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This commit is contained in:
chi
2025-05-27 16:32:53 +09:00
parent 9f4bec4142
commit ddf0b1907d
9 changed files with 453 additions and 315 deletions
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31
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -11,7 +11,7 @@ namespace Project
{
public partial class fMain
{
private void XBE_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
{
//TODO : 기능 처리필요 (XBee 메세지 데이터처리)
@@ -29,23 +29,40 @@ namespace Project
{
case ENIGProtocol.AGVCommands.SetCurrent: //Set Current Position
if (uint.TryParse(dataStr, out uint tagno))
if (dataStr.Length == 6)
{
if (PUB.mapctl.SetCurrentPosition(tagno) == true)
var targID = dataStr.Substring(0, 2);
var targstr = dataStr.Substring(2);
if(byte.TryParse(targID,out byte tID))
{
PUB.log.AddI($"Set Position:{tagno}");
if (PUB.setting.XBE_ID == tID)
{
if (uint.TryParse(targstr, out uint tagno))
{
if (PUB.mapctl.SetCurrentPosition(tagno) == true)
{
PUB.log.AddI($"Set Position:{tagno}");
}
else PUB.log.AddE($"Position Set Error:{tagno}");
}
else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}");
}
else PUB.log.AddI($"Another Target {tID}:{PUB.setting.XBE_ID}");
}
else PUB.log.AddE($"Position Error:{tagno}");
else PUB.log.AddE($"Position Param(targetid) Error:{dataStr}");
}
else PUB.log.AddE($"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);
var pathRlt = PUB.mapctl.CalculatePath(currPos, tagno2);
if (pathRlt.Success == true)
{
PUB.log.AddI($"New Target:{tagno2}");

4
Cs_HMI/Project/ViewForm/fAuto.cs
View File

@@ -63,8 +63,8 @@ namespace Project.ViewForm
if (fi.Exists)
{
PUB.log.Add($"autoload : {fi.FullName}");
var errmsg = PUB.mapctl.LoadFromFile(fi.FullName);
if (errmsg.isEmpty() == false) AR.UTIL.MsgE(errmsg);
var rlt = PUB.mapctl.LoadFromFile(fi.FullName,out string errmsg);
if (rlt == false) AR.UTIL.MsgE(errmsg);
}
}
}

256
Cs_HMI/SubProject/AGVControl/MapControl.cs
View File

@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using System.ComponentModel.Design;
using System.Drawing;
using System.Drawing.Design;
using System.Drawing.Drawing2D;
@@ -11,6 +12,8 @@ using System.Security.Permissions;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using AGVControl.Models;
using AR;
using static System.Net.Mime.MediaTypeNames;
namespace AGVControl
{
@@ -27,7 +30,7 @@ namespace AGVControl
if (obj is RFIDConnection other)
{
return (StartRFID == other.StartRFID && EndRFID == other.EndRFID) ||
(IsBidirectional && other.IsBidirectional &&
(IsBidirectional && other.IsBidirectional &&
StartRFID == other.EndRFID && EndRFID == other.StartRFID);
}
return false;
@@ -108,18 +111,11 @@ namespace AGVControl
// 툴바 버튼 영역 초기화
UpdateToolbarRects();
// 마우스 이벤트 핸들러 추가
this.MouseWheel += MapControl_MouseWheel;
this.MouseDown += MapControl_MouseDown;
this.MouseMove += MapControl_MouseMove;
this.MouseUp += MapControl_MouseUp;
this.MouseClick += MapControl_MouseClick;
this.MouseDoubleClick += MapControl_MouseDoubleClick;
this.Resize += MapControl_Resize;
}
private void MapControl_Resize(object sender, EventArgs e)
protected override void OnResize(EventArgs e)
{
base.OnResize(e);
UpdateToolbarRects();
this.Invalidate();
}
@@ -229,8 +225,10 @@ namespace AGVControl
}
return false;
}
private void MapControl_MouseWheel(object sender, MouseEventArgs e)
protected override void OnMouseWheel(MouseEventArgs e)
{
base.OnMouseWheel(e);
if (e.Delta > 0)
{
zoom *= 1.1f;
@@ -244,8 +242,10 @@ namespace AGVControl
this.Invalidate();
}
private void MapControl_MouseDown(object sender, MouseEventArgs e)
protected override void OnMouseDown(MouseEventArgs e)
{
base.OnMouseDown(e);
lastMousePosition = e.Location;
var mapPoint = ScreenToMap(e.Location);
@@ -323,8 +323,11 @@ namespace AGVControl
Point? lineStartPoint = null;
Point? branchPoint = null;
private void MapControl_MouseMove(object sender, MouseEventArgs e)
protected override void OnMouseMove(MouseEventArgs e)
{
base.OnMouseMove(e);
currentMousePosition = e.Location;
var mapPoint = ScreenToMap(e.Location);
@@ -416,12 +419,10 @@ namespace AGVControl
if (line.StartPoint == draggingPoint.Value)
{
line.StartPoint = selectedRFID.Location;
line.Distance = GetDistance(line.StartPoint, line.EndPoint);
}
if (line.EndPoint == draggingPoint.Value)
{
line.EndPoint = selectedRFID.Location;
line.Distance = GetDistance(line.StartPoint, line.EndPoint);
}
}
}
@@ -495,8 +496,9 @@ namespace AGVControl
}
private void MapControl_MouseUp(object sender, MouseEventArgs e)
protected override void OnMouseUp(MouseEventArgs e)
{
base.OnMouseUp(e);
if (e.Button == MouseButtons.Middle)
{
isDragging = false;
@@ -515,7 +517,7 @@ namespace AGVControl
var rfidLines = GetRFIDLines();
var directConnection = rfidLines.FirstOrDefault(line =>
(line.StartPoint == a && line.EndPoint == b) ||
(line.IsBidirectional && line.StartPoint == b && line.EndPoint == a));
(line.StartPoint == b && line.EndPoint == a));
if (directConnection != null)
{
@@ -541,10 +543,7 @@ namespace AGVControl
else if (line.EndPoint == point)
{
// 양방향 연결인 경우에만 시작점을 이웃으로 추가
if (line.IsBidirectional)
{
neighbors.Add(line.StartPoint);
}
neighbors.Add(line.StartPoint);
}
}
@@ -631,8 +630,9 @@ namespace AGVControl
return retval;
}
private void MapControl_MouseClick(object sender, MouseEventArgs e)
protected override void OnMouseClick(MouseEventArgs e)
{
base.OnMouseClick(e);
var mapPoint = ScreenToMap(e.Location);
if (e.Button == MouseButtons.Right)
{
@@ -700,8 +700,12 @@ namespace AGVControl
od.Filter = "path data|*.route";
od.FilterIndex = 0;
od.RestoreDirectory = true;
od.FileName = System.IO.Path.GetFileName(this.filename);
od.InitialDirectory = System.IO.Path.GetDirectoryName(this.filename);
if(filename.isEmpty()==false)
{
od.FileName = System.IO.Path.GetFileName(filename);
od.InitialDirectory = System.IO.Path.GetDirectoryName(filename);
}
if (od.ShowDialog() == DialogResult.OK)
{
filename = od.FileName;
@@ -730,8 +734,9 @@ namespace AGVControl
if (od.ShowDialog() == DialogResult.OK)
{
filename = od.FileName;
this.LoadFromFile(filename);
this.LoadFromFile(filename, out string errmsg);
if (errmsg.isEmpty() == false) UTIL.MsgE(errmsg);
this.Invalidate();
}
}
@@ -825,9 +830,6 @@ namespace AGVControl
{
StartPoint = previewStartPoint.Value,
EndPoint = clickedRFID.Location,
StartRFID = startRFID.RFIDValue,
EndRFID = clickedRFID.RFIDValue,
Distance = GetDistance(previewStartPoint.Value, clickedRFID.Location)
};
rfidLines.Add(line);
selectedRFIDLine = line;
@@ -872,7 +874,7 @@ namespace AGVControl
nearbyPoints.Sort((a, b) => a.ProjectionRatio.CompareTo(b.ProjectionRatio));
// 이전 RFID 값과 위치를 저장
uint prevRFID = line.StartRFID;
//uint prevRFID = line.StartRFID;
Point prevPoint = line.StartPoint;
// 정렬된 포인트들을 순차적으로 연결
@@ -882,15 +884,12 @@ namespace AGVControl
{
StartPoint = prevPoint,
EndPoint = item.Point.Location,
StartRFID = prevRFID,
EndRFID = item.Point.RFIDValue,
Distance = GetDistance(prevPoint, item.Point.Location)
};
rfidLines.Add(rfidLine);
// 현재 포인트를 다음 선분의 시작점으로 설정
prevPoint = item.Point.Location;
prevRFID = item.Point.RFIDValue;
}
// 마지막 포인트와 원래 선의 끝점을 연결
@@ -898,9 +897,6 @@ namespace AGVControl
{
StartPoint = prevPoint,
EndPoint = line.EndPoint,
StartRFID = prevRFID,
EndRFID = line.EndRFID,
Distance = GetDistance(prevPoint, line.EndPoint)
};
rfidLines.Add(finalLine);
@@ -933,38 +929,45 @@ namespace AGVControl
return GetDistance(point, new Point((int)projectionX, (int)projectionY));
}
private void MapControl_MouseDoubleClick(object sender, MouseEventArgs e)
protected override void OnMouseDoubleClick(MouseEventArgs e)
{
base.OnMouseDoubleClick(e);
if (e.Button == MouseButtons.Left)
{
// 화면 좌표를 맵 좌표로 변환
var mapPoint = ScreenToMap(e.Location);
// 텍스트 객체 찾기
foreach (var text in mapTexts)
//RFID 포인트 찾기
var selected_rfid = rfidPoints.Where(t => t.Bounds.Expand(SELECTION_DISTANCE, SELECTION_DISTANCE).Contains(mapPoint)).FirstOrDefault();
if (selected_rfid != null)
{
var textSize = CreateGraphics().MeasureString(text.Text, text.Font);
var rect = new RectangleF(
text.Location.X - SELECTION_DISTANCE,
text.Location.Y - SELECTION_DISTANCE,
textSize.Width + SELECTION_DISTANCE * 2,
textSize.Height + SELECTION_DISTANCE * 2
);
if (rect.Contains(mapPoint))
var rlt = AR.UTIL.InputBox("rfid value", selected_rfid.RFIDValue.ToString());
if (rlt.Item1 == true)
{
var rlt = AR.UTIL.InputBox("input", text.Text);
if (rlt.Item1 == true)
{
text.Text = rlt.Item2;// dialog.InputText;
this.Invalidate();
}
break;
selected_rfid.RFIDValue = uint.Parse(rlt.Item2);// dialog.InputText;
ProcessRFIDConnections();
this.Invalidate();
}
return;
}
// 텍스트 객체 찾기
var selected_txt = mapTexts.Where(t => t.Bounds.Expand(SELECTION_DISTANCE, SELECTION_DISTANCE).Contains(mapPoint)).FirstOrDefault();
if (selected_txt != null)
{
var rlt = AR.UTIL.InputBox("input", selected_txt.Text);
if (rlt.Item1 == true)
{
selected_txt.Text = rlt.Item2;// dialog.InputText;
this.Invalidate();
}
return;
}
}
}
public event EventHandler<MouseEventArgs> OnRightClick;
public void SetRFIDPoints(List<RFIDPoint> points)
@@ -1121,7 +1124,7 @@ namespace AGVControl
e.Graphics.ScaleTransform(zoom, zoom);
DrawRFIDLines(e.Graphics);
DrawMap(e.Graphics);
DrawRFIDPoints(e.Graphics);
//DrawCustomLines(e.Graphics);
DrawMapTexts(e.Graphics);
@@ -1169,13 +1172,15 @@ namespace AGVControl
}
private void DrawMap(Graphics g)
private void DrawRFIDPoints(Graphics g)
{
// RFID 포인트 그리기
foreach (var rfid in rfidPoints)
{
var MarkerSize = 5;
g.FillEllipse(Brushes.Green, rfid.Location.X - (MarkerSize / 2f), rfid.Location.Y - (MarkerSize / 2f), MarkerSize, MarkerSize);
var half = MarkerSize / 2f;
rfid.Bounds = new RectangleF(rfid.Location.X - half, rfid.Location.Y - half, MarkerSize, MarkerSize);
g.FillEllipse(Brushes.Green, rfid.Bounds);
//g.DrawString(rfid.RFIDValue, Font, Brushes.WhiteSmoke, rfid.Location.X + 5, rfid.Location.Y - 5);
}
@@ -1185,9 +1190,16 @@ namespace AGVControl
//g.FillEllipse(Brushes.Green, rfid.Location.X - 3, rfid.Location.Y - 3, 6, 6);
var tagstr = $"{rfid.RFIDValue}";
var fsize = g.MeasureString(tagstr, Font);
g.DrawString(tagstr, Font, Brushes.WhiteSmoke,
(rfid.Location.X - fsize.Width / 2f),
(rfid.Location.Y + 2));
var rect = new RectangleF(rfid.Bounds.X - (fsize.Width / 2f) + 3,
rfid.Bounds.Y + 6,
fsize.Width,
fsize.Height);
//g.DrawRectangle(Pens.Red, rect);
g.DrawString(tagstr, Font, Brushes.WhiteSmoke, rect, new StringFormat
{
Alignment = StringAlignment.Center,
LineAlignment = StringAlignment.Center,
});
}
}
@@ -1233,18 +1245,22 @@ namespace AGVControl
foreach (var text in mapTexts)
{
var textSize = g.MeasureString(text.Text, text.Font);
var rect = new RectangleF(
text.Location.X,
text.Location.Y,
textSize.Width,
textSize.Height
);
if (text.Dirty)
{
text.Bounds = new RectangleF(
text.Location.X,
text.Location.Y,
textSize.Width,
textSize.Height
);
text.Dirty = false;
}
if (text.BackgroundColor != Color.Transparent)
{
using (var brush = new SolidBrush(text.BackgroundColor))
{
g.FillRectangle(brush, rect);
g.FillRectangle(brush, text.Bounds);
}
}
@@ -1258,7 +1274,7 @@ namespace AGVControl
using (Pen pen = new Pen(Color.Blue, 1))
{
pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
g.DrawRectangle(pen, rect.X, rect.Y, rect.Width, rect.Height);
g.DrawRectangle(pen, text.Bounds.X, text.Bounds.Y, text.Bounds.Width, text.Bounds.Height);
}
}
}
@@ -1266,6 +1282,29 @@ namespace AGVControl
private void DrawRFIDLines(Graphics g)
{
var idx = 0;
using (Font f = new Font("arial", 4))
{
foreach (var item in rfidLines)
{
var sp = item.StartPoint;
var ep = item.EndPoint;
using (var p = new Pen(Color.FromArgb(50, Color.White), 10))
{
g.DrawLine(p, sp, ep);
var x = sp.X;
var y = sp.Y;
g.DrawString($"{idx}", f, Brushes.Gold, x, y);
x = ep.X;
y = ep.Y;
g.DrawString($"{idx}", f, Brushes.Pink, x, y);
idx++;
}
}
}
foreach (var connection in rfidConnections)
{
var startPoint = rfidPoints.First(p => p.RFIDValue == connection.StartRFID).Location;
@@ -1351,7 +1390,7 @@ namespace AGVControl
this.Invalidate();
}
public void AddRFIDLine(Point startPoint, Point endPoint, uint startRFID, uint endRFID, bool isBidirectional = false)
public void AddRFIDLine(Point startPoint, Point endPoint)
{
// 시작점과 끝점 사이의 모든 RFID 포인트 찾기
var allPoints = new List<(RFIDPoint Point, float Distance)>();
@@ -1387,47 +1426,14 @@ namespace AGVControl
{
StartPoint = startPoint,
EndPoint = endPoint,
StartRFID = startRFID,
EndRFID = endRFID,
IsBidirectional = isBidirectional,
Distance = GetDistance(startPoint, endPoint)
};
// 연결된 RFID 목록 생성
line.ConnectedRFIDs.Add(startRFID);
foreach (var point in allPoints)
{
line.ConnectedRFIDs.Add(point.Point.RFIDValue);
}
line.ConnectedRFIDs.Add(endRFID);
// 다음/이전 RFID 정보 설정
for (int i = 0; i < line.ConnectedRFIDs.Count - 1; i++)
{
var current = line.ConnectedRFIDs[i];
var next = line.ConnectedRFIDs[i + 1];
line.NextRFID[current] = next;
line.PrevRFID[next] = current;
if (isBidirectional)
{
line.NextRFID[next] = current;
line.PrevRFID[current] = next;
}
}
rfidLines.Add(line);
this.Invalidate();
}
public void LoadMapData(MapData mapData)
{
rfidPoints = mapData.RFIDPoints ?? new List<RFIDPoint>();
mapTexts = mapData.MapTexts ?? new List<MapText>();
customLines = mapData.CustomLines ?? new List<CustomLine>();
rfidLines = mapData.RFIDLines ?? new List<RFIDLine>();
this.Invalidate();
}
public void ClearMap()
{
@@ -1499,10 +1505,13 @@ namespace AGVControl
}
File.WriteAllLines(filename, lines);
this.filename = filename;
}
public string LoadFromFile(string filename)
public bool LoadFromFile(string filename, out string message)
{
this.filename = filename;
message = string.Empty;
ClearMap();
var lines = File.ReadAllLines(filename);
@@ -1528,9 +1537,19 @@ namespace AGVControl
var validY = int.TryParse(rfidParts[1], out int valY);
var validN = uint.TryParse(rfidParts[2], out uint valRfid);
if (validX && validY && validN)
{
if (rfidPoints.Where(t => t.RFIDValue == valRfid).Any())
{
//이미존재한다
var newvalue =
sb.AppendLine($"rfid중복{valRfid}");
}
AddRFIDPoint(new Point(valX, valY), valRfid);
}
else sb.AppendLine($"[{section}] {line}");
}
@@ -1542,10 +1561,7 @@ namespace AGVControl
{
AddRFIDLine(
new Point(int.Parse(rfidLineParts[0]), int.Parse(rfidLineParts[1])),
new Point(int.Parse(rfidLineParts[2]), int.Parse(rfidLineParts[3])),
uint.Parse(rfidLineParts[4]),
uint.Parse(rfidLineParts[5]),
(rfidLineParts[6].ToLower() == "true")
new Point(int.Parse(rfidLineParts[2]), int.Parse(rfidLineParts[3]))
);
}
break;
@@ -1588,7 +1604,8 @@ namespace AGVControl
this.Invalidate();
return sb.ToString();
message = sb.ToString();
return true;
}
private void ProcessRFIDConnections()
@@ -1603,7 +1620,7 @@ namespace AGVControl
// 1. 선 위의 모든 RFID 포인트(시작, 끝 포함)를 projectionRatio로 정렬
var pointsOnThisLine = rfidPoints
.Where(p => IsPointOnLine(p.Location, start, end, 15f)) // 오차 허용치 넉넉히
.Where(p => IsPointOnLine(p.Location, start, end, 10f)) // 오차 허용치 넉넉히
.Select(p => new
{
RFID = p.RFIDValue,
@@ -1611,11 +1628,11 @@ namespace AGVControl
})
.ToList();
// 2. 시작/끝 RFID가 목록에 없으면 강제로 추가
if (!pointsOnThisLine.Any(p => p.RFID == line.StartRFID))
pointsOnThisLine.Add(new { RFID = line.StartRFID, Ratio = 0f });
if (!pointsOnThisLine.Any(p => p.RFID == line.EndRFID))
pointsOnThisLine.Add(new { RFID = line.EndRFID, Ratio = 1f });
//// 2. 시작/끝 RFID가 목록에 없으면 강제로 추가
//if (!pointsOnThisLine.Any(p => p.RFID == line.StartRFID))
// pointsOnThisLine.Add(new { RFID = line.StartRFID, Ratio = 0f });
//if (!pointsOnThisLine.Any(p => p.RFID == line.EndRFID))
// pointsOnThisLine.Add(new { RFID = line.EndRFID, Ratio = 1f });
// 3. 정렬
pointsOnThisLine = pointsOnThisLine.OrderBy(p => p.Ratio).ToList();
@@ -1635,7 +1652,6 @@ namespace AGVControl
{
StartRFID = from,
EndRFID = to,
IsBidirectional = line.IsBidirectional,
Distance = GetDistance(fromPt, toPt)
});
connectionSet.Add(key);
@@ -1649,8 +1665,8 @@ namespace AGVControl
var distance = GetDistanceToLine(point, lineStart, lineEnd);
if (distance > tolerance) return false;
var projectionRatio = GetProjectionRatio(point, lineStart, lineEnd);
return projectionRatio >= 0 && projectionRatio <= 1;
var projectionRatio = Math.Round(GetProjectionRatio(point, lineStart, lineEnd), 2);
return projectionRatio >= 0 && projectionRatio <= 1.0;
}
private void DeleteNearbyRFIDLine(Point clickPoint)

57
Cs_HMI/SubProject/AGVControl/Models/MapText.cs
View File

@@ -1,14 +1,63 @@
using System.Drawing;
using System;
using System.Collections.Generic;
using System.Collections.Generic;
namespace AGVControl.Models
{
public class MapText
{
public Point Location { get; set; }
public string Text { get; set; }
private bool _dirty = true;
private Point _location;
private string _text;
private Font _font;
public bool Dirty
{
get => _dirty;
set => _dirty = value;
}
public Point Location
{
get => _location;
set
{
if (_location != value)
{
_location = value;
_dirty = true;
}
}
}
public string Text
{
get => _text;
set
{
if (_text != value)
{
_text = value;
_dirty = true;
}
}
}
public Color TextColor { get; set; }
public Color BackgroundColor { get; set; }
public Font Font { get; set; }
public Font Font
{
get => _font;
set
{
if (_font != value)
{
_font = value;
_dirty = true;
}
}
}
public RectangleF Bounds { get; set; }
}
}

26
Cs_HMI/SubProject/AGVControl/Models/RFIDLine.cs
View File

@@ -7,14 +7,24 @@ namespace AGVControl.Models
public class RFIDLine
{
public Point StartPoint { get; set; }
public Point EndPoint { get; set; }
public uint StartRFID { get; set; }
public uint EndRFID { get; set; }
public bool IsBidirectional { get; set; } = true; // 양방향 이동 가능 여부
public float Distance { get; set; } // 두 RFID 포인트 사이의 거리
public Point EndPoint { get; set; }
public float Distance
{
get {
float dx = StartPoint.X - EndPoint.X;
float dy = StartPoint.Y - EndPoint.Y;
return (float)Math.Sqrt(dx * dx + dy * dy); // double을 float로 명시적 캐스팅
}
}
public List<uint> ConnectedRFIDs { get; set; } = new List<uint>(); // 연결된 모든 RFID 값들
public Dictionary<uint, uint> NextRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 다음 RFID
public Dictionary<uint, uint> PrevRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 이전 RFID
//public uint StartRFID { get; set; }
//public uint EndRFID { get; set; }
//public bool IsBidirectional { get; set; } = true; // 양방향 이동 가능 여부
//public float Distance { get; set; } // 두 RFID 포인트 사이의 거리
//public List<uint> ConnectedRFIDs { get; set; } = new List<uint>(); // 연결된 모든 RFID 값들
//public Dictionary<uint, uint> NextRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 다음 RFID
//public Dictionary<uint, uint> PrevRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 이전 RFID
}
}

1
Cs_HMI/SubProject/AGVControl/Models/RFIDPoint.cs
View File

@@ -9,5 +9,6 @@ namespace AGVControl.Models
public uint RFIDValue { get; set; }
public string NextRFID { get; set; } // 다음 RFID 포인트의 값
public bool IsBidirectional { get; set; } // 양방향 연결 여부
public RectangleF Bounds { get; set; }
}
}

14
Emulator/AGVEmulator/DevXBE.cs
View File

@@ -59,13 +59,19 @@ namespace AGVEmulator
/// <summary>
/// 목적지 태그번호 전송
/// </summary>
public void SendGotoTag(uint tag)
public void SendGotoTag(byte id, uint tag)
{
Send(ENIGProtocol.AGVCommands.Goto, tag.ToString("0000"));
var idSTR = id.ToString("X2");
var tagSTR = tag.ToString("0000");
var dataStr = $"{idSTR}{tagSTR}";
Send(ENIGProtocol.AGVCommands.Goto, dataStr);
}
public void SendCurrentPos(uint tag)
public void SendCurrentPos(byte id, uint tag)
{
Send(ENIGProtocol.AGVCommands.SetCurrent, tag.ToString("0000"));
var idSTR = id.ToString("X2");
var tagSTR = tag.ToString("0000");
var dataStr = $"{idSTR}{tagSTR}";
Send(ENIGProtocol.AGVCommands.SetCurrent, dataStr);
}
private void Send(ENIGProtocol.AGVCommands Command, string datastr)
{

373
Emulator/AGVEmulator/Form1.Designer.cs generated
View File

@@ -30,34 +30,34 @@ namespace AGVEmulator
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
AGVEmulator.UC.AgvViewer.ptdata ptdata29 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata30 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata31 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata32 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata33 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata34 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata35 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata36 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata37 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata38 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata39 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata40 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata41 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata42 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata43 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata44 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata45 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata46 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata47 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata48 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata49 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata50 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata51 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata52 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata53 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata54 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata55 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata56 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata1 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata2 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata3 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata4 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata5 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata6 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata7 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata8 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata9 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata10 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata11 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata12 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata13 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata14 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata15 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata16 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata17 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata18 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata19 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata20 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata21 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata22 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata23 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata24 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata25 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata26 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata27 = new AGVEmulator.UC.AgvViewer.ptdata();
AGVEmulator.UC.AgvViewer.ptdata ptdata28 = new AGVEmulator.UC.AgvViewer.ptdata();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.rtBMS = new arCtl.LogTextBox();
@@ -132,6 +132,8 @@ namespace AGVEmulator
this.tabPage2 = new System.Windows.Forms.TabPage();
this.tabPage3 = new System.Windows.Forms.TabPage();
this.panel3 = new System.Windows.Forms.Panel();
this.numericUpDown2 = new System.Windows.Forms.NumericUpDown();
this.button1 = new System.Windows.Forms.Button();
this.nudTagNo = new System.Windows.Forms.NumericUpDown();
this.btacsgoto = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
@@ -150,8 +152,8 @@ namespace AGVEmulator
this.sbBMS = new System.Windows.Forms.ToolStripStatusLabel();
this.toolStripStatusLabel2 = new System.Windows.Forms.ToolStripStatusLabel();
this.sbCAL = new System.Windows.Forms.ToolStripStatusLabel();
this.numericUpDown2 = new System.Windows.Forms.NumericUpDown();
this.button1 = new System.Windows.Forms.Button();
this.label7 = new System.Windows.Forms.Label();
this.nudIDAgv = new System.Windows.Forms.NumericUpDown();
this.groupBox1.SuspendLayout();
this.panel1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.trackBar1)).BeginInit();
@@ -177,10 +179,11 @@ namespace AGVEmulator
this.tabPage2.SuspendLayout();
this.tabPage3.SuspendLayout();
this.panel3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.nudTagNo)).BeginInit();
this.toolStrip1.SuspendLayout();
this.statusStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.nudIDAgv)).BeginInit();
this.SuspendLayout();
//
// groupBox1
@@ -1013,120 +1016,120 @@ namespace AGVEmulator
this.agvViewer1.lastmarkdir = "";
this.agvViewer1.lasttag = "";
this.agvViewer1.lasttagdir = "";
ptdata29.active = false;
ptdata29.data = "NOT";
ptdata29.pos = 30F;
ptdata30.active = false;
ptdata30.data = "QA";
ptdata30.pos = 200F;
ptdata31.active = false;
ptdata31.data = "CHG";
ptdata31.pos = 300F;
ptdata32.active = false;
ptdata32.data = "QC";
ptdata32.pos = 400F;
ptdata33.active = false;
ptdata33.data = "#FVI-1";
ptdata33.pos = 500F;
ptdata34.active = false;
ptdata34.data = "#FVI-2";
ptdata34.pos = 600F;
ptdata35.active = false;
ptdata35.data = "#FVI-3";
ptdata35.pos = 700F;
ptdata36.active = false;
ptdata36.data = "#FVI-4";
ptdata36.pos = 800F;
ptdata37.active = false;
ptdata37.data = "#FVI-5";
ptdata37.pos = 900F;
ptdata38.active = false;
ptdata38.data = "POT";
ptdata38.pos = 970F;
ptdata1.active = false;
ptdata1.data = "NOT";
ptdata1.pos = 30F;
ptdata2.active = false;
ptdata2.data = "QA";
ptdata2.pos = 200F;
ptdata3.active = false;
ptdata3.data = "CHG";
ptdata3.pos = 300F;
ptdata4.active = false;
ptdata4.data = "QC";
ptdata4.pos = 400F;
ptdata5.active = false;
ptdata5.data = "#FVI-1";
ptdata5.pos = 500F;
ptdata6.active = false;
ptdata6.data = "#FVI-2";
ptdata6.pos = 600F;
ptdata7.active = false;
ptdata7.data = "#FVI-3";
ptdata7.pos = 700F;
ptdata8.active = false;
ptdata8.data = "#FVI-4";
ptdata8.pos = 800F;
ptdata9.active = false;
ptdata9.data = "#FVI-5";
ptdata9.pos = 900F;
ptdata10.active = false;
ptdata10.data = "POT";
ptdata10.pos = 970F;
this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata29,
ptdata30,
ptdata31,
ptdata32,
ptdata33,
ptdata34,
ptdata35,
ptdata36,
ptdata37,
ptdata38};
ptdata39.active = false;
ptdata39.data = "9000";
ptdata39.pos = 80F;
ptdata40.active = false;
ptdata40.data = "9001";
ptdata40.pos = 120F;
ptdata41.active = false;
ptdata41.data = "9010";
ptdata41.pos = 180F;
ptdata42.active = false;
ptdata42.data = "9011";
ptdata42.pos = 220F;
ptdata43.active = false;
ptdata43.data = "9020";
ptdata43.pos = 280F;
ptdata44.active = false;
ptdata44.data = "9021";
ptdata44.pos = 320F;
ptdata45.active = false;
ptdata45.data = "9030";
ptdata45.pos = 380F;
ptdata46.active = false;
ptdata46.data = "9031";
ptdata46.pos = 420F;
ptdata47.active = false;
ptdata47.data = "9040";
ptdata47.pos = 480F;
ptdata48.active = false;
ptdata48.data = "9041";
ptdata48.pos = 520F;
ptdata49.active = false;
ptdata49.data = "9050";
ptdata49.pos = 580F;
ptdata50.active = false;
ptdata50.data = "9051";
ptdata50.pos = 620F;
ptdata51.active = false;
ptdata51.data = "9060";
ptdata51.pos = 680F;
ptdata52.active = false;
ptdata52.data = "9061";
ptdata52.pos = 720F;
ptdata53.active = false;
ptdata53.data = "9070";
ptdata53.pos = 780F;
ptdata54.active = false;
ptdata54.data = "9071";
ptdata54.pos = 820F;
ptdata55.active = false;
ptdata55.data = "9000";
ptdata55.pos = 10F;
ptdata56.active = false;
ptdata56.data = "9001";
ptdata56.pos = 50F;
ptdata1,
ptdata2,
ptdata3,
ptdata4,
ptdata5,
ptdata6,
ptdata7,
ptdata8,
ptdata9,
ptdata10};
ptdata11.active = false;
ptdata11.data = "9000";
ptdata11.pos = 80F;
ptdata12.active = false;
ptdata12.data = "9001";
ptdata12.pos = 120F;
ptdata13.active = false;
ptdata13.data = "9010";
ptdata13.pos = 180F;
ptdata14.active = false;
ptdata14.data = "9011";
ptdata14.pos = 220F;
ptdata15.active = false;
ptdata15.data = "9020";
ptdata15.pos = 280F;
ptdata16.active = false;
ptdata16.data = "9021";
ptdata16.pos = 320F;
ptdata17.active = false;
ptdata17.data = "9030";
ptdata17.pos = 380F;
ptdata18.active = false;
ptdata18.data = "9031";
ptdata18.pos = 420F;
ptdata19.active = false;
ptdata19.data = "9040";
ptdata19.pos = 480F;
ptdata20.active = false;
ptdata20.data = "9041";
ptdata20.pos = 520F;
ptdata21.active = false;
ptdata21.data = "9050";
ptdata21.pos = 580F;
ptdata22.active = false;
ptdata22.data = "9051";
ptdata22.pos = 620F;
ptdata23.active = false;
ptdata23.data = "9060";
ptdata23.pos = 680F;
ptdata24.active = false;
ptdata24.data = "9061";
ptdata24.pos = 720F;
ptdata25.active = false;
ptdata25.data = "9070";
ptdata25.pos = 780F;
ptdata26.active = false;
ptdata26.data = "9071";
ptdata26.pos = 820F;
ptdata27.active = false;
ptdata27.data = "9000";
ptdata27.pos = 10F;
ptdata28.active = false;
ptdata28.data = "9001";
ptdata28.pos = 50F;
this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
ptdata39,
ptdata40,
ptdata41,
ptdata42,
ptdata43,
ptdata44,
ptdata45,
ptdata46,
ptdata47,
ptdata48,
ptdata49,
ptdata50,
ptdata51,
ptdata52,
ptdata53,
ptdata54,
ptdata55,
ptdata56};
ptdata11,
ptdata12,
ptdata13,
ptdata14,
ptdata15,
ptdata16,
ptdata17,
ptdata18,
ptdata19,
ptdata20,
ptdata21,
ptdata22,
ptdata23,
ptdata24,
ptdata25,
ptdata26,
ptdata27,
ptdata28};
this.agvViewer1.Location = new System.Drawing.Point(241, 0);
this.agvViewer1.Name = "agvViewer1";
this.agvViewer1.Size = new System.Drawing.Size(899, 120);
@@ -1171,6 +1174,8 @@ namespace AGVEmulator
//
// panel3
//
this.panel3.Controls.Add(this.nudIDAgv);
this.panel3.Controls.Add(this.label7);
this.panel3.Controls.Add(this.numericUpDown2);
this.panel3.Controls.Add(this.button1);
this.panel3.Controls.Add(this.nudTagNo);
@@ -1187,10 +1192,40 @@ namespace AGVEmulator
this.panel3.Size = new System.Drawing.Size(364, 622);
this.panel3.TabIndex = 15;
//
// numericUpDown2
//
this.numericUpDown2.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.numericUpDown2.Location = new System.Drawing.Point(110, 207);
this.numericUpDown2.Maximum = new decimal(new int[] {
9999999,
0,
0,
0});
this.numericUpDown2.Name = "numericUpDown2";
this.numericUpDown2.Size = new System.Drawing.Size(130, 38);
this.numericUpDown2.TabIndex = 11;
this.numericUpDown2.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.numericUpDown2.Value = new decimal(new int[] {
100,
0,
0,
0});
//
// button1
//
this.button1.Location = new System.Drawing.Point(246, 207);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(86, 38);
this.button1.TabIndex = 10;
this.button1.Tag = "--";
this.button1.Text = "Set";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// nudTagNo
//
this.nudTagNo.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.nudTagNo.Location = new System.Drawing.Point(15, 250);
this.nudTagNo.Location = new System.Drawing.Point(110, 251);
this.nudTagNo.Maximum = new decimal(new int[] {
9999999,
0,
@@ -1201,14 +1236,14 @@ namespace AGVEmulator
this.nudTagNo.TabIndex = 9;
this.nudTagNo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudTagNo.Value = new decimal(new int[] {
9900,
405,
0,
0,
0});
//
// btacsgoto
//
this.btacsgoto.Location = new System.Drawing.Point(151, 250);
this.btacsgoto.Location = new System.Drawing.Point(246, 251);
this.btacsgoto.Name = "btacsgoto";
this.btacsgoto.Size = new System.Drawing.Size(86, 38);
this.btacsgoto.TabIndex = 8;
@@ -1353,36 +1388,34 @@ namespace AGVEmulator
this.sbCAL.Size = new System.Drawing.Size(19, 17);
this.sbCAL.Text = "●";
//
// numericUpDown2
// label7
//
this.numericUpDown2.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.numericUpDown2.Location = new System.Drawing.Point(15, 206);
this.numericUpDown2.Maximum = new decimal(new int[] {
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(32, 220);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(45, 12);
this.label7.TabIndex = 12;
this.label7.Text = "AGV ID";
//
// nudIDAgv
//
this.nudIDAgv.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.nudIDAgv.Location = new System.Drawing.Point(6, 249);
this.nudIDAgv.Maximum = new decimal(new int[] {
9999999,
0,
0,
0});
this.numericUpDown2.Name = "numericUpDown2";
this.numericUpDown2.Size = new System.Drawing.Size(130, 38);
this.numericUpDown2.TabIndex = 11;
this.numericUpDown2.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.numericUpDown2.Value = new decimal(new int[] {
9900,
this.nudIDAgv.Name = "nudIDAgv";
this.nudIDAgv.Size = new System.Drawing.Size(98, 38);
this.nudIDAgv.TabIndex = 13;
this.nudIDAgv.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.nudIDAgv.Value = new decimal(new int[] {
10,
0,
0,
0});
//
// button1
//
this.button1.Location = new System.Drawing.Point(151, 206);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(86, 38);
this.button1.TabIndex = 10;
this.button1.Tag = "--";
this.button1.Text = "Set";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// Form1
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -1428,12 +1461,14 @@ namespace AGVEmulator
this.tabPage2.ResumeLayout(false);
this.tabPage3.ResumeLayout(false);
this.panel3.ResumeLayout(false);
this.panel3.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.nudTagNo)).EndInit();
this.toolStrip1.ResumeLayout(false);
this.toolStrip1.PerformLayout();
this.statusStrip1.ResumeLayout(false);
this.statusStrip1.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.nudIDAgv)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
@@ -1534,6 +1569,8 @@ namespace AGVEmulator
private System.Windows.Forms.Button button12;
private System.Windows.Forms.NumericUpDown numericUpDown2;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.NumericUpDown nudIDAgv;
}
}

6
Emulator/AGVEmulator/Form1.cs
View File

@@ -567,14 +567,16 @@ namespace AGVEmulator
private void button6_Click(object sender, EventArgs e)
{
var target = (byte)nudIDAgv.Value;
var tagno =(uint) nudTagNo.Value;
this.XBE.SendGotoTag(tagno);
this.XBE.SendGotoTag( target, tagno);
}
private void button1_Click(object sender, EventArgs e)
{
var target = (byte)nudIDAgv.Value;
var tagno = (uint)numericUpDown2.Value;
this.XBE.SendCurrentPos(tagno);
this.XBE.SendCurrentPos(target,tagno);
}
private void toolStripButton1_Click(object sender, EventArgs e)