415 lines
15 KiB
C#
415 lines
15 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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using System.ComponentModel;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Collections;
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using COMM;
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using System.Security.Cryptography.X509Certificates;
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using AR;
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namespace arDev
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{
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public enum eNarumiTurn
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{
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None = 0,
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LeftIng,
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Left,
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RightIng,
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Right,
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}
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public class NarumiTurnInfo
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{
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public DateTime Start { get; set; }
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public DateTime End { get; set; }
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public TimeSpan Runtime
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{
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get
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{
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if (End.Year < 2000) return DateTime.Now - Start;
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if (End < Start) return DateTime.Now - Start;
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else return End - Start;
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}
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}
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public eNarumiTurn State { get; set; }
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public NarumiTurnInfo()
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{
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Start = new DateTime(1982, 11, 23);
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End = new DateTime(1982, 11, 23);
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State = eNarumiTurn.None;
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}
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}
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public class NarumiCommandTime
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{
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public DateTime Time { get; set; }
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public ushort count { get; set; }
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public NarumiCommandTime(ushort cnt)
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{
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Time = DateTime.Now;
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this.count = cnt;
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}
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}
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/// <summary>
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/// error 이상은모두 처리불가한 오류 조건을 의미한다
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/// </summary>
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public enum eNarumiCommandResult : byte
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{
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Fail = 0,
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Success = 1,
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Wait = 2,
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Error = 100,
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Timeout,
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}
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public partial class Narumi
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{
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public NarumiTurnInfo TurnInformation { get; set; } = null;
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Dictionary<string, NarumiCommandTime> SendCommandFailList { get; set; } = new Dictionary<string, NarumiCommandTime>();
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public eNarumiCommandResult AGVMoveSet(BunkiData opt)
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{
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var param = opt.ToString();
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return AddCommand(eAgvCmd.MoveSet, param);
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}
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public eNarumiCommandResult AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
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{
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var param = opt.ToString() + spd.ToString()[0] + ((int)ss).ToString();
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return AddCommand(eAgvCmd.ManualMove, param);
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}
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public eNarumiCommandResult AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
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{
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System.Text.StringBuilder sb = new StringBuilder();
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if (opt == eRunOpt.Backward) sb.Append("B");
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else if (opt == eRunOpt.Forward) sb.Append("F");
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else sb.Append("0");
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sb.Append("000");
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return AddCommand(eAgvCmd.MoveStart, sb.ToString());
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}
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public eNarumiCommandResult AGVSetSpeed(eSetSpeed item, int speed)
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{
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string cmd = "SS";
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if (item == eSetSpeed.Rotation) cmd = "SRS";
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else cmd += item.ToString()[0];
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cmd += speed.ToString("0000");
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return AddCommand(cmd);
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}
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public eNarumiCommandResult AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
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{
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System.Text.StringBuilder sb = new StringBuilder();
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if (opt == eStopOpt.MarkStop) sb.Append("MS");
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else if (opt == eStopOpt.MarkRotateLeft) sb.Append("TL");
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else if (opt == eStopOpt.MarkRotateRight) sb.Append("TR");
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else if (opt == eStopOpt.MarkChangeDirection) sb.Append("BS");
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else sb.Append("0S");
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sb.Append("00");
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sb.Append("0000"); //재기동시간
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//동작중이면 이 멈춤 명령을 기록으로 남긴다 230116
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if (this.system1.agv_run)
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RaiseMessage(MessageType.Normal, $"stop command from {Reason}");
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var retval = AddCommand(eAgvCmd.MoveStop, sb.ToString());
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if (retval == eNarumiCommandResult.Success && opt == eStopOpt.MarkStop)
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VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
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return retval;
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}
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public eNarumiCommandResult AGVCommand(string cmd, string data)
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{
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return AddCommand(cmd + data);
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}
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public eNarumiCommandResult LiftControl(LiftCommand cmd)
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{
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return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
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}
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public eNarumiCommandResult AGVCharge(int chargetID, bool on, int waittime = 3)
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{
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if (on)
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return AddCommand(eAgvCmd.ChargeOn, chargetID.ToString("0000"));
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else
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return AddCommand(eAgvCmd.ChargeOf, chargetID.ToString("0000"));
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}
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public eNarumiCommandResult SetBackturnTime(int time)
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{
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return AddCommand(eAgvCmd.BackTrunResumeTime, time.ToString("0000"));
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}
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public eNarumiCommandResult SetGateOutOffTime(int time)
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{
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return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
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}
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public eNarumiCommandResult TurnGDSCenterScope(UInt16 time)
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{
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if (time > 2000) time = 2000;
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return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
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}
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public eNarumiCommandResult AGVMoveLeft180Turn()
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{
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return AddCommand(eAgvCmd.TurnLeft);
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}
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public eNarumiCommandResult AGVMoveRight180Turn()
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{
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return AddCommand(eAgvCmd.TurnRight);
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}
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public eNarumiCommandResult AGVMoveBack180Turn(bool leftTurn)
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{
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var dir = leftTurn ? "L" : "R";
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return AddCommand(eAgvCmd.BackAndTurn, dir);
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}
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public eNarumiCommandResult AGVErrorReset()
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{
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return AddCommand(eAgvCmd.ErrorReset, "FFFF");
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}
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public eNarumiCommandResult AGVTowerLamp(bool on)
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{
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return AddCommand(eAgvCmd.TowerLamp, (on ? "I" : "O"));
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}
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public eNarumiCommandResult AGVSetAddress(int value)
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{
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return AddCommand($"SAD{value:0000}");
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}
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public eNarumiCommandResult AGVSetPanID(string value)
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{
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value = value.PadLeft(4, '0');
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return AddCommand($"SPN{value}");
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}
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public eNarumiCommandResult AGVSetChannel(string value)
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{
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value = value.PadLeft(4, '0');
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return AddCommand($"SCH{value}");
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}
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public eNarumiCommandResult AGVSetTagReinputTime(int value)
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{
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return AddCommand($"STT{value:0000}");
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}
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///// <summary>
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///// 전송에 성공한 명령시간
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///// </summary>
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////public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
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protected bool SendCommand(string cmdline)
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{
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bool ret = true;
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ACKData = string.Empty;
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var fullcmd = MakeCheckSum(cmdline);
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if (WriteData(fullcmd) == false) ret = false;
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System.Threading.Thread.Sleep(1);
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return ret;
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}
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ManualResetEvent mrecmd = new ManualResetEvent(true);
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public eNarumiCommandResult AddCommand(string cmd, int waitms = 1)
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{
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if (mrecmd.WaitOne(waitms) == false)
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{
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//다른명령을 처리하는 중이므로 대기상태로 반환한다
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return eNarumiCommandResult.Wait;
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}
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//다른신호를 처리하지 못하게한다.
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mrecmd.Reset();
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try
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{
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if (SendCommandFailList.ContainsKey(cmd) == false)
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{
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//실패기록이 없다
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var ret = SendCommand(cmd);
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if (ret == false)
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{
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SendCommandFailList.Add(cmd, new NarumiCommandTime(1));
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return eNarumiCommandResult.Fail;
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}
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else return eNarumiCommandResult.Success;
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}
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else
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{
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//실패기록이 존재한다.
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//1.동일 명령이 아니면 바로 전송한다
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var precmd = SendCommandFailList[cmd];
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//동일명령의 실패기록이 존재한다.
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//2초간의 간격을 둔다
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var ts = DateTime.Now - precmd.Time;
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if (ts.TotalSeconds < 2)
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{
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precmd.Time = DateTime.Now;
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SendCommandFailList[cmd] = precmd;
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return eNarumiCommandResult.Wait; //대기한다
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}
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else
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{
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//오류가 누적되었다.
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var ret = SendCommand(cmd);
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if (ret == false)
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{
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precmd.Time = DateTime.Now;
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precmd.count += 1;
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SendCommandFailList[cmd] = precmd;
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//5회연속 실패했다면 타임아웃처리한다
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if (precmd.count > 5)
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{
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//타임아웃
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return eNarumiCommandResult.Timeout;
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}
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else
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{
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//실패
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return eNarumiCommandResult.Fail;
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}
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}
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else
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{
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//전송이성공했으니 키를 제거한다.
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SendCommandFailList.Remove(cmd);
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return eNarumiCommandResult.Success;
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}
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}
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}
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}
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catch (Exception ex)
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{
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Console.WriteLine($"narumi addCommand error : {ex.Message}");
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return eNarumiCommandResult.Error;
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}
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finally
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{
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mrecmd.Set();
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}
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}
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protected eNarumiCommandResult AddCommand(eAgvCmd command, BunkiData param)
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{
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return AddCommand(command, param.ToString());
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}
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/// <summary>
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/// CBR커맨드를 사용하여 옵션값을 전송 합니다
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/// 11.분기명령 = CBR
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/// </summary>
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/// <param name="param"></param>
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/// <param name="Repeat"></param>
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protected eNarumiCommandResult AddCommand(BunkiData param)
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{
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return AddCommand(eAgvCmd.MoveSet, param.ToString());
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}
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protected eNarumiCommandResult AddCommand(eAgvCmd command, string param = "")
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{
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string cmdString;
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eNarumiCommandResult retval = eNarumiCommandResult.Error;
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switch (command)
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{
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case eAgvCmd.ErrorReset:
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cmdString = $"SFR{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.TowerLamp:
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cmdString = $"CBZ" + $"0299{param}0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveStop:
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cmdString = $"CST{param}";
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system1.agv_run_manual = false;
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveStart:
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cmdString = $"CRN{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.ChargeOf:
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cmdString = $"CBT{param}O0003"; ///0003=충전대기시간
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retval = AddCommand(cmdString);
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RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전취소전송");
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break;
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case eAgvCmd.ChargeOn:
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cmdString = $"CBT{param}I0003"; ///0003=충전대기시간
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retval = AddCommand(cmdString);
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RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전명령전송");
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break;
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case eAgvCmd.TurnLeft:
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cmdString = $"CTL0000";
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retval = AddCommand(cmdString);
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if (retval == eNarumiCommandResult.Success)
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{
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if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
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TurnInformation.Start = DateTime.Now;
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TurnInformation.End = new DateTime(1982, 11, 23);
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TurnInformation.State = eNarumiTurn.LeftIng;
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}
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break;
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case eAgvCmd.TurnRight:
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cmdString = $"CTR0000";
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retval = AddCommand(cmdString);
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if (retval == eNarumiCommandResult.Success)
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{
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if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
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TurnInformation.Start = DateTime.Now;
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TurnInformation.End = new DateTime(1982, 11, 23);
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TurnInformation.State = eNarumiTurn.RightIng;
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}
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break;
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case eAgvCmd.BackAndTurn:
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if (param.isEmpty()) param = "L";
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cmdString = $"CTB000{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.CallCancle:
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cmdString = $"CCL0{param}010000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.MoveSet:
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cmdString = $"CBR{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.ManualMove:
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system1.agv_run_manual = true;
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cmdString = $"CRT{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.LiftControl:
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cmdString = "CLF" + param.PadRight(6, '0');
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.CPUReset:
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cmdString = "CRS0000";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.TurnGDSCenterScope:
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if (param.isEmpty()) param = "1000";
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cmdString = $"SGS{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.BackTrunResumeTime:
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cmdString = $"SST{param}";
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retval = AddCommand(cmdString);
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break;
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case eAgvCmd.GateoutTime:
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cmdString = $"SGT{param}";
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retval = AddCommand(cmdString);
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break;
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}
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return retval;
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}
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}
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}
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