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chi
2025-05-26 17:19:36 +09:00
parent 8d0f0f8c8f
commit d6e7c118fb
40 changed files with 1550 additions and 3133 deletions
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624
Emulator/AGVEmulator/Form1.cs
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@@ -16,11 +16,10 @@ namespace AGVEmulator
{
public partial class Form1 : Form
{
arUtil.Log logPLC, logAGV, logBMS, logCAL;
arUtil.Log logAGV, logBMS, logCAL;
DevBMS BMS;
DevAGV AGV;
DevPLC PLC;
DevCAL CAL;
DevXBE XBE;
float BMS_MaxA = 80f;
@@ -34,17 +33,18 @@ namespace AGVEmulator
public Form1()
{
InitializeComponent();
logPLC = new arUtil.Log();
this.Text = $"{Application.ProductName} ver.{Application.ProductVersion}";
// logPLC = new arUtil.Log();
logAGV = new arUtil.Log();
logBMS = new arUtil.Log();
logCAL = new arUtil.Log();
logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
// logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
logBMS.FileNameFormat = "{yyyyMMdd}_BMS";
logCAL.FileNameFormat = "{yyyyMMdd}_CAL";
logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
// logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
logAGV.RaiseMsg += (s1, e1, d1) =>
{
if (d1.StartsWith("Tx"))
@@ -65,7 +65,7 @@ namespace AGVEmulator
new arCtl.sLogMessageColor("TX", Color.Orange),
};
rtPLC.ColorList = logcolor;
//rtPLC.ColorList = logcolor;
rtAGV.ColorList = logcolor;
rtBMS.ColorList = logcolor;
rtCAL.ColorList = logcolor;
@@ -75,77 +75,40 @@ namespace AGVEmulator
BMS = new DevBMS();
AGV = new DevAGV();
PLC = new DevPLC();
CAL = new DevCAL();
XBE = new DevXBE();
this.serAGV.dev = AGV;
this.serPLC.dev = PLC;
this.serBMS.dev = BMS;
this.serCAL.dev = CAL;
this.serCAL.dev = XBE;
BMS.Message += Bms_Message;
AGV.Message += Bms_Message;
PLC.Message += Bms_Message;
CAL.Message += Bms_Message;
BMS.Message += BMS_Message;
AGV.Message += AGV_Message;
XBE.Message += CAL_Message;
BMS.RequestBatteryData += Bms_RequestBatteryData;
BMS.RequestVoltageData += BMS_RequestVoltageData;
PLC.RequestData += Plc_RequestData;
PLC.ValueChanged += Plc_ValueChanged;
XBE.ProtocReceived += CAL_ProtocReceived;
AGV.RequestStatusData += Agv_RequestStatusData;
AGV.ValueChanged += Agv_ValueChanged;
AGV.StsValueChanged += Agv_StsValueChanged;
AGV.Command += Agv_Command;
}
Random rnd;
private void Form1_Load(object sender, EventArgs e)
{
rnd = new Random(3000);
serAGV.BaudRate = 57600;
serPLC.BaudRate = 57600;
// serPLC.BaudRate = 57600;
trackBar1_Scroll(null, null);
timer1.Start();
//plc inout 이름 설정
List<string> titles = new List<string>();
List<bool> values = new List<bool>();
for (int i = 0; i < 16; i++)
{
var pin = (DevPLC.DIName)i;
titles.Add(pin.ToString());
values.Add(false);
}
for (int i = 0; i < 8; i++)
{
var pin = (DevPLC.DOName)i;
titles.Add(pin.ToString());
values.Add(false);
}
this.gvdPLCInOut.setTitle(titles.ToArray());
this.gvdPLCInOut.setValue(values.ToArray());
titles.Clear();
values.Clear();
for (int i = 0; i < 32; i++)
{
titles.Add(i.ToString());
values.Add(false);
}
this.gvdPLCFlag.setTitle(titles.ToArray());
this.gvdPLCFlag.setValue(values.ToArray());
this.gvdPLCInOut.ItemClick += GvdPLCInOut_ItemClick;
this.gvdPLCFlag.ItemClick += GvdPLCFlag_ItemClick;
this.gvdPLCFlag.ColorList = new arFrame.Control.ColorListItem[] {
new arFrame.Control.ColorListItem(){ BackColor1 = Color.DimGray, BackColor2 = Color.Gray },
new arFrame.Control.ColorListItem(){ BackColor1 = Color.Green, BackColor2 = Color.Lime },
new arFrame.Control.ColorListItem(){ BackColor1 = Color.Red, BackColor2 = Color.Tomato },
};
this.gvdPLCInOut.ColorList = this.gvdPLCFlag.ColorList;
var arrs = Enum.GetNames(typeof(DevAGV.esystemflag0));
foreach (var item in arrs)
@@ -256,15 +219,7 @@ namespace AGVEmulator
agvViewer1.MarkTouched += AgvViewer1_MarkTouched;
agvViewer1.Command += AgvViewer1_Command;
}
private void Agv_Command(object sender, commandargs e)
{
switch (e.Command.ToLower())
{
case "stopmark":
agvViewer1.StopbyMark = true;
break;
}
}
void MakeViewer()
{
//태그목록
@@ -385,143 +340,8 @@ namespace AGVEmulator
button18.PerformClick();
}
private void Agv_StsValueChanged(object sender, DevAGV.StsValueChangedArgs e)
{
Console.WriteLine($"STS [{e.vtype}] VAL={e.Value}");
if (this.InvokeRequired)
{
this.BeginInvoke(new EventHandler<StsValueChangedArgs>(Agv_StsValueChanged), sender, e);
return;
}
switch (e.vtype)
{
case DevAGV.estsvaluetype.direction:
foreach (RadioButton c in this.groupBox5.Controls)
{
if (c.Text[0].Equals(e.Value))
{
c.Checked = true;
}
else
{
c.Checked = false;
}
c.Refresh();
}
groupBox5.Refresh();
break;
case DevAGV.estsvaluetype.bunki:
foreach (RadioButton c in this.groupBox2.Controls)
{
if (c.Text[0].Equals(e.Value))
{
c.Checked = true;
c.Refresh();
break;
}
}
break;
case DevAGV.estsvaluetype.speed:
foreach (RadioButton c in this.groupBox4.Controls)
{
if (c.Text[0].Equals(e.Value))
{
c.Checked = true;
c.Refresh();
break;
}
}
break;
case DevAGV.estsvaluetype.sensor:
foreach (RadioButton c in this.groupBox8.Controls)
{
if (c.Text.Equals(e.Value))
{
c.Checked = true;
c.Refresh();
break;
}
}
break;
}
}
private void Agv_ValueChanged(object sender, DevAGV.ValueChangedArgs e)
{
if (this.InvokeRequired)
{
this.Invoke(new EventHandler<ValueChangedArgs>(Agv_ValueChanged), sender, e);
return;
}
//내부값이 바뀌었다면 컨트롤을 변경해준다.
switch (e.vtype)
{
case DevAGV.evaluetype.system0:
foreach (CheckBox c in panel6.Controls)
{
var idx = int.Parse(c.Tag.ToString());
if (idx == e.Idx)
{
c.Checked = e.Value;
break;
}
}
break;
case DevAGV.evaluetype.system1:
var v = (DevAGV.esystemflag1)e.Idx;
if (e.Value)
{
if (v == esystemflag1.agv_run)
{
agvViewer1.wat.Restart();
}
if (v == esystemflag1.agv_stop)
{
agvViewer1.wat.Stop();
}
}
foreach (CheckBox c in panel7.Controls)
{
var idx = int.Parse(c.Tag.ToString());
if (idx == e.Idx)
{
c.Checked = e.Value;
break;
}
}
break;
case DevAGV.evaluetype.error:
foreach (CheckBox c in panel9.Controls)
{
var idx = int.Parse(c.Tag.ToString());
if (idx == e.Idx)
{
c.Checked = e.Value;
break;
}
}
break;
case DevAGV.evaluetype.signal:
foreach (CheckBox c in panel8.Controls)
{
var idx = int.Parse(c.Tag.ToString());
if (idx == e.Idx)
{
c.Checked = e.Value;
break;
}
}
break;
}
}
char GetGroupItemCheckbox(GroupBox grp)
{
@@ -544,60 +364,7 @@ namespace AGVEmulator
int PLC_LeftDir = 0;
int PLC_RightDir = 0;
private void Plc_ValueChanged(object sender, DevPLC.ValueChangedArgs e)
{
if (e.IsOut)
{
this.gvdPLCInOut.setValue(e.Idx + 16, e.Value);
var doname = (DevPLC.DOName)e.Idx;
switch (doname)
{
case DevPLC.DOName.PINO_GUIDEMOTOR_RRUN:
break;
case DevPLC.DOName.PINO_GUIDEMOTOR_LRUN:
break;
}
}
else
{
this.gvdPLCInOut.setValue(e.Idx, e.Value);
}
this.gvdPLCInOut.Invalidate();
}
private void Plc_RequestData(object sender, DevPLC.RequestBatteryDataArgs e)
{
var idx = 0;
UInt32 val = 0;
foreach (var data in gvdPLCInOut.Values)
{
SetBit(ref val, idx++, (data > 0));
}
e.IOValue = val;
idx = 0;
val = 0;
foreach (var data in gvdPLCFlag.Values)
{
SetBit(ref val, idx++, (data > 0));
}
e.FGValue = val;
}
public void SetBit(ref UInt32 _value, int idx, Boolean value)
{
if (value)
{
var offset = (UInt32)(1 << idx);
_value = _value | offset;
}
else
{
var offset = (UInt32)(~(1 << idx));
_value = _value & offset;
}
}
public void SetBit(ref UInt16 _value, int idx, Boolean value)
{
if (value)
@@ -644,76 +411,8 @@ namespace AGVEmulator
private void Agv_RequestStatusData(object sender, DevAGV.RequestStatusDataArgs e)
{
//UInt16 system0 = 0xFFFF;
//UInt16 system1 = 0xFFFF;
//UInt16 error = 0xFFFF;
//byte signal = 0xFF;
aaplycheckboxbit(ref AGV.system0, panel6);
aaplycheckboxbit(ref AGV.system1, panel7);
aaplycheckboxbit(ref AGV.error, panel9);
aaplycheckboxbit(ref AGV.signal, panel8);
if (this.agvViewer1.StopbyMark) AGV.sts_speed = 'S';
else AGV.sts_speed = GetGroupItemCheckbox(groupBox4);
AGV.sts_bunki = GetGroupItemCheckbox(groupBox2);
AGV.sts_dir = GetGroupItemCheckbox(groupBox5);
AGV.sts_sensor = GetGroupItemCheckbox(groupBox8);
//this.Invoke(new Action(() =>
//{
// e.system0 = system0;
// e.system1 = system1;
// e.error = error;
// e.signal = signal;
// e.speed = GetGroupItemCheckbox(groupBox4);
// e.bunki = GetGroupItemCheckbox(groupBox2);
// e.direction = GetGroupItemCheckbox(groupBox5);
// e.sensor = GetGroupItemCheckbox(groupBox8);
// e.volt = 23.4f;
//}));
}
private void BMS_RequestVoltageData(object sender, DevBMS.RequestVoltageDataArgs e)
{
//cell전압값추가
for (int i = 0; i < cellvolt.Length; i++)
{
this.cellvolt[i] = (UInt16)rnd.Next(3300, 3350);
}
Array.Copy(this.cellvolt, 0, e.cellVolt, 0, 8);
this.btc1.Invoke(new Action(() => {
var idx = 0;
btc1.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc2.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc3.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc4.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc5.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc6.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc7.Text = (this.cellvolt[idx++] / 1000f).ToString();
btc8.Text = (this.cellvolt[idx++] / 1000f).ToString();
}));
}
private void Bms_RequestBatteryData(object sender, DevBMS.RequestBatteryDataArgs e)
{
if (checkBox1.Checked)
this.trackBar1.Invoke(new Action(() =>
{
this.trackBar1.Value -= 1;
trackBar1_Scroll(null, null);
}));
e.CurA = (int)BMS_CurA;
e.MaxA = (int)BMS_MaxA;
e.Remain = BMS_Remain;
e.Volt = BMS_Volt;
}
private void button5_Click(object sender, EventArgs e)
{
AGV.WriteData("ACK");
@@ -724,43 +423,7 @@ namespace AGVEmulator
AGV.WriteData("NAK");
}
private void button7_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;
this.gvdPLCInOut.setValue((int)pinDL + 16, true);
this.gvdPLCInOut.setValue((int)pinDR + 16, true);
this.gvdPLCInOut.setValue((int)pinL + 16, true);
this.gvdPLCInOut.setValue((int)pinR + 16, true);
this.gvdPLCInOut.Invalidate();
}
private void button6_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
var cur = gvdPLCInOut.Values[(int)pinL + 16];
this.gvdPLCInOut.setValue((int)pinL + 16, false);
this.gvdPLCInOut.setValue((int)pinR + 16, false);
this.gvdPLCInOut.Invalidate();
}
private void button8_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;
this.gvdPLCInOut.setValue((int)pinDL + 16, false);
this.gvdPLCInOut.setValue((int)pinDR + 16, false);
this.gvdPLCInOut.setValue((int)pinL + 16, true);
this.gvdPLCInOut.setValue((int)pinR + 16, true);
this.gvdPLCInOut.Invalidate();
}
private void trackBar1_Scroll(object sender, EventArgs e)
{
@@ -780,14 +443,14 @@ namespace AGVEmulator
{
timer1.Stop();
sbAGV.ForeColor = AGV.IsOpen ? Color.ForestGreen : Color.Red;
sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
// sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
sbBMS.ForeColor = BMS.IsOpen ? Color.ForestGreen : Color.Red;
sbCAL.ForeColor = CAL.IsOpen ? Color.ForestGreen : Color.Red;
sbCAL.ForeColor = XBE.IsOpen ? Color.ForestGreen : Color.Red;
if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData(); //자동전송해야함
//if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData(); //자동전송해야함
if (checkBox3.Checked && AGV != null && AGV.IsOpen) AGV.AutoSendData(); //자동전송해야함
if (BMS != null && BMS.IsOpen) BMS.AutoSendData(); //자동전송해야함
if (CAL != null && CAL.IsOpen) CAL.AutoSendData(); //자동전송해야함
if (XBE != null && XBE.IsOpen) XBE.AutoSendData(); //자동전송해야함
if (chkSimulation.Checked && AGV.GetAGV(esystemflag1.agv_run))
{
@@ -805,202 +468,23 @@ namespace AGVEmulator
agvViewer1.Invalidate();
}
UpdatePLC();
label7.Text = $"I/O L({PLC_LeftPosition}),R({PLC_RightPosition})";
timer1.Start();
}
void UpdatePLC()
{
//plc값을 업데이트해준다.
var LRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN + 16) == 1;
var RRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN + 16) == 1;
var LDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LDIR + 16) == 1;
var RDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RDIR + 16) == 1;
if (LRun == false) this.PLC_LeftDir = 0;
else if (LDir == true) this.PLC_LeftDir = 1;
else this.PLC_LeftDir = -1;
if (RRun == false) this.PLC_RightDir = 0;
else if (RDir == true) this.PLC_RightDir = 1;
else this.PLC_RightDir = -1;
this.PLC_LeftPosition += this.PLC_LeftDir;
this.PLC_RightPosition += this.PLC_RightDir;
var maxvalue = 20;
if (PLC_LeftPosition >= maxvalue)
{
PLC_LeftPosition = maxvalue;
PLC_LeftDir = 0;//멈춤
var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
gvdPLCInOut.setValue(idx + 16, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
gvdPLCInOut.setValue(idx, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
gvdPLCInOut.setValue(idx, true);
}
else if (PLC_LeftPosition <= 0)
{
PLC_LeftPosition = 0;
PLC_LeftDir = 0;
var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
gvdPLCInOut.setValue(idx + 16, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
gvdPLCInOut.setValue(idx, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
gvdPLCInOut.setValue(idx, true);
}
else if (PLC_LeftPosition > 5 && PLC_LeftPosition < maxvalue - 5)
{
if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LD) > 0)
gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LD, false);
if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LU) > 0)
gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LU, false);
}
if (PLC_RightPosition >= maxvalue)
{
PLC_RightPosition = maxvalue;
PLC_RightDir = 0;//멈춤
var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
gvdPLCInOut.setValue(idx + 16, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
gvdPLCInOut.setValue(idx, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
gvdPLCInOut.setValue(idx, true);
}
else if (PLC_RightPosition <= 0)
{
PLC_RightPosition = 0;
PLC_RightDir = 0;
var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
gvdPLCInOut.setValue(idx + 16, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
gvdPLCInOut.setValue(idx, false);
idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
gvdPLCInOut.setValue(idx, true);
}
else if (PLC_RightPosition > 5 && PLC_RightPosition < maxvalue - 5)
{
if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RD) > 0)
gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RD, false);
if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RU) > 0)
gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RU, false);
}
}
private void Bms_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
{
var dev = sender as AR.Dev.RS232;
if (dev is DevBMS)
{
logBMS.Add(e.Message);
}
else if (dev is DevAGV)
{
logAGV.Add(e.Message);
}
else if (dev is DevPLC)
{
logPLC.Add(e.Message);
}
else if (dev is DevCAL)
{
if (e.MsgType == AR.Dev.RS232.MessageType.Send)
logCAL.Add(">> " + e.Data.HexString());
else if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
logCAL.Add("<< " + e.Data.HexString());
else logCAL.Add(e.Message);
}
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
timer1.Stop();
logPLC.Flush();
logAGV.Flush();
logBMS.Flush();
logCAL.Flush();
}
private void btPLCemg_Click(object sender, EventArgs e)
{
var pin = DevPLC.DIName.PINI_EMG;
var cur = gvdPLCInOut.Values[(int)pin];
this.gvdPLCInOut.setValue((int)pin, cur == 0);
this.gvdPLCInOut.Invalidate();
}
private void button9_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DIName.PINI_LIMIT_LU;
var pinR = DevPLC.DIName.PINI_LIMIT_RU;
var cur = gvdPLCInOut.Values[(int)pinL];
this.gvdPLCInOut.setValue((int)pinL, cur == 0);
this.gvdPLCInOut.setValue((int)pinR, cur == 0);
pinL = DevPLC.DIName.PINI_LIMIT_LD;
pinR = DevPLC.DIName.PINI_LIMIT_RD;
this.gvdPLCInOut.setValue((int)pinL, false);
this.gvdPLCInOut.setValue((int)pinR, false);
this.gvdPLCInOut.Invalidate();
}
private void button10_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DIName.PINI_LIMIT_LD;
var pinR = DevPLC.DIName.PINI_LIMIT_RD;
var cur = gvdPLCInOut.Values[(int)pinL];
this.gvdPLCInOut.setValue((int)pinL, cur == 0);
this.gvdPLCInOut.setValue((int)pinR, cur == 0);
pinL = DevPLC.DIName.PINI_LIMIT_LU;
pinR = DevPLC.DIName.PINI_LIMIT_RU;
this.gvdPLCInOut.setValue((int)pinL, false);
this.gvdPLCInOut.setValue((int)pinR, false);
this.gvdPLCInOut.Invalidate();
}
private void button13_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DIName.PINI_BTN_1;
var cur = gvdPLCInOut.Values[(int)pinL];
this.gvdPLCInOut.setValue((int)pinL, cur == 0);
this.gvdPLCInOut.Invalidate();
}
private void button12_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DIName.PINI_BTN_2;
var cur = gvdPLCInOut.Values[(int)pinL];
this.gvdPLCInOut.setValue((int)pinL, cur == 0);
this.gvdPLCInOut.Invalidate();
}
private void button11_Click(object sender, EventArgs e)
{
var pinL = DevPLC.DIName.PINI_BTN_3;
var cur = gvdPLCInOut.Values[(int)pinL];
this.gvdPLCInOut.setValue((int)pinL, cur == 0);
this.gvdPLCInOut.Invalidate();
}
private void panel4_Paint(object sender, PaintEventArgs e)
{
}
private void groupBox9_Enter(object sender, EventArgs e)
{
}
private void button14_Click(object sender, EventArgs e)
{
@@ -1069,29 +553,6 @@ namespace AGVEmulator
AGV.SendTag(numericUpDown1.Value.ToString());
}
private void button1_Click(object sender, EventArgs e)
{
var bt = sender as Button;
var kitno = nudBMSKitNo.Value.ToString()[0];
var value = bt.Tag.ToString()[0];
var barr = new List<byte>();
barr.Add(0x02);
barr.Add((byte)kitno);
barr.Add((byte)value);
barr.Add(0x03);
CAL.WriteData(barr.ToArray());
}
private void serAGV_Load(object sender, EventArgs e)
{
}
private void agvViewer1_Click(object sender, EventArgs e)
{
}
private void agvViewer1_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
@@ -1104,17 +565,21 @@ namespace AGVEmulator
}
}
private void radioButton20_Click(object sender, EventArgs e)
private void button6_Click(object sender, EventArgs e)
{
var rad = sender as RadioButton;
var kitno = int.Parse(rad.Text);
nudBMSKitNo.Value = (decimal)kitno;
var tagno =(uint) nudTagNo.Value;
this.XBE.SendGotoTag(tagno);
}
private void button1_Click(object sender, EventArgs e)
{
var tagno = (uint)numericUpDown2.Value;
this.XBE.SendCurrentPos(tagno);
}
private void toolStripButton1_Click(object sender, EventArgs e)
{
serAGV.Connect();
serPLC.Connect();
serBMS.Connect();
serCAL.Connect();
}
@@ -1122,33 +587,10 @@ namespace AGVEmulator
private void toolStripButton2_Click(object sender, EventArgs e)
{
serAGV.Disconnect();
serPLC.Disconnect();
serBMS.Disconnect();
serCAL.Disconnect();
}
private void serBMS_Load(object sender, EventArgs e)
{
}
void checkboxevent()
{
}
private void GvdPLCFlag_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
{
var newvalue = gvdPLCFlag.Values[e.idx];
this.gvdPLCFlag.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
this.gvdPLCFlag.Invalidate();
}
private void GvdPLCInOut_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
{
var newvalue = gvdPLCInOut.Values[e.idx];
this.gvdPLCInOut.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
this.gvdPLCInOut.Invalidate();
}
}
}