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최종우치에. 이전노드정보와 다음 시작 노드 정보를 모두 추가함.

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최초 실행시 선택하는 위치 다이얼로그 제거 후 바로 자동 로딩하도록 함
This commit is contained in:
backuppc
2026-02-03 17:15:15 +09:00
parent b25be68986
commit e35dee853f
6 changed files with 164 additions and 70 deletions
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1
HMI/Project/AGV4.csproj
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@@ -245,6 +245,7 @@
<Compile Include="Dialog\fVolume.Designer.cs"> <Compile Include="Dialog\fVolume.Designer.cs">
<DependentUpon>fVolume.cs</DependentUpon> <DependentUpon>fVolume.cs</DependentUpon>
</Compile> </Compile>
<Compile Include="Class\LastPositionData.cs" />
<Compile Include="MessageWindow\fMessageWindow.cs"> <Compile Include="MessageWindow\fMessageWindow.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>

27
HMI/Project/Class/LastPositionData.cs Normal file
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@@ -0,0 +1,27 @@
using System;
using AGVNavigationCore.Models;
namespace Project
{
public class LastPositionData
{
/// <summary>
/// 현재노드id
/// </summary>
public string NodeId { get; set; }
public AgvDirection Direction { get; set; }
public AGVTurn Turn { get; set; }
public DateTime SaveTime { get; set; }
public string PrevNode { get; set; }
public AgvDirection PrevDirection { get; set; }
public string StartNode { get; set; }
public string TargetNode { get; set; }
public arDev.NarumiTurnInfo AGV_Turn { get; set; }
public char AGV_Motor { get; set; }
public char AGV_Speed { get; set; }
public string AGV_TagString { get; set; }
}
}

24
HMI/Project/PUB.cs
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@@ -25,13 +25,6 @@ using System.Drawing;
namespace Project namespace Project
{ {
public class LastPositionData
{
public string NodeId { get; set; }
public AgvDirection Direction { get; set; }
public AGVTurn Turn { get; set; }
public DateTime SaveTime { get; set; }
}
public static class PUB public static class PUB
{ {
@@ -121,7 +114,7 @@ namespace Project
/// <param name="m"></param> /// <param name="m"></param>
/// <param name="force"></param> /// <param name="force"></param>
/// <param name="addlog">로그에도 출력 합니다</param> /// <param name="addlog">로그에도 출력 합니다</param>
public static void Speak(string m, Boolean force = false, bool addlog = true,string logcate="") public static void Speak(string m, Boolean force = false, bool addlog = true, string logcate = "")
{ {
if (force == false && PUB.setting.Enable_Speak == false) if (force == false && PUB.setting.Enable_Speak == false)
{ {
@@ -666,7 +659,7 @@ namespace Project
{ {
if (_virtualAGV == null) return; if (_virtualAGV == null) return;
if(_virtualAGV.CurrentDirection != direction) if (_virtualAGV.CurrentDirection != direction)
{ {
PUB.log.Add($"[PUB] AGV Direction Change {_virtualAGV.CurrentDirection}->{direction}"); PUB.log.Add($"[PUB] AGV Direction Change {_virtualAGV.CurrentDirection}->{direction}");
_virtualAGV.CurrentDirection = direction; _virtualAGV.CurrentDirection = direction;
@@ -682,7 +675,7 @@ namespace Project
{ {
if (_virtualAGV == null) return; if (_virtualAGV == null) return;
if(_virtualAGV.CurrentState != state) if (_virtualAGV.CurrentState != state)
{ {
PUB.log.Add($"[PUB] AGV State Change {_virtualAGV.CurrentState}->{state}"); PUB.log.Add($"[PUB] AGV State Change {_virtualAGV.CurrentState}->{state}");
_virtualAGV.CurrentState = state; _virtualAGV.CurrentState = state;
@@ -723,6 +716,7 @@ namespace Project
{ {
if (_virtualAGV == null || _virtualAGV.CurrentNode == null) return; if (_virtualAGV == null || _virtualAGV.CurrentNode == null) return;
try try
{ {
var data = new LastPositionData var data = new LastPositionData
@@ -730,7 +724,15 @@ namespace Project
NodeId = _virtualAGV.CurrentNode.Id, NodeId = _virtualAGV.CurrentNode.Id,
Direction = _virtualAGV.CurrentDirection, Direction = _virtualAGV.CurrentDirection,
Turn = _virtualAGV.Turn, Turn = _virtualAGV.Turn,
SaveTime = DateTime.Now SaveTime = DateTime.Now,
AGV_Motor = PUB.AGV.data.Direction,
AGV_Speed = PUB.AGV.data.Speed,
AGV_TagString = PUB.AGV.data.TagString,
PrevNode = _virtualAGV.PrevNode?.Id ?? string.Empty,
PrevDirection = _virtualAGV.PrevDirection,
StartNode = _virtualAGV.StartNode?.Id ?? string.Empty,
TargetNode = _virtualAGV.TargetNode?.Id ?? string.Empty,
AGV_Turn = PUB.AGV.TurnInformation,
}; };
var fi = new System.IO.FileInfo(LastPosFilePath); var fi = new System.IO.FileInfo(LastPosFilePath);

43
HMI/Project/StateMachine/Step/_Util.cs
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@@ -202,7 +202,7 @@ namespace Project
{ {
//절반이상 경로가 짧을때에는 재계산을 하게한다 //절반이상 경로가 짧을때에는 재계산을 하게한다
var halfcnt = (int)(PUB._virtualAGV.CurrentPath.DetailedPath.Count / 2.0); var halfcnt = (int)(PUB._virtualAGV.CurrentPath.DetailedPath.Count / 2.0);
if (PathResult2.DetailedPath.Count < halfcnt) if (PathResult2.DetailedPath.Count > 2 && PathResult2.DetailedPath.Count < halfcnt)
{ {
var msg = $"단축경로가 확인되었습니다. 경로를 삭제 합니다"; var msg = $"단축경로가 확인되었습니다. 경로를 삭제 합니다";
PUB.log.AddE(msg); PUB.log.AddE(msg);
@@ -234,12 +234,23 @@ namespace Project
return false; return false;
} }
bool Moveforce = false;
if(nextAction.Motor == MotorCommand.Stop && nextAction.Reason == eAGVCommandReason.MarkStop)
{
//마크스탑을 해야하는데 움직이지 않는다면 움직이도록 해야한다
if(PUB.AGV.system1.agv_run==false)
{
PUB.log.Add("마크스탑을 해야하는데 중지상태라서 강제 이동하도록 합니다");
Moveforce = true;
}
}
//모터에서 정지를 요청했다 //모터에서 정지를 요청했다
if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop) if (Moveforce == false && nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
{ {
if (PUB.AGV.system1.agv_run) if (PUB.AGV.system1.agv_run)
{ {
// 완료(Complete) 상태라면 MarkStop 전송 // 완료(Complete) 상태라면 MarkStop 전송
if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop) if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop)
{ {
@@ -277,22 +288,19 @@ namespace Project
} }
} }
//이동중이라면 멈추는 명령을 전송하거나, 마크스탑을 진행해야하낟.
return false;
} }
if (nextAction.Reason == eAGVCommandReason.Complete)
{
// 목적지 도착 여부 확인 // 목적지 도착 여부 확인
// .. (생략) .. if (PUB.AGV.signal1.mark_sensor == false)
if (PUB._virtualAGV.IsPositionConfirmed)
{ {
if (PUB.AGV.system1.agv_run == false)
{ PUB.log.AddI($"목표도착되었으나 마크센서가 감지되지 않아 완료처리 하지않습니다");
//마크센서확인
if(PUB.AGV.signal1.mark_sensor==false)
{
PUB.log.AddI($"목표도착되었으나 마크센서가 감지되지 않아 경로를 삭제 합니다");
PUB._virtualAGV.SetPath(null);
return false; return false;
} }
// 경로가 존재한다면... // 경로가 존재한다면...
@@ -311,8 +319,8 @@ namespace Project
} }
else else
{ {
// [DEBUG] 도착했으나 조건 불일치 // [DEBUG] 도착했으나 조건 불일치, 그러면.. predict 가 stop을 반환하면 안된다.
// PUB.log.Add($"[DEBUG] Arrived but condition mismatch. CurNode:{PUB._virtualAGV.CurrentNode.Id}, Target:{lastInfo.NodeId}, CurDir:{PUB._virtualAGV.CurrentDirection}, TargetDir:{lastInfo.MotorDirection}"); PUB.log.Add($"[DEBUG] Arrived but condition mismatch. CurNode:{PUB._virtualAGV.CurrentNode.Id}, Target:{lastInfo.NodeId}, CurDir:{PUB._virtualAGV.CurrentDirection}, TargetDir:{lastInfo.MotorDirection}");
} }
} }
else else
@@ -326,7 +334,8 @@ namespace Project
} }
} }
} }
}
return false; return false;
} }

9
HMI/Project/StateMachine/_Xbee.cs
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@@ -210,6 +210,14 @@ namespace Project
return; return;
} }
//s/w턴이 걸려있다면 이동 불가로한다.(버퍼 작업중이다)
if(PUB._virtualAGV.Turn != AGVTurn.None)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Goto] 버퍼작업이 완료되지 않았습니다");
return;
}
//목적지 //목적지
PUB._virtualAGV.TargetNode = targetNode; PUB._virtualAGV.TargetNode = targetNode;
if (targetNode == null) if (targetNode == null)
@@ -233,6 +241,7 @@ namespace Project
PUB.sm.ResetRunStepSeq(); PUB.sm.ResetRunStepSeq();
} }
PUB.SaveLastPosition();
//Move to //Move to
PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}"); PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}");

72
HMI/Project/fMain.cs
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@@ -310,24 +310,70 @@ namespace Project
} }
PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}"); PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
// 🔥 초기 위치 설정 및 확인 화면 표시 //마지막위치복원
this.BeginInvoke(new Action(() => // 마지막 위치 로드
var lastPos = PUB.LoadLastPosition();
if (lastPos != null)
{ {
using (var f = new Dialog.fSetCurrentPosition()) var sb = new System.Text.StringBuilder();
var curNode = PUB.FindByNodeID(lastPos.NodeId);
var prevNode = PUB.FindByNodeID(lastPos.PrevNode);
var targNode = PUB.FindByNodeID(lastPos.TargetNode);
var staNode = PUB.FindByNodeID(lastPos.StartNode);
if(prevNode != null)
{ {
if (f.ShowDialog() == DialogResult.OK) PUB._virtualAGV.SetPosition(prevNode, lastPos.PrevDirection);
{ PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, prevNode, lastPos.PrevDirection);
if (f.SelectedNode != null) sb.AppendLine($"이전: {prevNode.ID2}, {lastPos.PrevDirection}");
{
PUB._virtualAGV.Turn = f.SelectedTurn;
PUB._virtualAGV.SetPosition(f.SelectedNode, f.SelectedDirection);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, f.SelectedNode, f.SelectedDirection);
PUB.SaveLastPosition();
PUB.log.Add($"[초기위치] 설정 완료: {f.SelectedNode.Id}, {f.SelectedDirection}, Turn:{f.SelectedTurn}");
} }
if (curNode != null)
{
PUB._virtualAGV.SetPosition(curNode, lastPos.Direction);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, curNode, lastPos.Direction);
sb.AppendLine($"현재: {curNode.ID2}, {lastPos.Direction}");
} }
if (staNode != null)
{
PUB._virtualAGV.StartNode = staNode;
sb.AppendLine($"시직:{staNode.ID2}");
} }
})); if (targNode != null)
{
PUB._virtualAGV.TargetNode = targNode;
sb.AppendLine($"대상:{targNode.ID2}");
}
PUB._virtualAGV.Turn = lastPos.Turn;
sb.AppendLine($"S/W회전:{lastPos.Turn}");
if(lastPos.AGV_Turn != null)
{
PUB.AGV.TurnInformation = lastPos.AGV_Turn;
sb.AppendLine($"H/W회전:{lastPos.AGV_Turn}");
}
PUB.log.Add($"위치복원\n{sb}");
}
//// 🔥 초기 위치 설정 및 확인 화면 표시
//this.BeginInvoke(new Action(() =>
//{
// using (var f = new Dialog.fSetCurrentPosition())
// {
// if (f.ShowDialog() == DialogResult.OK)
// {
// if (f.SelectedNode != null)
// {
// PUB._virtualAGV.Turn = f.SelectedTurn;
// PUB._virtualAGV.SetPosition(f.SelectedNode, f.SelectedDirection);
// PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, f.SelectedNode, f.SelectedDirection);
// PUB.SaveLastPosition();
// PUB.log.Add($"[초기위치] 설정 완료: {f.SelectedNode.Id}, {f.SelectedDirection}, Turn:{f.SelectedTurn}");
// }
// }
// }
//}));
} }
else else
{ {