Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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}");