117 lines
3.7 KiB
C#
117 lines
3.7 KiB
C#
using ENIG;
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using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Text;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement;
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namespace AGVEmulator
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{
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public class DevXBE : AR.Dev.RS232
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{
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private EEProtocol proto;
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public event EventHandler<EEProtocol.DataEventArgs> ProtocReceived;
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public DevXBE()
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{
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proto = new EEProtocol();
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proto.OnDataReceived += Proto_OnDataReceived;
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proto.OnMessage += Proto_OnMessage;
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}
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~DevXBE()
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{
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proto.OnDataReceived -= Proto_OnDataReceived;
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proto.OnMessage -= Proto_OnMessage;
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}
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public override bool ProcessRecvData(byte[] data)
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{
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return true;
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}
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protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
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{
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//여기서 최초데이터를 파싱한다
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remainBuffer = null;
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this.proto.ProcessReceivedData(buf);
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return false;
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}
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private void Proto_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
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{
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var hexstrRaw = e.ReceivedPacket.RawData.HexString();
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var hexstr = e.ReceivedPacket.Data.HexString();
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var cmd = e.ReceivedPacket.Command.ToString("X2");
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var id = e.ReceivedPacket.ID.ToString("X2");
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var dataStr = System.Text.Encoding.Default.GetString(e.ReceivedPacket.Data);
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RaiseMessage(MessageType.Recv, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
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ProtocReceived?.Invoke(this, e);
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}
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private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
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{
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RaiseMessage(e.IsError, e.Message);
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}
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/// <summary>
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/// 목적지 태그번호 전송
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/// </summary>
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public void SendGotoTag(byte id, uint tag)
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{
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//var idSTR = id.ToString("X2");
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//var tagSTR = tag.ToString("0000");
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//var dataStr = $"{idSTR}{tagSTR}";
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var data = new List<byte>();
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data.Add(id);
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data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
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Send(ENIGProtocol.AGVCommandHE.Goto, data.ToArray());
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}
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/// <summary>
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/// 카트를 가지러 들어간다
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/// </summary>
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/// <param name="id"></param>
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public void SendPickOn(byte id)
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{
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var data = new List<byte>();
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data.Add(id);
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Send(ENIGProtocol.AGVCommandHE.PickOn, data.ToArray());
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}
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/// <summary>
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/// 카트를 내려놓는다
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/// </summary>
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/// <param name="id"></param>
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public void SendPickOff(byte id)
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{
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var data = new List<byte>();
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data.Add(id);
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Send(ENIGProtocol.AGVCommandHE.PickOff, data.ToArray());
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}
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public void SendCurrentPos(byte id, uint tag)
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{
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var data = new List<byte>();
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data.Add(id);
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data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
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Send(ENIGProtocol.AGVCommandHE.SetCurrent, data.ToArray());
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}
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private void Send(ENIGProtocol.AGVCommandHE Command, byte[] data)
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{
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byte id = 0;
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byte cmd = (byte)Command; //move to target
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var packet = proto.CreatePacket(id, cmd, data);
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if (WriteData(packet, false))
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{
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var hexstr =(data == null || data.Any()==false) ? string.Empty : System.Text.Encoding.Default.GetString(data);
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RaiseMessage(MessageType.Send, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
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}
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}
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}
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}
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