584 lines
20 KiB
C#
584 lines
20 KiB
C#
using System;
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using System.Drawing;
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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 System.Windows.Forms;
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using ENIG;
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using ENIGProtocol;
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namespace Test_ACS
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{
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public partial class MainForm : Form
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{
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private SerialPort serialPort;
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private EEProtocol protocol;
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private byte selectedAGV = 11; // 기본값: AGV1 (11)
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private AppSettings settings;
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public MainForm()
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{
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InitializeComponent();
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InitializeProtocol();
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LoadPortList();
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}
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private void InitializeProtocol()
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{
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protocol = new EEProtocol();
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protocol.OnDataReceived += Protocol_OnDataReceived;
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protocol.OnMessage += Protocol_OnMessage;
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serialPort = new SerialPort();
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serialPort.ReadTimeout = 2000;
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serialPort.WriteTimeout = 1000;
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serialPort.DataReceived += SerialPort_DataReceived;
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}
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private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
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{
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var buffer = new byte[serialPort.BytesToRead];
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serialPort.Read(buffer, 0, buffer.Length);
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protocol.ProcessReceivedData(buffer);
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}
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private void Protocol_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
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{
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var hexstrRaw = string.Join(" ", e.ReceivedPacket.RawData.Select(b => b.ToString("X2")));
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var hexstr = string.Join(" ", e.ReceivedPacket.Data.Select(b => b.ToString("X2")));
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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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AddLog($"RX: {hexstrRaw}\nID:{id}, CMD:{cmd}, DATA:{hexstr}", LogType.RX);
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// AGV 상태 수신 처리 (cmd = 3)
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var device = e.ReceivedPacket.ID;
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var command = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;
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var data = e.ReceivedPacket.Data;
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switch (command)
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{
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case AGVCommandEH.Status:
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_remoteStatus.Mode = data[0];
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_remoteStatus.RunSt = data[1];
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_remoteStatus.HWError = BitConverter.ToUInt16(data, 2);
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_remoteStatus.RunStep = data[4];
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_remoteStatus.RunStepSeq = data[5];
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_remoteStatus.MotorDir = data[6];
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_remoteStatus.MagnetDir = data[7];
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_remoteStatus.ChargeSt = data[8];
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_remoteStatus.CartSt = data[9];
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_remoteStatus.LiftSt = data[10];
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_remoteStatus.ErrorCode = data[11];
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_remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[11];
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_remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
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_remoteStatus.LastTag = Encoding.ASCII.GetString(data, 12, 4);
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UpdateUIStatus();
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break;
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case AGVCommandEH.Error:
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_remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[0];
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// _remoteErrorMessage = ... Error 메시지 자체는 패킷에 포함되지 않으므로 유틸리티 사용 가능
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_remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
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UpdateUIStatus();
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AddLog($"Error Received : {_remoteErrorCode} ID:{e.ReceivedPacket.ID} MSG:{_remoteErrorMessage}", LogType.Info);
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break;
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default:
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AddLog($"unknown command:{command}", LogType.Error);
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break;
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}
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}
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private void Protocol_OnMessage(object sender, EEProtocol.MessageEventArgs e)
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{
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AddLog(e.Message, e.IsError ? LogType.Error : LogType.Info);
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}
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private void LoadPortList()
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{
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cmbPort.Items.Clear();
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foreach (var port in SerialPort.GetPortNames())
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{
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cmbPort.Items.Add(port);
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}
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// 마지막 설정 불러오기
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LoadSettings();
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}
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private void LoadSettings()
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{
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try
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{
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// 설정 파일 로드
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settings = AppSettings.Load();
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// 포트 설정
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if (!string.IsNullOrEmpty(settings.LastPort) && cmbPort.Items.Contains(settings.LastPort))
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{
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cmbPort.SelectedItem = settings.LastPort;
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}
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else if (cmbPort.Items.Count > 0)
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{
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cmbPort.SelectedIndex = 0;
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}
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// 보레이트 설정
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txtBaudRate.Text = settings.LastBaudRate;
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// RFID 번호 설정
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txtRFID.Text = settings.LastRFID;
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// 별칭 설정
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txtAlias.Text = settings.LastAlias;
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// AGV 선택 설정
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if (settings.LastAGV == 11)
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{
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rbAGV1.Checked = true;
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}
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else if (settings.LastAGV == 12)
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{
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rbAGV2.Checked = true;
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}
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AddLog("설정을 불러왔습니다.", LogType.Info);
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}
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catch (Exception ex)
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{
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settings = new AppSettings();
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AddLog($"설정 불러오기 실패: {ex.Message}", LogType.Error);
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}
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}
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private void SaveSettings()
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{
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try
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{
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if (settings == null)
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settings = new AppSettings();
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settings.LastPort = cmbPort.Text;
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settings.LastBaudRate = txtBaudRate.Text;
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settings.LastRFID = txtRFID.Text;
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settings.LastAlias = txtAlias.Text;
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settings.LastAGV = selectedAGV;
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settings.Save();
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}
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catch (Exception ex)
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{
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AddLog($"설정 저장 실패: {ex.Message}", LogType.Error);
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}
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}
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private void btnConnect_Click(object sender, EventArgs e)
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{
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if (serialPort.IsOpen)
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{
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serialPort.Close();
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btnConnect.Text = "연결";
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AddLog("포트 닫힘", LogType.Info);
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}
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else
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{
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try
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{
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serialPort.PortName = cmbPort.Text;
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serialPort.BaudRate = int.Parse(txtBaudRate.Text);
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serialPort.Open();
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btnConnect.Text = "해제";
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AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info);
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SaveSettings();
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}
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catch (Exception ex)
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{
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AddLog($"연결 실패: {ex.Message}", LogType.Error);
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}
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}
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}
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private void btnRefresh_Click(object sender, EventArgs e)
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{
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LoadPortList();
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}
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private void cmbPort_SelectedIndexChanged(object sender, EventArgs e)
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{
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//SaveSettings();
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}
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private void txtBaudRate_TextChanged(object sender, EventArgs e)
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{
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//SaveSettings();
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}
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private void txtRFID_TextChanged(object sender, EventArgs e)
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{
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//SaveSettings();
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}
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private void txtAlias_TextChanged(object sender, EventArgs e)
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{
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//SaveSettings();
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}
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private void rbAGV1_CheckedChanged(object sender, EventArgs e)
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{
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if (rbAGV1.Checked)
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{
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selectedAGV = 11;
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//SaveSettings();
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}
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}
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private void rbAGV2_CheckedChanged(object sender, EventArgs e)
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{
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if (rbAGV2.Checked)
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{
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selectedAGV = 12;
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//SaveSettings();
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}
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}
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private void btnSetCurrent_Click(object sender, EventArgs e)
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{
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// SetCurrent: data = TargetID(2 hex) + RFID(4 hex)
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var targetID = selectedAGV.ToString("X2");
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var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
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var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
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var dataStr = targetID + rfidHex;
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SendCommand(AGVCommandHE.SetCurrent, dataStr);
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}
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private void btnGoto_Click(object sender, EventArgs e)
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{
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// Goto: data = TargetID(2 hex) + RFID(4 hex)
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var targetID = selectedAGV.ToString("X2");
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var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
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var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
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var dataStr = targetID + rfidHex;
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SendCommand(AGVCommandHE.Goto, dataStr);
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}
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private void btnGotoAlias_Click(object sender, EventArgs e)
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{
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// GotoAlias: data = TargetID(2 hex) + Alias(ASCII string)
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var alias = txtAlias.Text.Trim();
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if (string.IsNullOrEmpty(alias))
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{
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AddLog("별칭을 입력하세요.", LogType.Error);
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return;
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}
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var targetID = selectedAGV.ToString("X2");
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var aliasBytes = Encoding.ASCII.GetBytes(alias);
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var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2")));
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var dataStr = targetID + aliasHex;
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SendCommand(AGVCommandHE.GotoAlias, dataStr);
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SaveSettings();
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}
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private void btnStop_Click(object sender, EventArgs e)
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{
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// Stop: data = TargetID(2 hex)
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.Stop, targetID);
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}
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private void btnReset_Click(object sender, EventArgs e)
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{
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// Reset: data = TargetID(2 hex)
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.Reset, targetID);
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}
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private void btnManual_Click(object sender, EventArgs e)
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{
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var but = sender as Button;
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if (but.Tag == null) return;
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var tagstr = but.Tag.ToString();
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var targetID = selectedAGV.ToString("X2");
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var direction = byte.Parse(tagstr);// //back
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var speed = (byte)0;// cmbSpeed.SelectedIndex;
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if (radSpdM.Checked) speed = 1;
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else if (radSpdH.Checked) speed = 2;
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var dataBytes = new byte[] { direction, speed };
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var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
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SendCommand(AGVCommandHE.Manual, dataStr);
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}
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private void btnMarkStop_Click(object sender, EventArgs e)
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{
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// MarkStop: data = TargetID(2 hex) + MarkStop(1 byte)
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var targetID = selectedAGV.ToString("X2");
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var markStop = "01";// chkMarkStop.Checked ? "01" : "00";
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SendCommand(AGVCommandHE.MarkStop, targetID + markStop);
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}
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private void btnLiftUp_Click(object sender, EventArgs e)
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{
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SendLiftCommand( arDev.Narumi.LiftCommand.UP); // Up
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}
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private void btnLiftDown_Click(object sender, EventArgs e)
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{
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SendLiftCommand( arDev.Narumi.LiftCommand.DN); // Down
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}
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private void btnLiftStop_Click(object sender, EventArgs e)
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{
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SendLiftCommand( arDev.Narumi.LiftCommand.STP); // Stop
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}
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private void SendLiftCommand(arDev.Narumi.LiftCommand liftCmd)
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{
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// LiftControl: data = TargetID(2 hex) + LiftCommand(1 byte)
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var targetID = selectedAGV.ToString("X2");
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var dataStr = targetID + liftCmd.ToString("X2");
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SendCommand(AGVCommandHE.LiftControl, dataStr);
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}
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private void SendCommand(AGVCommandHE command, string dataHexString)
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{
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if (!serialPort.IsOpen)
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{
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AddLog("포트가 연결되지 않았습니다.", LogType.Error);
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return;
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}
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try
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{
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// Hex 문자열을 byte 배열로 변환
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byte[] dataBytes = new byte[dataHexString.Length / 2];
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for (int i = 0; i < dataBytes.Length; i++)
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{
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dataBytes[i] = Convert.ToByte(dataHexString.Substring(i * 2, 2), 16);
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}
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// 패킷 생성 (ACS ID = 0)
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byte[] packet = protocol.CreatePacket(0, (byte)command, dataBytes);
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// 전송
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serialPort.Write(packet, 0, packet.Length);
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var hexString = string.Join(" ", packet.Select(b => b.ToString("X2")));
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//정보를 조금더 추출한다.
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var Sender = packet[2];
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if (Sender == 0x00)
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{
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var Receiver = packet[4];
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var strdata = System.Text.Encoding.Default.GetString(dataBytes, 1, dataBytes.Length - 1);// (dataHexString.Substring(2), 16);
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AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} To:{Receiver} => {dataHexString} STR:{strdata}", LogType.TX);
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}
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else
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{
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AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} => {dataHexString}", LogType.TX);
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}
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}
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catch (Exception ex)
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{
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AddLog($"전송 실패: {ex.Message}", LogType.Error);
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}
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}
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public ENIGProtocol.AGVErrorCode _remoteErrorCode = ENIGProtocol.AGVErrorCode.None;
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public string _remoteErrorMessage = "";
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public RemoteStatus _remoteStatus = new RemoteStatus();
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private void UpdateUIStatus()
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{
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if (this.InvokeRequired)
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{
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this.BeginInvoke(new Action(UpdateUIStatus));
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return;
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}
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try
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{
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rtStatus.Text = _remoteStatus.ToString();
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string errCode = _remoteErrorCode.ToString();
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string errMsg = _remoteErrorMessage;
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if (_remoteStatus.HWError > 0)
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{
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errCode = $"HW:{_remoteStatus.HWError:X4}" + (errCode == "None" ? "" : $" | {errCode}");
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StringBuilder sbHw = new StringBuilder();
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for (int i = 0; i < 16; i++)
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{
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if (((ushort)_remoteStatus.HWError & (1 << i)) != 0)
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{
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sbHw.Append($"{(arDev.Narumi.eflag)i}, ");
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}
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}
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errMsg = $"[HW] {sbHw}" + (string.IsNullOrEmpty(errMsg) ? "" : $" | {errMsg}");
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}
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tbErCode.Text = errCode;
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tbErmsg.Text = errMsg;
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if (_remoteErrorCode != ENIGProtocol.AGVErrorCode.None || _remoteStatus.HWError > 0)
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{
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tbErCode.BackColor = Color.Red;
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tbErCode.ForeColor = Color.White;
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}
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else
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{
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tbErCode.BackColor = SystemColors.Window;
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tbErCode.ForeColor = SystemColors.WindowText;
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}
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}
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catch (Exception ex)
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{
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AddLog($"AGV 상태 업데이트 실패: {ex.Message}", LogType.Error);
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}
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}
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private enum LogType { TX, RX, Info, Error }
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private void AddLog(string message, LogType type)
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{
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if (InvokeRequired)
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{
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BeginInvoke(new Action(() => AddLog(message, type)));
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return;
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}
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var timestamp = DateTime.Now.ToString("HH:mm:ss");
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var logMessage = $"[{timestamp}] {message}\r\n";
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switch (type)
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{
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case LogType.TX:
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txtTxLog.AppendText(logMessage);
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txtTxLog.ScrollToCaret();
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break;
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case LogType.RX:
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txtRxLog.AppendText(logMessage);
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txtRxLog.ScrollToCaret();
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break;
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case LogType.Info:
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txtInfoLog.AppendText(logMessage);
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txtInfoLog.ScrollToCaret();
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break;
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case LogType.Error:
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txtInfoLog.ForeColor = Color.Red;
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txtInfoLog.AppendText(logMessage);
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txtInfoLog.ForeColor = Color.Black;
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txtInfoLog.ScrollToCaret();
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break;
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}
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}
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protected override void OnFormClosing(FormClosingEventArgs e)
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{
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if (serialPort != null && serialPort.IsOpen)
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{
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serialPort.Close();
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}
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base.OnFormClosing(e);
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}
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private void btAMove_Click(object sender, EventArgs e)
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{
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var targetID = selectedAGV.ToString("X2");
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byte Motdirection = 0;// (byte)cmbMotDirection.SelectedIndex;
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if (radForw.Checked) Motdirection = 1;
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byte Magdirection = 0;
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if (radLeft.Checked) Magdirection = 1;
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else if (radRight.Checked) Magdirection = 2;
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byte speed = 0;// (byte)cmbAutoSpeed.SelectedIndex;
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if (radSpdM.Checked) speed = 1;
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else if (radSpdH.Checked) speed = 2;
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byte lidar = 2;
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if (radLidarOff.Checked) lidar = 0;
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var dataBytes = new byte[] { Motdirection, Magdirection, speed ,lidar};
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var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
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SendCommand(AGVCommandHE.AutoMove, dataStr);
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}
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private void button2_Click(object sender, EventArgs e)
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{
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// Stop: data = TargetID(2 hex)
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var targetID = selectedAGV.ToString("X2");
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SendCommand(AGVCommandHE.Stop, targetID);
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}
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private void groupBox2_Enter(object sender, EventArgs e)
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{
|
|
|
|
}
|
|
|
|
private void button6_Click(object sender, EventArgs e)
|
|
{
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|
var targetID = selectedAGV.ToString("X2");
|
|
SendCommand(AGVCommandHE.Stop, targetID);
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|
}
|
|
|
|
private void button7_Click(object sender, EventArgs e)
|
|
{
|
|
//lt180
|
|
var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
|
|
if (dlg != DialogResult.Yes) return;
|
|
var targetID = selectedAGV.ToString("X2");
|
|
SendCommand(AGVCommandHE.LTurn180, targetID);
|
|
}
|
|
|
|
private void button8_Click(object sender, EventArgs e)
|
|
{
|
|
//rt180
|
|
var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
|
|
if (dlg != DialogResult.Yes) return;
|
|
var targetID = selectedAGV.ToString("X2");
|
|
SendCommand(AGVCommandHE.RTurn180, targetID);
|
|
}
|
|
|
|
private void button9_Click(object sender, EventArgs e)
|
|
{
|
|
//l turn
|
|
var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
|
|
if (dlg != DialogResult.Yes) return;
|
|
var targetID = selectedAGV.ToString("X2");
|
|
SendCommand(AGVCommandHE.LTurn, targetID);
|
|
}
|
|
|
|
private void button10_Click(object sender, EventArgs e)
|
|
{
|
|
///r-turn
|
|
var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
|
|
if (dlg != DialogResult.Yes) return;
|
|
var targetID = selectedAGV.ToString("X2");
|
|
SendCommand(AGVCommandHE.RTurn, targetID);
|
|
}
|
|
|
|
private void button12_Click(object sender, EventArgs e)
|
|
{
|
|
SendLiftCommand(arDev.Narumi.LiftCommand.ON);
|
|
}
|
|
|
|
private void button11_Click(object sender, EventArgs e)
|
|
{
|
|
SendLiftCommand(arDev.Narumi.LiftCommand.OFF);
|
|
}
|
|
}
|
|
}
|