using System; using System.Collections.Generic; using System.Data; using System.Drawing; using System.Linq; using System.Text; using arCtl; using Project.StateMachine; using COMM; using AR; namespace Project { public partial class fMain { private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e) { if (e.MsgType == arDev.arRS232.MessageType.Normal) PUB.logagv.AddE(e.Message); else if (e.MsgType == arDev.arRS232.MessageType.Normal) PUB.logagv.Add(e.Message); else if (e.MsgType == arDev.arRS232.MessageType.Recv) { if (e.Message.Substring(1).StartsWith("STS") == false) PUB.logagv.Add("AGV-RX", e.Message); } else if (e.MsgType == arDev.arRS232.MessageType.Send) PUB.logagv.Add("AGV-TX", e.Message); else { PUB.logagv.Add(e.MsgType.ToString(), e.Message); } } bool _charging = false; private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e) { try { //데이터 파싱 switch (e.DataType) { 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'; 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.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward; //else // PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward; ////현재 속도 //if (PUB.AGV.data.Speed == 'H') // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High; //else if (PUB.AGV.data.Speed == 'M') // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle; //else if (PUB.AGV.data.Speed == 'L') // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low; //else if (PUB.AGV.data.Speed == 'S') // PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop; ////이동방향 //if (PUB.AGV.data.Sts == 'S') // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight; //else if (PUB.AGV.data.Sts == 'L') // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left; //else if (PUB.AGV.data.Sts == 'R') // PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right; //PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run; //PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check; if (PUB.AGV.signal.mark_sensor == false) { if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == 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) { 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: { //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) { var logEMsg = $"Stop by [POT/NOT]"; PUB.AGV.AGVMoveStop(logEMsg); PUB.log.AddE(logEMsg); } //virtual agv setting var CurrentNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase)); if (CurrentNode == null) { PUB.log.AddE($"RFID:{PUB.Result.LastTAG} 의 노드를 찾을 수 없습니다"); return; } //모터방향 확인해서 UI와 AGV클래스에 적용한다 var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward; PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton); PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, CurrentNode, MotDireciton); } 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; } //이 후 상황을 예측한다 var command = PUB._virtualAGV.Predict(); var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}"; } catch (Exception ex) { Console.WriteLine($"[AGV_DataReceive] {ex.Message}"); } } } }