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chore: commit all remaining changes

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This commit is contained in:
backuppc
2026-02-04 15:26:22 +09:00
parent b388b1917d
commit ec2af6ac1f
17 changed files with 414 additions and 242 deletions
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45
HMI/Project/Device/Xbee.cs
View File

@@ -82,7 +82,7 @@ namespace Project.Device
proto.OnMessage -= Proto_OnMessage;
}
public int senderrcnt = 0;
/// <summary>
/// 지그비장치에 데이터를 전송합니다
/// </summary>
@@ -93,10 +93,12 @@ namespace Project.Device
try
{
this.Write(data, 0, data.Length);
senderrcnt = 0;
return true;
}
catch (Exception ex)
{
senderrcnt += 1;
ErrorMessage = ex.Message;
return false;
}
@@ -119,6 +121,7 @@ namespace Project.Device
try
{
base.Open();
senderrcnt = 0;
return IsOpen;
}
catch (Exception ex)
@@ -150,6 +153,7 @@ namespace Project.Device
var buffer = new byte[dev.BytesToRead];
dev.Read(buffer, 0, buffer.Length);
proto.ProcessReceivedData(buffer);
VAR.TIME[eVarTime.LastRecv_XBE] = DateTime.Now;
}
/// <summary>
@@ -168,6 +172,39 @@ namespace Project.Device
PUB.logxbee.AddE($"Send SendMoveComplete [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
}
StateMachine.ERunStep lastactioncmd = StateMachine.ERunStep.READY;
DateTime lastactioncmdtime = DateTime.Now;
/// <summary>
/// 특정행동이 완료되었을때 전달함
/// </summary>
/// <param name="tag"></param>
public void SendActionComplete(StateMachine.ERunStep actionCmd)
{
if (lastactioncmd == actionCmd)
{
var ts = DateTime.Now - lastactioncmdtime;
if(ts.TotalSeconds < 2)
{
return;
}
}
var id = PUB.setting.XBE_ID;
byte cmd = (byte)ENIGProtocol.AGVCommandEH.ActionComplete;
var packet = proto.CreatePacket(id, cmd, null);
if (Send(packet))
PUB.logxbee.AddI($"SendActionComplete [O] : {packet.Length} {packet.HexString()}");
else
PUB.logxbee.AddE($"SendActionComplete [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
//최종액션저장
lastactioncmd = actionCmd;
lastactioncmdtime = DateTime.Now;
}
/// <summary>
/// 신규 RFID태그값이 읽혔다면 이명령을 통해서 전송한다
/// </summary>
@@ -254,7 +291,7 @@ namespace Project.Device
value = 0; // stop
data.Add(value);
//나르미오류코드전송필요 260202
//agv\structure\errorflag.cs 파일의 public enum eflag 에 내용있음
data.AddRange(BitConverter.GetBytes(PUB.AGV.error.Value));
@@ -311,6 +348,10 @@ namespace Project.Device
// ErrorCode [New RunStepErrorCode]
value = (byte)PUB.Result.RunStepErrorCode;
//라이다로인해 멈춘경우 오류코드 추가 260204
if (value == 0 && PUB.AGV.system1.stop_by_front_detect)
value = (byte)ENIGProtocol.AGVErrorCode.LIDAR_STOP;
data.Add(value);
// LastTag

10
HMI/Project/StateMachine/Step/_SM_RUN.cs
View File

@@ -104,6 +104,7 @@ namespace Project
case ERunStep.GOHOME:
if (_SM_RUN_GOTO_HOME(runStepisFirst, PUB.sm.GetRunSteptime) == true)
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.log.Add($"홈 이동이 완료되어 준비상태로 전환합니다");
PUB.sm.SetNewRunStep(ERunStep.READY);
}
@@ -156,7 +157,7 @@ namespace Project
PUB.log.Add($"정의되지 않은 스테이션 입니다({target.StationType}) ");
break;
}
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
PUB.sm.SetNewRunStep(ERunStep.READY);
}
@@ -187,6 +188,7 @@ namespace Project
}
else if (_SM_RUN_CHARGE_GO(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.Speak(Lang.충전을시작합니다);
PUB.sm.SetNewRunStep(ERunStep.CHARGECHECK);
return;
@@ -202,6 +204,7 @@ namespace Project
else if (_SM_RUN_CHARGE_CHECK(runStepisFirst, PUB.sm.GetRunSteptime))
{
//충전상태가 활성화되었으므로 대기상태로 전환한다
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.sm.SetNewRunStep(ERunStep.READY);
PUB.log.AddAT("충전상태 확인 완료로 인해 대기 합니다");
}
@@ -218,6 +221,7 @@ namespace Project
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHARGE_GOFF(isFirst, stepTime) == true)
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
//충전상태가 활성화되었으므로 대기상태로 전환한다
PUB.sm.ClearRunStep();
@@ -233,6 +237,7 @@ namespace Project
case ERunStep.LOADER_IN: //로더도킹
if (_SM_RUN_ENTER(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.
@@ -248,6 +253,7 @@ namespace Project
case ERunStep.LOADER_OUT: //로더아웃
if (_SM_RUN_EXIT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
@@ -262,6 +268,7 @@ namespace Project
case ERunStep.BUFFER_OUT: //버퍼아웃
if (_SM_RUN_BUFFER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.Speak(Lang.버퍼도킹해제완료);
//도킹완료상태를 업데이트한다.
@@ -277,6 +284,7 @@ namespace Project
case ERunStep.BUFFER_IN: //버퍼도킹
if (_SM_RUN_BUFFER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.XBE.SendActionComplete(PUB.sm.RunStep);
PUB.Speak(Lang.버퍼도킹이완료되었습니다);
//도킹완료상태를 업데이트한다.

31
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
View File

@@ -79,34 +79,15 @@ namespace Project
if (PUB._virtualAGV.Turn == AGVNavigationCore.Models.AGVTurn.L90)
{
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이미 Left Turn 완료 상태입니다. 턴 명령을 건너뜁니다.");
PUB.sm.UpdateRunStepSeq();
}
else
{
//하드웨어 상태 확인
//var turnState = PUB.AGV.TurnInformation?.StateNew ?? arDev.eNarumiTurn.None;
//if (turnState == arDev.eNarumiTurn.Left || turnState == arDev.eNarumiTurn.LeftIng)
//{
// //이미 좌회전 중이거나 완료된 하드웨어 상태
// PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 하드웨어 좌회전 상태 확인됨({turnState}). 명령을 건너뜁니다.");
// PUB.sm.UpdateRunStepSeq();
//}
//else if (turnState == arDev.eNarumiTurn.Right || turnState == arDev.eNarumiTurn.RightIng)
//{
// //비정상 상태 (우회전 중?)
// SetRunStepError(ENIGProtocol.AGVErrorCode.TURN_FAIL, $"[{funcname}-{PUB.sm.RunStepSeq}] 턴 방향 불일치(Current:{turnState}). 우회전 상태에서 좌회전을 시도할 수 없습니다.");
//}
//else
//{
//정상 (None) -> 턴 명령 실행
PUB.AGV.AGVMoveLeft180Turn();
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV Left Turn");
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB.sm.UpdateRunStepSeq();
//}
PUB._mapCanvas.SetAlertMessage($"턴 실행");
}
PUB._mapCanvas.SetAlertMessage($"턴 진행 중");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
@@ -155,7 +136,7 @@ namespace Project
//리프트 센서 확인
if (PUB.AGV.signal1.lift_down == false)
{
VAR.I32[eVarInt32.RetryLift] = 0;
VAR.I32[eVarInt32.RetryLift] += 1;
var rlt = PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 실행:{rlt}");
}
@@ -191,20 +172,20 @@ namespace Project
}
else if (PUB.sm.RunStepSeq == idx++)
{
if(PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
{
VAR.I32[eVarInt32.RetryManget] += 1;
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마그넷ON");
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//마그넷센서가 들어오는지 5초간 확인한다.
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter &&
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter &&
PUB.AGV.signal1.magnet_on == false)
{
if (seqtime.TotalSeconds > 5)

103
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
View File

@@ -41,6 +41,17 @@ namespace Project
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//회전이없다면 오류처리한다.
if(PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{funcname}-{PUB.sm.RunStepSeq}] 버퍼에서 나오려면 버퍼진입작업이 완료되어있어야 합니다");
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트제어 {lift}");
@@ -57,7 +68,7 @@ namespace Project
{
if (seqtime.TotalSeconds > 20)
{
if(VAR.I32[eVarInt32.RetryLift] < 3)
if (VAR.I32[eVarInt32.RetryLift] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 완료되지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
@@ -73,10 +84,10 @@ namespace Project
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
if (PUB.AGV.signal1.mark_sensor == false)
//if (PUB.AGV.signal1.mark_sensor == false)
{
//빈 상태로 아웃해야한다.
if (SpeedSetRetry)
@@ -112,7 +123,7 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
if (PUB.AGV.signal1.mark_sensor == false)
//if (PUB.AGV.signal1.mark_sensor == false)
{
VAR.I32[eVarInt32.RetryMove] += 1;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 전진 구동 시작");
@@ -124,13 +135,13 @@ namespace Project
else if (PUB.sm.RunStepSeq == idx++)
{
//AGV구동을 확인하고 마크스탑을 설정한다.
if (PUB.AGV.signal1.mark_sensor == false)
//if (PUB.AGV.signal1.mark_sensor == false)
{
if (PUB.AGV.system1.agv_run == false)
{
if (seqtime.TotalSeconds > 3)
{
if(VAR.I32[eVarInt32.RetryMove] < 3)
if (VAR.I32[eVarInt32.RetryMove] < 3)
{
//재시도를 하게한다.
PUB.sm.UpdateRunStepSeq(-1);
@@ -141,7 +152,7 @@ namespace Project
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
VAR.I32[eVarInt32.RetryMove] = 0;
}
}
return false;
}
@@ -161,14 +172,14 @@ namespace Project
}
else if (PUB.sm.RunStepSeq == idx++)
{
if (PUB.AGV.signal1.mark_sensor == false)
//if (PUB.AGV.signal1.mark_sensor == false)
{
//마크스탑신호가 3초이내로 들어와야 한다
if (PUB.AGV.data.Speed != 'S')
{
if (seqtime.TotalSeconds > 3)
{
if(VAR.I32[eVarInt32.RetryMarkStop] < 3)
if (VAR.I32[eVarInt32.RetryMarkStop] < 3)
{
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 재시도");
PUB.sm.UpdateRunStepSeq(-1);
@@ -184,7 +195,7 @@ namespace Project
}
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 신구 확인 완료");
}
else PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}]마크스탑이 미리 들어와있어. 이동및 스탑을 하지 않습니다");
//else PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}]마크스탑이 미리 들어와있어. 이동및 스탑을 하지 않습니다");
PUB.sm.UpdateRunStepSeq();
return false;
@@ -215,69 +226,45 @@ namespace Project
}
else
{
//하드웨어 상태 확인
//var turnState = PUB.AGV.TurnInformation?.StateOld ?? arDev.eNarumiTurn.None;
//if (turnState == arDev.eNarumiTurn.Right)
//{
// SetRunStepError(ENIGProtocol.AGVErrorCode.TURN_FAIL, $"[{funcname}-{PUB.sm.RunStepSeq}] 턴 방향 불일치(Current:{turnState}). 버퍼진출시에는 LEFT-TURN 상태여야 합니다");
// return false;
//}
//else
//{
//정상 (None) -> 턴 명령 실행
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV Right Turn 명령 전송");
PUB.AGV.AGVMoveRight180Turn();
//}
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV Right Turn");
VAR.TIME.Update(eVarTime.LastTurnCommandTime);
PUB._mapCanvas.SetAlertMessage($"턴 실행");
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//이동확인
if (PUB.AGV.system1.agv_run == false)
//이미 완료된 상태라면 대기 과정을 건너뛴다.
if (PUB._virtualAGV.Turn == AGVNavigationCore.Models.AGVTurn.R90)
{
//최소3초기다려준다.
if (seqtime.TotalSeconds > 3)
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이미 턴이완료된 상태입니다");
}
else
{
//왼쪽턴이 완료되지 않은경우
if (PUB.AGV.TurnInformation.State != arDev.eNarumiTurn.Right)
{
if (PUB._virtualAGV.Turn == AGVNavigationCore.Models.AGVTurn.R90)
//움직임 확인을 위해 3초간은 검증을 유예한다
if (PUB.AGV.TurnInformation.Runtime.TotalSeconds < 3) return false;
//턴 이동 상태가 확인되어야 한다.
var overtime = 30;
if (PUB.AGV.TurnInformation.Runtime.TotalSeconds > overtime)
{
//이미 완료된 상태이므로 이동 확인 패스
PUB.sm.UpdateRunStepSeq();
//30초동안 AGV까 움직이지 않았다면 오류 처리한다.
SetRunStepError(ENIGProtocol.AGVErrorCode.TURN_FAIL, $"[{funcname}] {overtime}초이내 턴 감지 안됨");
return false;
}
SetRunStepError(ENIGProtocol.AGVErrorCode.TURN_FAIL);
else PUB._mapCanvas.SetAlertMessage($"턴 진행 중({PUB.AGV.TurnInformation.Runtime.TotalSeconds:N0}/{overtime})");
return false;
}
return false;
}
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//멈춤확인
if (PUB.AGV.system1.agv_run == true)
{
if (seqtime.TotalSeconds > 25)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.TURN_FAIL);
}
return false;
PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None; //턴완료
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] Turn(right) 완료 - 위치복귀됨");
}
//턴 완료 상태 업데이트
if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.R90)
{
if (PUB._virtualAGV.Turn == AGVNavigationCore.Models.AGVTurn.None)
PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.R90; //left에서 right 턴을 했으니 none 이다
else
PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] Turn State Updated to {PUB._virtualAGV.Turn}");
}
PUB.sm.UpdateRunStepSeq();
PUB.sm.UpdateRunStepSeq(); //이미완료된상태이므로 다음으로 진행한다.
return false;
}
else if (PUB.sm.RunStepSeq == idx++)

119
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
View File

@@ -14,22 +14,23 @@ namespace Project
/// <summary>
/// 장비엣 빠젼나온다.
/// </summary>
public Boolean _SM_RUN_EXIT(bool isFirst, TimeSpan seqTime)
public Boolean _SM_RUN_EXIT(bool isFirst, TimeSpan seqtime)
{
var idx = 1;
var funcname = PUB.sm.RunStep.ToString();
var funcname = $"[EXIT-{PUB.sm.RunStep}]";
//충전 상태가 OFF되어야 동작하게한다
if (_SM_RUN_CHARGE_GOFF(isFirst, seqTime) == false) return false;
if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false) return false;
//라이더멈춤이 설정되어있다면 음성으로 알려준다
if (CheckLiderStop() == false) return false;
if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add("OUT작업-시작");
PUB.Speak("작업을 시작합니다");
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] OUT작업-시작");
PUB.Speak("작업을 시작합니다(안전을위해 AGVSTOP신호를 전송합니다)");
PUB.AGV.AGVMoveStop(funcname);
VAR.I32[eVarInt32.RetryLift] = 0;
PUB.sm.UpdateRunStepSeq();
return false;
}
@@ -38,7 +39,7 @@ namespace Project
//작업형태에 따라서. 리프트를 제어한다.
var liftCmd = arDev.Narumi.LiftCommand.DN;
if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
VAR.I32[eVarInt32.RetryLift] += 1;
PUB.AGV.LiftControl(liftCmd);
PUB.sm.UpdateRunStepSeq();
return false;
@@ -62,21 +63,32 @@ namespace Project
}
else
{
var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
if (ts.TotalSeconds > 10)
if (seqtime.TotalSeconds > 20)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}] 리프트({liftCmd})이 확인되지 않습니다");
if (VAR.I32[eVarInt32.RetryLift] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작({liftCmd})하지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR,
$"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작({liftCmd})하지 않습니다");
VAR.I32[eVarInt32.RetryLift] = 0;
}
}
else PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
return false;
}
PUB.log.Add("리프트 동작 확인 완료");
VAR.I32[eVarInt32.RetryMoveset] = 0;
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 동작 확인 완료");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//빈 상태로 아웃해야한다.
//라이더 끈상태로 빠져나와야 한다
VAR.I32[eVarInt32.RetryMoveset] += 1;
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
@@ -84,22 +96,45 @@ namespace Project
PBSSensor = 0,
Speed = arDev.Narumi.eMoveSpd.Low,
});
//명령이 실패되었다면 재시도를 한다
if (ret != arDev.eNarumiCommandResult.Success)
{
if (ret >= arDev.eNarumiCommandResult.Error)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
}
return false;
}
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] moveset return fail:{ret}");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//moveset 결과확인
if (PUB.AGV.data.Speed != 'L' ||
PUB.AGV.data.Sts != 'S' ||
PUB.AGV.data.Direction != 'F')
{
if (seqtime.TotalSeconds > 5)
{
if (VAR.I32[eVarInt32.RetryMoveset] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] MoveSet이 확인되지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL,
$"[{funcname}-{PUB.sm.RunStepSeq}] MoveSet 실패");
VAR.I32[eVarInt32.RetryMoveset] = 0;
}
}
else PUB._mapCanvas.SetAlertMessage($"이동설정 확인 중({seqtime.TotalSeconds:N0}/20)");
return false;
}
VAR.I32[eVarInt32.RetryMove] = 0;
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//전진이동
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 전진이동");
VAR.I32[eVarInt32.RetryMove] += 1;
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
PUB.sm.UpdateRunStepSeq();
return false;
@@ -109,14 +144,33 @@ namespace Project
//AGV구동을 확인하고 마크스탑을 설정한다.
if (PUB.AGV.system1.agv_run == false)
{
if (seqTime.TotalMilliseconds > 1000)
if (seqtime.TotalSeconds > 3)
{
//구동이확인되지 않으면 오류처리를 한다.
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
if (VAR.I32[eVarInt32.RetryMove] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] AGV전진이 확인되지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL,
$"[{funcname}-{PUB.sm.RunStepSeq}] agv 구동확인 안됨");
VAR.I32[eVarInt32.RetryMove] = 0;
}
}
else PUB._mapCanvas.SetAlertMessage($"AGV RUN 확인 중({seqtime.TotalSeconds:N0}/20)");
return false;
}
//마크스탑설정
VAR.I32[eVarInt32.RetryMarkStop] = 0;
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마크스탑신호를 전달합니다");
VAR.I32[eVarInt32.RetryMarkStop] += 1;
PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
PUB.sm.UpdateRunStepSeq();
return false;
@@ -126,10 +180,21 @@ namespace Project
//마크스탑신호가 3초이내로 들어와야 한다
if (PUB.AGV.data.Speed != 'S')
{
if (seqTime.TotalMilliseconds > 3000)
if (seqtime.TotalSeconds > 20)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
if (VAR.I32[eVarInt32.RetryMarkStop] < 3)
{
PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 마크스탑이 확인되지 않아 재시도 합니다");
PUB.sm.UpdateRunStepSeq(-1);
}
else
{
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_STOP_FAIL,
$"[{funcname}-{PUB.sm.RunStepSeq}] 마크스탑이 확인되지 않습니다");
VAR.I32[eVarInt32.RetryMarkStop] = 0;
}
}
else PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
return false;
}
PUB.sm.UpdateRunStepSeq();
@@ -140,7 +205,7 @@ namespace Project
//AGV가 멈출때까지 기다린다.
if (PUB.AGV.system1.agv_run == true)
{
if (seqTime.TotalSeconds > 10)
if (seqtime.TotalSeconds > 10)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_STOP_FAIL);
}
@@ -154,7 +219,7 @@ namespace Project
//마크센서입력을 확인한다.
if (PUB.AGV.signal1.mark_sensor == false)
{
if (seqTime.TotalSeconds > 5)
if (seqtime.TotalSeconds > 5)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL);
}

15
HMI/Project/StateMachine/Step/_Util.cs
View File

@@ -297,10 +297,17 @@ namespace Project
// 목적지 도착 여부 확인
if (PUB.AGV.signal1.mark_sensor == false)
{
PUB.log.AddI($"목표도착되었으나 마크센서가 감지되지 않아 완료처리 하지않습니다");
return false;
if(PUB._virtualAGV.TargetNode.StationType != StationType.Normal)
{
PUB.log.AddAT($"목표도착되었으나 마크센서가 감지되지 않아 완료처리 하지않습니다");
return false;
}
else
{
//일반노드가목표인경우에는 완료처리한다.
PUB.log.AddI($"일반노드는 마크센서가 감지되지 않아도 완료처리 합니다");
return true;
}
}
// 경로가 존재한다면...

8
HMI/Project/StateMachine/_AGV.cs
View File

@@ -185,6 +185,14 @@ namespace Project
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, CurrentNode, MotDireciton);
PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
PUB.SaveLastPosition();
//노드가 들어왔는데. 일반 노드라면.. 턴 정보를 제거한다.
if (CurrentNode.StationType != StationType.Buffer && PUB._virtualAGV.Turn != AGVTurn.None)
{
PUB.log.AddAT($"현재노드위치가 버퍼가 아니라서 턴정보를 초기화합니다{PUB._virtualAGV.Turn}");
PUB._virtualAGV.Turn = AGVTurn.None;
}
}
//태그를 읽었다면 상태를 바로 전송한다

7
HMI/Project/StateMachine/_Loop.cs
View File

@@ -172,8 +172,15 @@ namespace Project
if (PUB._mapCanvas != null)
{
this.Invoke(new Action(() => {
AutoLoadLastPosition();
PUB._mapCanvas.ExitSyncMode( AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run);
}));
}
}

13
HMI/Project/StateMachine/_SPS.cs
View File

@@ -49,8 +49,17 @@ namespace Project
{
if (VAR.BOOL[eVarBool.DISABLE_AUTOCONN_XBEE] == false)
{
ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, null);
if(PUB.XBE.senderrcnt>5)
{
ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE);
}
else
{
ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, null);
}
}
}

14
HMI/Project/StateMachine/_Xbee.cs
View File

@@ -210,8 +210,20 @@ namespace Project
return;
}
//노드가 들어왔는데. 일반 노드라면.. 턴 정보를 제거한다.
if (PUB._virtualAGV.CurrentNode != null &&
PUB._virtualAGV.CurrentNode.StationType != StationType.Buffer &&
PUB._virtualAGV.Turn != AGVTurn.None)
{
PUB.log.AddAT($"[{logPrefix}-Goto] 현재노드위치가 버퍼가 아니라서 턴정보를 초기화합니다{PUB._virtualAGV.Turn}");
PUB._virtualAGV.Turn = AGVTurn.None;
}
//s/w턴이 걸려있다면 이동 불가로한다.(버퍼 작업중이다)
if(PUB._virtualAGV.Turn != AGVTurn.None)
if (PUB._virtualAGV.Turn != AGVTurn.None)
{
SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Goto] 버퍼작업이 완료되지 않았습니다");
return;

92
HMI/Project/ViewForm/fAuto.Designer.cs generated
View File

@@ -32,63 +32,65 @@ namespace Project.ViewForm
/// </summary>
private void InitializeComponent()
{
components = new System.ComponentModel.Container();
timer1 = new System.Windows.Forms.Timer(components);
ctlAuto1 = new CtlAuto();
panel1 = new Panel();
SuspendLayout();
this.components = new System.ComponentModel.Container();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.ctlAuto1 = new Project.CtlAuto();
this.panel1 = new System.Windows.Forms.Panel();
this.SuspendLayout();
//
// timer1
//
timer1.Interval = 200;
this.timer1.Interval = 200;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// ctlAuto1
//
ctlAuto1.BackColor = Color.FromArgb(32, 32, 32);
ctlAuto1.BorderColor = Color.Transparent;
ctlAuto1.Font = new Font("맑은 고딕", 20F, FontStyle.Regular, GraphicsUnit.Point, 129);
ctlAuto1.Font_BMS_Level = new Font("Bahnschrift Condensed", 250F, FontStyle.Bold, GraphicsUnit.Point, 0);
ctlAuto1.Font_BMS_Volt = new Font("Bahnschrift Condensed", 50.25F, FontStyle.Bold);
ctlAuto1.Font_MAIN_BMSLevel = new Font("Arial Narrow", 150F, FontStyle.Bold);
ctlAuto1.ForeColor = Color.White;
ctlAuto1.ItemGap = 0;
ctlAuto1.Items = null;
ctlAuto1.Location = new Point(835, 338);
ctlAuto1.MinimumSize = new Size(100, 30);
ctlAuto1.Name = "ctlAuto1";
ctlAuto1.ProgressMax = 100F;
ctlAuto1.ProgressVal = 50F;
ctlAuto1.Scean = CtlAuto.eScean.Normal;
ctlAuto1.Size = new Size(179, 241);
ctlAuto1.StatusMessage = "상태메세지 입니다";
ctlAuto1.StopMessage = "";
ctlAuto1.StopTime = new DateTime(0L);
ctlAuto1.TabIndex = 20;
ctlAuto1.Text = "ctlAuto1";
this.ctlAuto1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(32)))), ((int)(((byte)(32)))), ((int)(((byte)(32)))));
this.ctlAuto1.BorderColor = System.Drawing.Color.Transparent;
this.ctlAuto1.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
this.ctlAuto1.Font_BMS_Level = new System.Drawing.Font("Bahnschrift Condensed", 250F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.ctlAuto1.Font_BMS_Volt = new System.Drawing.Font("Bahnschrift Condensed", 50.25F, System.Drawing.FontStyle.Bold);
this.ctlAuto1.Font_MAIN_BMSLevel = new System.Drawing.Font("Microsoft Sans Serif", 150F, System.Drawing.FontStyle.Bold);
this.ctlAuto1.ForeColor = System.Drawing.Color.White;
this.ctlAuto1.ItemGap = 0;
this.ctlAuto1.Items = null;
this.ctlAuto1.Location = new System.Drawing.Point(835, 338);
this.ctlAuto1.MinimumSize = new System.Drawing.Size(100, 30);
this.ctlAuto1.Name = "ctlAuto1";
this.ctlAuto1.ProgressMax = 100F;
this.ctlAuto1.ProgressVal = 50F;
this.ctlAuto1.Scean = Project.CtlAuto.eScean.Normal;
this.ctlAuto1.Size = new System.Drawing.Size(179, 241);
this.ctlAuto1.StatusMessage = "상태메세지 입니다";
this.ctlAuto1.StopMessage = "";
this.ctlAuto1.StopTime = new System.DateTime(((long)(0)));
this.ctlAuto1.TabIndex = 20;
this.ctlAuto1.Text = "ctlAuto1";
//
// panel1
//
panel1.Dock = DockStyle.Fill;
panel1.Font = new Font("Tahoma", 8F, FontStyle.Bold);
panel1.Location = new Point(0, 0);
panel1.Name = "panel1";
panel1.Size = new Size(1014, 579);
panel1.TabIndex = 21;
this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.panel1.Font = new System.Drawing.Font("Tahoma", 8F, System.Drawing.FontStyle.Bold);
this.panel1.Location = new System.Drawing.Point(0, 0);
this.panel1.Name = "panel1";
this.panel1.Size = new System.Drawing.Size(1014, 579);
this.panel1.TabIndex = 21;
//
// fAuto
//
AutoScaleMode = AutoScaleMode.None;
BackColor = Color.FromArgb(15, 15, 15);
ClientSize = new Size(1014, 579);
Controls.Add(panel1);
Controls.Add(ctlAuto1);
DoubleBuffered = true;
FormBorderStyle = FormBorderStyle.None;
Name = "fAuto";
Text = "fAuto";
Load += fAuto_Load;
VisibleChanged += fAuto_VisibleChanged;
ResumeLayout(false);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(15)))), ((int)(((byte)(15)))), ((int)(((byte)(15)))));
this.ClientSize = new System.Drawing.Size(1014, 579);
this.Controls.Add(this.panel1);
this.Controls.Add(this.ctlAuto1);
this.DoubleBuffered = true;
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
this.Name = "fAuto";
this.Text = "fAuto";
this.Load += new System.EventHandler(this.fAuto_Load_1);
this.VisibleChanged += new System.EventHandler(this.fAuto_VisibleChanged);
this.ResumeLayout(false);
}
#endregion

82
HMI/Project/ViewForm/fAuto.cs
View File

@@ -141,7 +141,7 @@ namespace Project.ViewForm
PUB.AGV.DataReceive += AGV_DataReceive;
this.timer1.Start();
}
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
{
@@ -194,34 +194,7 @@ namespace Project.ViewForm
private void timer1_Tick_1(object sender, EventArgs e)
{
//if (this.Visible == false) return;
//if (tmrun == true) return;
//tmrun = true;
//this.ctlAuto1.OnUpdateMode = true;
//if (this.ctlAuto1.Scean == CtlAuto.eScean.Progress)
//{
// ctlAuto1.ProgressVal = PUB.Result.SMSG_ProgressValue;
// ctlAuto1.ProgressMax = PUB.Result.SMSG_ProgressMax;
// ctlAuto1.StatusMessage = VAR.STR?.Get(eVarString.StatusMessage) ?? string.Empty;
//}
//this.ctlAuto1.StopMessage = string.Empty;
//if (PUB.sm.Step == StateMachine.eSMStep.RUN)
//{
// this.ctlAuto1.runStep = PUB.sm.RunStep;
//}
//else
//{
// this.ctlAuto1.runStep = ERunStep.READY;
//}
//this.ctlAuto1.OnUpdateMode = false;
//this.ctlAuto1.Invalidate();
//PUB.mapctl.PredictNextAction();
//tmrun = false;
}
private void HandleRunModeClick(MapNode targetNode)
@@ -267,5 +240,56 @@ namespace Project.ViewForm
return;
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (this.Visible == false) return;
if (tmrun == true) return;
if (PUB.sm.Step < eSMStep.IDLE) return;
if (PUB._mapCanvas == null) return;
tmrun = true;
var errmsg = string.Empty;
if(PUB.AGV.IsOpen==false)
{
errmsg = "AGV컨트롤러 연결실패";
}
else if(PUB.XBE.IsOpen==false )
{
errmsg = "XBEE 연결실패";
}
else if (PUB.XBE.senderrcnt > 5)
{
errmsg = "XBEE 통신불가";
}
else if(PUB.AGV.error.Value > 0)
{
errmsg = PUB.AGV.error.ToString();
}
else if(PUB.AGV.system1.stop_by_front_detect)
{
errmsg = "전방 물체감지로 인해 정지";
}
else if (PUB.BMS.IsOpen == false)
{
errmsg = "BMS 연결실패";
}
else if(VAR.BOOL[eVarBool.FLAG_AUTORUN]==false)
{
errmsg = "자동모드가 아닙니다";
}
PUB._mapCanvas.SetAlertMessage(errmsg);
tmrun = false;
}
private void fAuto_Load_1(object sender, EventArgs e)
{
this.timer1.Start();
}
}
}

106
HMI/Project/fMain.cs
View File

@@ -261,6 +261,57 @@ namespace Project
PUB.AddEEDB("프로그램 시작");
}
void AutoLoadLastPosition()
{
PUB.log.Add("autoload last position");
//마지막위치복원
// 마지막 위치 로드
var lastPos = PUB.LoadLastPosition();
if (lastPos != null)
{
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)
{
PUB._virtualAGV.SetPosition(prevNode, lastPos.PrevDirection);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, prevNode, lastPos.PrevDirection);
sb.AppendLine($"이전: {prevNode.ID2}, {lastPos.PrevDirection}");
}
if (curNode != null)
{
PUB._virtualAGV.SetPosition(curNode, lastPos.Direction);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, curNode, lastPos.Direction);
sb.AppendLine($"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($"위치복원\n{sb}");
}
else PUB.log.AddE($"마지막위치가 없습니다");
}
void AutoLoadMapData()
{
//auto load
@@ -279,11 +330,16 @@ namespace Project
if (files.Any()) filePath = files[0];
}
if(PUB._mapCanvas == null)
{
UTIL.MsgE("Canvas null");
}
if (filePath.Exists)
{
var result = MapLoader.LoadMapFromFile(filePath.FullName);
if (result.Success)
if (result != null && result.Success)
{
PUB._mapCanvas.SetMapLoadResult(result);
PUB._mapCanvas.MapFileName = filePath.FullName;
@@ -301,7 +357,7 @@ namespace Project
PUB.log.Add($"가상 AGV 생성: PointZero 위치");
}
else if (PUB._virtualAGV != null)
else
{
PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
// 기존 AGV가 있으면 캔버스에 다시 연결
@@ -310,50 +366,6 @@ namespace Project
}
PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
//마지막위치복원
// 마지막 위치 로드
var lastPos = PUB.LoadLastPosition();
if (lastPos != null)
{
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)
{
PUB._virtualAGV.SetPosition(prevNode, lastPos.PrevDirection);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, prevNode, lastPos.PrevDirection);
sb.AppendLine($"이전: {prevNode.ID2}, {lastPos.PrevDirection}");
}
if (curNode != null)
{
PUB._virtualAGV.SetPosition(curNode, lastPos.Direction);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, curNode, lastPos.Direction);
sb.AppendLine($"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
@@ -374,6 +386,8 @@ namespace Project
// }
// }
//}));
PUB._mapCanvas.SetView(287.6f, -147.6f, 1.13f);
}
else
{