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chi
2025-06-25 17:55:37 +09:00
parent ba18564719
commit f1aeeeba12
14 changed files with 1086 additions and 810 deletions
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311
Cs_HMI/Project/StateMachine/_AGV.cs
View File

@@ -39,178 +39,189 @@ namespace Project
bool _charging = false;
private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
{
if (PUB.mapctl != null)
PUB.mapctl.PredictNextAction();
switch (e.DataType)
try
{
case arDev.Narumi.DataType.STS:
{
//마크센서 확인
var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
//if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
// PUB.AGV.signal.mark_sensor = PUB.AGV.signal.mark_sensor;
VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Backward;
else
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Forward;
if (PUB.AGV.signal.mark_sensor == false)
if (PUB.mapctl != null)
PUB.mapctl.PredictNextAction();
switch (e.DataType)
{
case arDev.Narumi.DataType.STS:
{
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
//마크센서 확인
var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
//if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
// PUB.AGV.signal.mark_sensor = PUB.AGV.signal.mark_sensor;
VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Backward;
else
PUB.mapctl.agv.CurrentMOTDirection = AGVControl.Models.Direction.Forward;
PUB.mapctl.agv.IsMoving = PUB.AGV.system1.agv_run;
PUB.mapctl.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
if (PUB.AGV.signal.mark_sensor == false)
{
VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
PUB.log.Add($"마크센서off를 설정");
}
}
else
{
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
{
VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
PUB.log.Add($"마크센서off를 해제");
}
}
//차징상태변경
if (_charging != PUB.AGV.system1.Battery_charging)
{
if (PUB.AGV.system1.Battery_charging)
{
VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
}
_charging = PUB.AGV.system1.Battery_charging;
}
//배터리충전상태
if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
{
PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
}
//자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
{
if (PUB.AGV.error.Charger_pos_error)
{
PUB.Speak(Lang.충전기위치오류);
}
VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
}
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
{
//현재 활성화된 위치를 꺼준다
if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
{
var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
if (ts.TotalSeconds >= 2)
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
{
ctlPos1.SetPositionDeActive();
PUB.log.Add($"현재 활성위치를 해제 함");
VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
PUB.log.Add($"마크센서off를 설정");
}
}
else
{
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
{
VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
PUB.log.Add($"마크센서off를 해제");
}
}
}
//나르미가 멈췄다면 다음 마크 이동 기능이 OFF 된다
if (PUB.AGV.system1.agv_stop)
VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
{
if (PUB.AGV.signal.mark_sensor)
//차징상태변경
if (_charging != PUB.AGV.system1.Battery_charging)
{
//현재위치를 확정한다
var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
if (curact == false)
if (PUB.AGV.system1.Battery_charging)
{
PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
ctlPos1.SetDirection("");
ctlPos1.Invalidate();
VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
}
_charging = PUB.AGV.system1.Battery_charging;
}
VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
}
}
break;
case arDev.Narumi.DataType.TAG:
{
//자동 실행 중이다.
PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo}");
PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
//POT/NOT 보면 일단 바로 멈추게한다
if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
//배터리충전상태
if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
{
PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
}
//자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
{
if (PUB.AGV.error.Charger_pos_error)
{
PUB.Speak(Lang.충전기위치오류);
}
VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
}
if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
{
//현재 활성화된 위치를 꺼준다
if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
{
var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
if (ts.TotalSeconds >= 2)
{
ctlPos1.SetPositionDeActive();
PUB.log.Add($"현재 활성위치를 해제 함");
}
}
}
//나르미가 멈췄다면 다음 마크 이동 기능이 OFF 된다
if (PUB.AGV.system1.agv_stop)
VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
{
if (PUB.AGV.signal.mark_sensor)
{
//현재위치를 확정한다
var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
if (curact == false)
{
PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
ctlPos1.SetDirection("");
ctlPos1.Invalidate();
}
}
VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
}
}
break;
case arDev.Narumi.DataType.TAG:
{
var logEMsg = $"Stop by [POT/NOT]";
PUB.AGV.AGVMoveStop(logEMsg);
PUB.log.AddE(logEMsg);
}
//자동 실행 중이다.
PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo}");
PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
//맵데이터에서 현재 위치를 찾는다
if (PUB.mapctl.SetCurrentPosition(PUB.AGV.data.TagNo) == false)
{
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] && PUB.AGV.system1.agv_run)
PUB.AGV.AGVMoveStop("unknown tag no");
//POT/NOT 보면 일단 바로 멈추게한다
if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
{
var logEMsg = $"Stop by [POT/NOT]";
PUB.AGV.AGVMoveStop(logEMsg);
PUB.log.AddE(logEMsg);
}
//존재하지 않는 태그가 읽히면 관련 오류를 표시한다.
}
else
{
//위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
//맵데이터에서 현재 위치를 찾는다
if (PUB.mapctl.SetCurrentPosition(PUB.AGV.data.TagNo) == false)
{
if (VAR.BOOL[eVarBool.FLAG_AUTORUN] && PUB.AGV.system1.agv_run)
PUB.AGV.AGVMoveStop("unknown tag no");
//존재하지 않는 태그가 읽히면 관련 오류를 표시한다.
}
else
{
//위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
}
////자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
//if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
// PUB.Result.CurrentPos == PUB.Result.TargetPos &&
// PUB.Result.TargetPos != ePosition.NONE &&
// (PUB.sm.RunStep == ERunStep.GODOWN ||
// PUB.sm.RunStep == ERunStep.GOUP ||
// PUB.sm.RunStep == ERunStep.GOHOME ||
// PUB.sm.RunStep == ERunStep.GOCHARGE))
//{
// if (PUB.AGV.data.Sts == 'F' && dirForward == "0") //아래로 내려오고있음
// {
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak( Lang.다음마크위치에서정지합니다);
// }
// else if (PUB.AGV.data.Sts == 'B' && dirForward == "1")
// {
// //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = true;
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak(Lang.다음마크위치에서정지합니다);
// }
//}
}
break;
case arDev.Narumi.DataType.ACK:
PUB.logagv.Add($"AGV_[ACK]Receive : {PUB.AGV.ACKData}");
break;
default:
PUB.logagv.Add($"AGV_DataReceive : {e.DataType}");
break;
////자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
//if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
// PUB.Result.CurrentPos == PUB.Result.TargetPos &&
// PUB.Result.TargetPos != ePosition.NONE &&
// (PUB.sm.RunStep == ERunStep.GODOWN ||
// PUB.sm.RunStep == ERunStep.GOUP ||
// PUB.sm.RunStep == ERunStep.GOHOME ||
// PUB.sm.RunStep == ERunStep.GOCHARGE))
//{
// if (PUB.AGV.data.Sts == 'F' && dirForward == "0") //아래로 내려오고있음
// {
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak( Lang.다음마크위치에서정지합니다);
// }
// else if (PUB.AGV.data.Sts == 'B' && dirForward == "1")
// {
// //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = true;
// PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
// PUB.Speak(Lang.다음마크위치에서정지합니다);
// }
//}
}
break;
case arDev.Narumi.DataType.ACK:
PUB.logagv.Add($"AGV_[ACK]Receive : {PUB.AGV.ACKData}");
break;
default:
PUB.logagv.Add($"AGV_DataReceive : {e.DataType}");
break;
}
}
catch (Exception ex)
{
Console.WriteLine($"[AGV_DataReceive] {ex.Message}");
}
}
}

21
Cs_HMI/Project/StateMachine/_SPS.cs
View File

@@ -4,6 +4,7 @@ using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Media.Animation;
using AR;
using arCtl;
using COMM;
@@ -113,9 +114,29 @@ namespace Project
var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
if (ts.TotalSeconds > 3)
{
Console.WriteLine($"bms connect to {PUB.setting.Port_BAT}");
PUB.BMS.PortName = PUB.setting.Port_BAT;
PUB.BMS.Open();
PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
PUB.BMS.Message += Bms_Message;
PUB.BMS.ChargeDetect += BMS_ChargeDetect;
VAR.TIME.Update(eVarTime.LastConn_BAT);
VAR.TIME.Update(eVarTime.LastConnTry_BAT);
}
}
else if (PUB.BMS.IsValid == false)
{
var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
if (ts.TotalSeconds > 10)
{
Console.WriteLine("bms auto disconnect");
PUB.BMS.BMSDataReceive -= Bms_BMSDataReceive;
PUB.BMS.Message -= Bms_Message;
PUB.BMS.ChargeDetect -= BMS_ChargeDetect;
PUB.BMS.Close();
VAR.TIME.Set(eVarTime.LastConn_BAT,DateTime.Now.AddSeconds(5));
}
}
//ConnectSerialPort(PUB.BMS, PUB.setting.Port_BAT, PUB.setting.Baud_BAT,

13
Cs_HMI/Project/StateMachine/_Xbee.cs
View File

@@ -35,7 +35,7 @@ namespace Project
var targID = dataStr.Substring(0, 2);
var targstr = dataStr.Substring(2);
if(byte.TryParse(targID,out byte tID))
if (byte.TryParse(targID, out byte tID))
{
if (PUB.setting.XBE_ID == tID)
{
@@ -61,13 +61,10 @@ namespace Project
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);
if (pathRlt.Success == true)
{
PUB.log.AddI($"New Target:{tagno2}");
}
else PUB.log.AddE($"Path Error {pathRlt.Message} : {tagno2}");
if (PUB.mapctl.SetTargetPosition(tagno2))
PUB.log.AddI($"New Target {tagno2}");
else
PUB.log.AddE($"Path Error {tagno2}");
}
else PUB.log.AddE($"Path Param Error :{dataStr}");
break;

935
Cs_HMI/SubProject/AGVControl/MapControl.cs
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File diff suppressed because it is too large Load Diff

61
Cs_HMI/SubProject/AGVControl/Models/AGV.cs
View File

@@ -3,6 +3,7 @@ using System.Drawing;
using System.Collections.Generic;
using System.Linq;
using System.Security.Permissions;
using System.Windows.Forms;
namespace AGVControl.Models
{
@@ -13,23 +14,23 @@ namespace AGVControl.Models
Stop = 2
}
public class CRFIDData
{
public UInt16 rfid { get; set; }
public Point Position { get; set; }
public override string ToString()
{
return $"RFID:{rfid},P:{Position.X},{Position.Y}";
}
}
//public class CRFIDData
//{
// public UInt16 Value { get; set; }
// public Point Location { get; set; }
// public override string ToString()
// {
// return $"RFID:{Value},P:{Location.X},{Location.Y}";
// }
//}
public class movehistorydata : CRFIDData
public class movehistorydata : RFIDPoint
{
public Direction direction { get; set; }
public Direction Direction { get; set; }
public override string ToString()
{
return $"RFID:{rfid},DIR:{direction},P:{Position.X},{Position.Y}";
return $"RFID:{Value},DIR:{Direction},P:{Location.X},{Location.Y}";
}
}
@@ -78,24 +79,32 @@ namespace AGVControl.Models
/// </summary>
public Direction TargetDirection { get; set; } = Direction.Stop;
public bool IsMoving { get; set; }
public bool IsMarkCheck { get; set; }
public bool IsTargetDirectionMatch { get; set; }
/// <summary>
/// 메인경로
/// 경로검색으로 입력된 경로
/// </summary>
public List<RFIDPoint> CurrentPath { get; set; } = new List<RFIDPoint>();
public List<RFIDPoint> MainPath { get; set; } = new List<RFIDPoint>();
/// <summary>
/// 메인경로외에 거쳐가는 중간 경로
/// </summary>
public List<RFIDPoint> SubPath { get; set; }
public List<Point> PlannedPath { get; set; }
public List<string> PathRFIDs { get; set; }
// 이동 경로 기록을 위한 새로운 속성들
public List<movehistorydata> MovementHistory { get; } = new List<movehistorydata>();
public const int HISTORY_SIZE = 4; // 최근 4개 위치 기록
public const int HISTORY_SIZE = 10; // 최근 4개 위치 기록
public AGV()
{
CurrentPath = new List<RFIDPoint>();
PlannedPath = new List<Point>();
MainPath = new List<RFIDPoint>();
SubPath = new List<RFIDPoint>();
PathRFIDs = new List<string>();
CurrentRFID = new RFIDPoint();
@@ -110,10 +119,10 @@ namespace AGVControl.Models
public void AddToMovementHistory(UInt16 rfidValue, Point position, Direction direction)
{
// 중복 RFID가 연속으로 들어오는 경우 무시
if (MovementHistory.Count > 0 && MovementHistory.Last().rfid == rfidValue)
if (MovementHistory.Count > 0 && MovementHistory.Last().Value == rfidValue)
return;
MovementHistory.Add(new movehistorydata { rfid = rfidValue, direction = direction, Position = position });
MovementHistory.Add(new movehistorydata { Value = rfidValue, Direction = direction, Location = position });
// 기록 크기 제한
if (MovementHistory.Count > HISTORY_SIZE)
@@ -122,7 +131,7 @@ namespace AGVControl.Models
}
//최초방향과 마지막 방향이 일치하지 않으면 그 이전의 데이터는 삭제한다.
if (MovementHistory.Count > 2 && MovementHistory.First().direction != MovementHistory.Last().direction)
if (MovementHistory.Count > 2 && MovementHistory.First().Direction != MovementHistory.Last().Direction)
{
var lastTwo = MovementHistory.Skip(MovementHistory.Count - 2).Take(2).ToArray(); // [9, 10]
MovementHistory.Clear();
@@ -138,14 +147,14 @@ namespace AGVControl.Models
// 이전 RFID에서 현재 RFID로의 연결 확인
var connection = connections.FirstOrDefault(c =>
(c.StartRFID == previousRFID && c.EndRFID == currentRFID) ||
(c.IsBidirectional && c.StartRFID == currentRFID && c.EndRFID == previousRFID));
(c.P1.Value == previousRFID && c.P2.Value == currentRFID) ||
(c.P1.Value == currentRFID && c.P2.Value == previousRFID));
if (connection == null)
return null; // 연결되지 않은 경로
// 연결 방향에 따라 실제 이동 방향 결정
if (connection.StartRFID == previousRFID && connection.EndRFID == currentRFID)
if (connection.P1.Value == previousRFID && connection.P2.Value == currentRFID)
{
return Direction.Forward; // Start -> End 방향으로 이동
}
@@ -169,7 +178,7 @@ namespace AGVControl.Models
var previousRFID = recentRFIDs[0];
var currentRFID = recentRFIDs[1];
var actualDirection = CalculateActualDirectionByConnection(currentRFID.rfid, previousRFID.rfid, connections);
var actualDirection = CalculateActualDirectionByConnection(currentRFID.Value, previousRFID.Value, connections);
if (!actualDirection.HasValue)
return true; // 연결 정보로 방향 판단 불가
@@ -201,11 +210,11 @@ namespace AGVControl.Models
var currentRFID = recentRFIDs[1];
// RFID 값의 증가/감소로 방향 판단
if (currentRFID.rfid > prevRFID.rfid)
if (currentRFID.Value > prevRFID.Value)
{
return Direction.Forward; // RFID 값이 증가하면 전진
}
else if (currentRFID.rfid < prevRFID.rfid)
else if (currentRFID.Value < prevRFID.Value)
{
return Direction.Backward; // RFID 값이 감소하면 후진
}

14
Cs_HMI/SubProject/AGVControl/Models/AGVActionPrediction.cs Normal file
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@@ -0,0 +1,14 @@
using AGVControl.Models;
namespace AGVControl
{
public class AGVActionPrediction
{
public Direction Direction { get; set; }
public uint? NextRFID { get; set; }
public string Reason { get; set; }
public AGVActionReasonCode ReasonCode { get; set; }
public AGVMoveState MoveState { get; set; } // RUN 또는 STOP
}
}

23
Cs_HMI/SubProject/AGVControl/Models/PathResult.cs Normal file
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@@ -0,0 +1,23 @@
using AGVControl.Models;
using System.Collections.Generic;
using System.Linq;
namespace AGVControl
{
public class PathResult
{
public bool Success
{
get
{
return Path != null && Path.Any();
}
}
public string Message { get; set; }
public List<RFIDPoint> Path { get; set; }
}
}

33
Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs Normal file
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@@ -0,0 +1,33 @@
using AGVControl.Models;
namespace AGVControl
{
public class RFIDConnection
{
public RFIDPoint P1 { get; set; }
public RFIDPoint P2 { get; set; }
public bool DisableP1_to_P2 { get; set; }
public bool DisableP2_to_P1 { get; set; }
public float Distance { get; set; }
public override bool Equals(object obj)
{
if (obj is RFIDConnection other)
{
return (P1 == other.P1 && P2 == other.P2);
}
return false;
}
public override int GetHashCode()
{
return P1.GetHashCode() ^ P2.GetHashCode();
}
public override string ToString()
{
//연결정보를 확인
return $"{P1.Value} ↔ {P2.Value},P1-2:{(DisableP1_to_P2 ? "X" : "O")},P2-1:{(DisableP2_to_P1 ? "X" : "O")}";
}
}
}

6
Cs_HMI/SubProject/AGVControl/Models/RFIDPoint.cs
View File

@@ -13,7 +13,6 @@ namespace AGVControl.Models
public Direction? FixedDirection { get; set; } // 고정 방향(없으면 null)
public bool IsTerminal { get; set; } // 종단 여부
public RectangleF Bounds { get; set; }
public void Clear()
{
this.Location = Point.Empty;
@@ -38,5 +37,10 @@ namespace AGVControl.Models
IsTerminal = false; // 기본값은 종단 아님
Clear();
}
public override string ToString()
{
return $"[RFIDPoint] {Value},P:{Location.X},{Location.Y}";
}
}
}

30
Cs_HMI/SubProject/AGVControl/Models/enumStruct.cs Normal file
View File

@@ -0,0 +1,30 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
public enum AGVMoveState
{
Stop = 0,
Run
}
public enum AGVActionReasonCode
{
Unknown = 0,
NoPosition, // 위치 미확정(처음 기동)
NoPath, // 경로 없음 또는 현재 위치 미확정
NotOnPath, // 현재 위치가 경로에 없음
Arrived, // 경로의 마지막 지점(목적지 도달)
Normal, // 정상(다음 RFID 있음)
NeedTurn,
NoTurnPoint,
PathCalcError,
NoDirection,
MoveForTurn,
}
}

12
Cs_HMI/SubProject/AGVControl/agvControl.csproj
View File

@@ -45,6 +45,7 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Models\AGVActionPrediction.cs" />
<Compile Include="BatteryLevelGauge.cs">
<SubType>Component</SubType>
</Compile>
@@ -57,16 +58,20 @@
<Compile Include="GuideSensor.Designer.cs">
<DependentUpon>GuideSensor.cs</DependentUpon>
</Compile>
<Compile Include="MapControl.cs" />
<Compile Include="MapControl.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="MapControl.Designer.cs">
<DependentUpon>MapControl.cs</DependentUpon>
</Compile>
<Compile Include="Models\AGV.cs" />
<Compile Include="Models\CustomLine.cs" />
<Compile Include="Models\enumStruct.cs" />
<Compile Include="Models\MagnetLine.cs" />
<Compile Include="Models\MapData.cs" />
<Compile Include="Models\MapElements.cs" />
<Compile Include="Models\MapText.cs" />
<Compile Include="Models\PathResult.cs" />
<Compile Include="Models\RFIDLine.cs" />
<Compile Include="Models\RFIDPoint.cs" />
<Compile Include="Models\ToolBarItem.cs" />
@@ -82,6 +87,7 @@
<DesignTime>True</DesignTime>
<DependentUpon>Resources.resx</DependentUpon>
</Compile>
<Compile Include="Models\RFIDConnection.cs" />
<Compile Include="RoundButton.cs">
<SubType>Component</SubType>
</Compile>
@@ -105,6 +111,10 @@
</EmbeddedResource>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\CommData\CommData.csproj">
<Project>{14e8c9a5-013e-49ba-b435-efefc77dd623}</Project>
<Name>CommData</Name>
</ProjectReference>
<ProjectReference Include="..\CommUtil\arCommUtil.csproj">
<Project>{14e8c9a5-013e-49ba-b435-ffffff7dd623}</Project>
<Name>arCommUtil</Name>

2
Cs_HMI/SubProject/CommData/Enum.cs
View File

@@ -112,6 +112,8 @@ namespace COMM
/// 충전시작명령을 전송했다
/// </summary>
WAIT_CHARGEACK,
MARKSTOP_ON,
//agv area start ( 64 ~ 95)