chore: commit all remaining changes

HMI/Project/Device/Xbee.cs

@@ -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