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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;