ENIG/HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using Project.StateMachine;
using COMM;
using AR;

namespace Project
{
    public partial class fMain
    {
        /// <summary>
        /// 장비엣 빠젼나온다.
        /// </summary>
        public Boolean _SM_RUN_EXIT(bool isFirst, TimeSpan seqTime)
        {
            var idx = 1;
            var funcname = PUB.sm.RunStep.ToString();

            //충전 상태가 OFF되어야 동작하게한다
            if (_SM_RUN_CHARGE_GOFF(isFirst, seqTime) == false) return false;

            //라이더멈춤이 설정되어있다면 음성으로 알려준다
            if (CheckLiderStop() == false) return false;

            if (PUB.sm.RunStepSeq == idx++)
            {
                PUB.log.Add("OUT작업-시작");
                PUB.Speak("작업을 시작합니다");
                PUB.AGV.AGVMoveStop(funcname);
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //작업형태에 따라서. 리프트를 제어한다.
                var liftCmd = arDev.Narumi.LiftCommand.DN;
                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;

                PUB.AGV.LiftControl(liftCmd);
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                var liftCmd = arDev.Narumi.LiftCommand.DN;
                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;

                //리프트 센서 확인 
                var liftdnok = (PUB.AGV.signal1.lift_down == true && PUB.AGV.signal1.lift_up == false);
                var liiftupok = (PUB.AGV.signal1.lift_up == true && PUB.AGV.signal1.lift_down == false);

                if (liftCmd == arDev.Narumi.LiftCommand.DN && liftdnok)
                {
                    //정상조건
                }
                else if (liftCmd == arDev.Narumi.LiftCommand.UP && liftdnok)
                {
                    //정상조건
                }
                else
                {
                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
                    if (ts.TotalSeconds > 10)
                    {
                        SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}] 리프트({liftCmd})이 확인되지 않습니다");
                    }
                    return false;
                }

                PUB.log.Add("리프트 동작 확인 완료");
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //빈 상태로 아웃해야한다.
                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                {
                    Bunki = arDev.Narumi.eBunki.Strate,
                    Direction = arDev.Narumi.eMoveDir.Forward,
                    PBSSensor = 0,
                    Speed = arDev.Narumi.eMoveSpd.Low,
                });
                //명령이 실패되었다면 재시도를 한다
                if (ret != arDev.eNarumiCommandResult.Success)
                {
                    if (ret >= arDev.eNarumiCommandResult.Error)
                    {
                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_SPEED_SET_FAIL);
                    }
                    return false;
                }

                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //전진이동
                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //AGV구동을 확인하고 마크스탑을 설정한다.
                if (PUB.AGV.system1.agv_run == false)
                {
                    if (seqTime.TotalMilliseconds > 1000)
                    {
                        //구동이확인되지 않으면 오류처리를 한다.
                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
                    }
                    return false;
                }
                //마크스탑설정
                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //마크스탑신호가 3초이내로 들어와야 한다
                if (PUB.AGV.data.Speed != 'S')
                {
                    if (seqTime.TotalMilliseconds > 3000)
                    {
                        SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
                    }
                    return false;
                }
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //AGV가 멈출때까지 기다린다.
                if (PUB.AGV.system1.agv_run == true)
                {
                    if (seqTime.TotalSeconds > 10)
                    {
                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_STOP_FAIL);
                    }
                    return false;
                }
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //마크센서입력을 확인한다.
                if (PUB.AGV.signal1.mark_sensor == false)
                {
                    if (seqTime.TotalSeconds > 5)
                    {
                        SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL);
                    }
                    return false;
                }
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //완료되었다.
                PUB.log.Add("진출 완료");
                PUB.sm.UpdateRunStepSeq();
                return false;
            }

            return true;
        }
    }
}