동모드가 아닙니다";
}
PUB._mapCanvas.SetAlertMessage(errmsg);