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chi
2025-04-24 11:51:55 +09:00
parent 0a93a54a6f
commit f71b963851
62 changed files with 1748 additions and 4105 deletions
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27
Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
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@@ -5,6 +5,7 @@ using System.Linq;
using System.Text;
using static Project.StateMachine;
using COMM;
using AR;
namespace Project
{
@@ -15,6 +16,7 @@ namespace Project
DateTime LastCommandTime = DateTime.Now;
DateTime LastCommandTimeNextStop = DateTime.Now;
bool runStepisFirst = false;
private void _SM_RUN(Boolean isFirst, TimeSpan stepTime)
{
//중단기능이 동작이라면 처리하지 않는다.
@@ -62,9 +64,9 @@ namespace Project
if (isFirst)
{
if (PUB.sm.RunStep == ERunStep.READY)
VAR.TIME.Set(eVarTime.ReadyStart);
VAR.TIME.Update(eVarTime.ReadyStart);
else
VAR.TIME.Set(eVarTime.RunStart);
VAR.TIME.Update(eVarTime.RunStart);
}
switch (PUB.sm.RunStep)
@@ -95,7 +97,7 @@ namespace Project
case ERunStep.CHARGECHECK: //충전중
if (runStepisFirst)
{
VAR.TIME.Set(eVarTime.ChargeStart);
VAR.TIME.Update(eVarTime.ChargeStart);
LastCommandTime = DateTime.Now;
}
else if (_SM_RUN_GOCHARGECHECK(runStepisFirst, PUB.sm.GetRunSteptime))
@@ -109,7 +111,7 @@ namespace Project
case ERunStep.CHARGEOFF:
if (runStepisFirst)
{
VAR.TIME.Set(eVarTime.ChargeEnd);
VAR.TIME.Update(eVarTime.ChargeEnd);
LastCommandTime = DateTime.Now;
}
else
@@ -160,8 +162,8 @@ namespace Project
if (_SM_RUN_GODOWN(runStepisFirst, PUB.sm.GetRunSteptime))
{
PUB.Speak(Lang.하차작업이완료되었습니다);
VAR.TIME.Set(eVarTime.ChargeTry);
PUB.PLC.ZMot(arDev.FakePLC.ZMotDirection.Down);// (Device.PLC.ZMotDirection.Down); //하차작업이 완료되면 커버를 내려서 바로 작업할 수 있게 한다.
VAR.TIME.Update(eVarTime.ChargeTry);
PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);// (Device.PLC.ZMotDirection.Down); //하차작업이 완료되면 커버를 내려서 바로 작업할 수 있게 한다.
//230601
//if (PUB.Result != null && PUB.sm != null)
@@ -200,7 +202,7 @@ namespace Project
// EEMStatus.AddEEDBSQL(PUB.sm.Step, PUB.sm.RunStep.ToString(), PUB.Result.TargetPos.ToString());
PUB.Speak(Lang.홈이동완료대기상태로전환합니다);
VAR.TIME.Set(eVarTime.ChargeTry);
VAR.TIME.Update(eVarTime.ChargeTry);
PUB.sm.SetNewRunStep(ERunStep.READY); //대기상태로 전환한다
return;
}
@@ -213,6 +215,7 @@ namespace Project
return true;
}
void CheckAGVMoveTo(eGoDir dir)
{
//계속내려간다
@@ -233,15 +236,12 @@ namespace Project
{
PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
}
//이동해야하는데 마크 스탑이 되어있다면 일단 멈춘다
}
else
{
//움직이지 않으므로 전진하도록 한다
PUB.log.Add($"AGV 기동 방향(DOWN):{dir}");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);//PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition(" + sender + ")");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
}
LastCommandTime = DateTime.Now;
}
@@ -266,8 +266,7 @@ namespace Project
else
{
PUB.log.Add($"AGV 기동 방향(UP):{dir}");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition(" + sender + ")");
PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
}
LastCommandTime = DateTime.Now;
}
@@ -546,5 +545,7 @@ namespace Project
return false;
}
}//cvass
}