216 lines
5.4 KiB
C#
216 lines
5.4 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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namespace arDev
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{
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public partial class Narumi
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{
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public enum eMoveDir
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{
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Forward,
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Backward,
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}
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public enum eMoveSpd
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{
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High,
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Middle,
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Low,
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}
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public enum eSetPIDSpeed
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{
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High,
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Middle,
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Low,
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Stop,
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}
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public enum eSetSpeed
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{
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High,
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Middle,
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Low,
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Stop,
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Rotation,
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}
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public enum eBunki
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{
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Right,
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Strate,
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Left,
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}
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public enum Messagetype
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{
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Normal,
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Error,
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Send,
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Recv,
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}
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public enum DataType
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{
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UNKNOWN,
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TAG,
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CALL,
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STS,
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ACK,
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NAK,
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CCA,
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}
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public class BunkiData
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{
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public BunkiData()
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{
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}
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public BunkiData(char dir, char bunki, char speed)
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{
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if (dir == 'F') Direction = eMoveDir.Forward;
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else if (dir == 'B') Direction = eMoveDir.Backward;
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if (bunki == 'S') Bunki = eBunki.Strate;
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else if (bunki == 'L') Bunki = eBunki.Left;
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else if (bunki == 'R') Bunki = eBunki.Right;
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if (speed == 'H') this.Speed = eMoveSpd.High;
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else if (speed == 'M') this.Speed = eMoveSpd.Middle;
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else if (speed == 'L') this.Speed = eMoveSpd.Low;
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}
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public eMoveDir Direction { get; set; } = eMoveDir.Forward;
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public eBunki Bunki { get; set; } = eBunki.Strate;
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public eMoveSpd Speed { get; set; } = eMoveSpd.Middle;
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public int PBSSensor { get; set; } = 1;
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public override string ToString()
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{
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System.Text.StringBuilder sb = new StringBuilder();
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sb.Append(Direction.ToString()[0]);
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sb.Append(Bunki.ToString()[0]);
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sb.Append(Speed.ToString()[0]);
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sb.Append(PBSSensor.ToString()[0]);
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return sb.ToString();
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}
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}
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public enum eAgvCmd
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{
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/// <summary>
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/// 충전시작
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/// CMD : CBT02{nBatteryNo}I0103
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/// </summary>
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ChargeOn,
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/// <summary>
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/// 충전취소
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/// CMD : CBT02{nBatteryNo}O0103
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/// </summary>
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ChargeOf,
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/// <summary>
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/// 이동명령(파라미터필요)
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/// 이동대상,속도(H,M,L),센서사용여부(1,0)
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/// ex) BSLTH0
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/// CMD : CRT{param}
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/// </summary>
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ManualMove,
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/// <summary>
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/// 기동명령
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/// CMD : CRN0000
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/// </summary>
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MoveStart,
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/// <summary>
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/// 분기명령
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/// CMD : CBR{param}
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/// </summary>
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MoveSet,
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/// <summary>
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/// 정지 명령
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/// CMD : CST0S000000
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/// </summary>
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MoveStop,
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/// <summary>
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/// 콜 취소,
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/// Param : 번호 char(1)
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/// CMD : CCL0{param}010000
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/// </summary>
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CallCancle,
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/// <summary>
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/// CMD : CTL0000
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/// </summary>
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GoTurnLeft,
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/// <summary>
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/// CMD : CTR0000
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/// </summary>
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GoTurnRight,
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/// <summary>
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/// CMD : CTB0000
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/// </summary>
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goTurnBack,
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/// <summary>
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/// CMD : CBZ
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/// </summary>
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TowerLamp,
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/// <summary>
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/// CMD : SFR
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/// </summary>
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ErrorReset,
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/// <summary>
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/// CMD : CLF
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/// </summary>
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LiftControl,
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/// <summary>
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/// SS(H/M/L/S)
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/// SRS
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/// </summary>
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SetSpeed,
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CPUReset,
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}
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public enum eForm
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{
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DriveControl,
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ManualControl,
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RouteSelect,
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Setting,
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ModeChange,
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}
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public enum eNotify
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{
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ReadTag,
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IpAddresschanged,
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NameChanged,
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ReadViewStep,
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ReadViewCall,
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WatchError,
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/// <summary>
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/// 통신에서받은 AGV의 상태값이며, 속도 진행 방향을 가지고 있음
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/// Dashboardform 하단에 상태 표시 함
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/// </summary>
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StatusDisplay,
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StatusComm,
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StatusRiv,
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StatusETC,
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ChangeMode,
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/// <summary>
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/// 편집대상경로는 아래 변수에 저장되어잇음
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/// datamanager.sEditrRoute
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/// </summary>
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EditRoute,
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}
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}
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}
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