..

2025-05-26 17:19:36 +09:00
parent 8d0f0f8c8f
commit d6e7c118fb
40 changed files with 1550 additions and 3133 deletions
--- a/Cs_HMI/Project/StateMachine/_Xbee.cs
+++ b/Cs_HMI/Project/StateMachine/_Xbee.cs
@@ -0,0 +1,115 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+using arDev;
+using COMM;
+
+namespace Project
+{
+    public partial class fMain
+    {
+      
+        private void XBE_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
+        {
+            //TODO : 기능 처리필요 (XBee 메세지 데이터처리)
+            //PUB.CheckManualChargeMode() : 수동충전확인
+            //VAR.BOOL[eVarBool.FLAG_AUTORUN]  : 자동실행
+            //PUB.Speak("현재 위치는 QA 입니다.") : 음성출력
+
+            //ACS 수신 데이터 처리(타 장비는 확인하지 않는다)
+            if (e.ReceivedPacket.ID == 0)
+            {
+                var data = e.ReceivedPacket.Data;
+                var dataStr = System.Text.Encoding.Default.GetString(data);
+                var cmd = (ENIGProtocol.AGVCommands)e.ReceivedPacket.Command;
+                switch (cmd)
+                {
+
+                    case ENIGProtocol.AGVCommands.SetCurrent: //Set Current Position
+                       
+                        if (uint.TryParse(dataStr, out uint tagno))
+                        {
+                            if (PUB.mapctl.SetCurrentPosition(tagno) == true)
+                            {
+                                PUB.log.AddI($"Set Position:{tagno}");
+                            }
+                            else PUB.log.AddE($"Position Error:{tagno}");
+                        }
+                        else PUB.log.AddE($"Position Param Error:{dataStr}");
+                        break;
+                    case ENIGProtocol.AGVCommands.Goto:  //move to tag
+                        if (uint.TryParse(dataStr, out uint tagno2))
+                        {
+                            var currPos = PUB.mapctl.agv.CurrentRFID;///.AGVMoveToRFID(;
+                            if (currPos == 0) currPos = 10;
+                            var pathRlt = PUB.mapctl.CalculatePath(currPos,tagno2);
+                            if (pathRlt.Success == true)
+                            {
+                                PUB.log.AddI($"New Target:{tagno2}");
+                            }
+                            else PUB.log.AddE($"Path Error {pathRlt.Message} : {tagno2}");
+                        }
+                        else PUB.log.AddE($"Path Param Error :{dataStr}");
+                        break;
+                    case ENIGProtocol.AGVCommands.Stop:  //stop
+                        PUB.AGV.AGVMoveStop("xbee");
+                        break;
+                    case ENIGProtocol.AGVCommands.Reset: //Error Reset
+                        PUB.AGV.AGVErrorReset();
+                        break;
+
+                    case ENIGProtocol.AGVCommands.Manual: //Manual Move (Direction, speed, runtime)
+                        var Direction = data[0];     //0=back, 1=forward, 2=left, 3=right
+                        var Speed = data[1];         //0=slow, 1=normal, 2=fast
+                        var Runtime = data[2];       // running seconds
+
+                        arDev.Narumi.ManulOpt opt = arDev.Narumi.ManulOpt.BS;
+                        arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
+                        if (Speed == 1) spd = arDev.Narumi.Speed.Mid;
+                        else if (Speed == 2) spd = arDev.Narumi.Speed.High;
+
+                        //0.자동모드가 아니라면 실행하지 않는다
+                        //1.입력된 파라미터로 AGV를 이동한다
+                        if (Direction == 0) opt = arDev.Narumi.ManulOpt.BS;
+                        else if (Direction == 1) opt = arDev.Narumi.ManulOpt.FS;
+                        else if (Direction == 2) opt = arDev.Narumi.ManulOpt.LT;
+                        else if (Direction == 3) opt = arDev.Narumi.ManulOpt.RT;
+
+                        PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
+                        break;
+                    case ENIGProtocol.AGVCommands.MarkStop: //Set MarkStop
+                        var MarkStop = data[0];    //0=off, 1=on
+
+                        //마크센서에서 멈추게 한다
+                        PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
+                        break;
+                    case ENIGProtocol.AGVCommands.LiftControl: //Lift Control
+                        var LiftCommand = data[0];    //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;
+
+                        //리프트제어
+                        PUB.AGV.LiftControl(LCmd);
+                        break;
+
+
+
+
+                }
+            }
+        }
+
+        private void XBE_MessageReceived(object sender, Device.Xbee.MessageArgs e)
+        {
+            if (e.IsError) PUB.log.AddE(e.Message);
+            else PUB.log.Add(e.Message);
+        }
+
+
+    }
+}
+