110 lines
3.6 KiB
C#
110 lines
3.6 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using COMM;
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namespace Project.ViewForm
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{
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public partial class fAgv : Form
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{
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public fAgv()
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{
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InitializeComponent();
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this.FormClosed += FIO_FormClosed;
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}
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private void fFlag_Load(object sender, EventArgs e)
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{
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this.timer1.Start();
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}
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private void FIO_FormClosed(object sender, FormClosedEventArgs e)
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{
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this.timer1.Stop();
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}
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bool tmrun = false;
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private void timer1_Tick(object sender, EventArgs e)
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{
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timer1.Stop();
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label1.Text = PUB.AGV.LastSTS;
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richTextBox1.Text = PUB.AGV.system0.ToString();
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richTextBox2.Text = PUB.AGV.system1.ToString();
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richTextBox3.Text = PUB.AGV.signal.ToString() + "\n" + PUB.AGV.data.ToString();
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richTextBox4.Text = PUB.AGV.error.ToString();
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timer1.Start();
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}
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private void fAgv_VisibleChanged(object sender, EventArgs e)
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{
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this.timer1.Enabled = this.Visible;
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if (timer1.Enabled) timer1.Start();
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else timer1.Stop();
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}
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private void button1_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVErrorReset();
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if(PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button2_Click(object sender, EventArgs e)
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{
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PUB.log.Add($"사용자 충전 명령 전송 : {PUB.setting.ChargerID}");
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PUB.AGV.AGVCharge(PUB.setting.ChargerID, true);
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button3_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button4_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVMoveStop("userbutton page:fagv button:button4");
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button5_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVMoveStop("user button clic fagv",arDev.Narumi.eStopOpt.MarkStop);
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button7_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.FS, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button6_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.BS, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
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if (PUB.sm.Step == StateMachine.eSMStep.RUN)
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PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
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}
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private void button8_Click(object sender, EventArgs e)
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{
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PUB.AGV.AGVMoveRun();
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}
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}
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}
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