260 lines
13 KiB
C#
260 lines
13 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using arCtl;
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using Project.StateMachine;
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using COMM;
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using AR;
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namespace Project
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{
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public partial class fMain
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{
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private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e)
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{
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if (e.MsgType == arDev.arRS232.MessageType.Normal)
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PUB.logagv.AddE(e.Message);
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else if (e.MsgType == arDev.arRS232.MessageType.Normal)
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PUB.logagv.Add(e.Message);
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else if (e.MsgType == arDev.arRS232.MessageType.Recv)
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{
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if (e.Message.Substring(1).StartsWith("STS") == false)
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PUB.logagv.Add("AGV-RX", e.Message);
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}
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else if (e.MsgType == arDev.arRS232.MessageType.Send)
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PUB.logagv.Add("AGV-TX", e.Message);
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else
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{
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PUB.logagv.Add(e.MsgType.ToString(), e.Message);
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}
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}
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ePosition ParsePosition(uint tag, out string dirBW)
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{
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var tagstr = tag.ToString();
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var tagno = tagstr.Substring(0, tagstr.Length - 1);
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if (tag == PUB.setting.TAGNOT) { dirBW = "0"; return ePosition.NOT; }
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else if (tag == PUB.setting.TAG_QA_QC) { dirBW = "0"; return ePosition.QA_QC; }
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else if (tag == PUB.setting.TAG_QC_F1) { dirBW = "0"; return ePosition.QC_F1; }
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else if (tag == PUB.setting.TAG_F1_F2) { dirBW = "0"; return ePosition.F1_F2; }
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else if (tag == PUB.setting.TAG_F2_F3) { dirBW = "0"; return ePosition.F2_F3; }
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else if (tag == PUB.setting.TAG_F3_F4) { dirBW = "0"; return ePosition.F3_F4; }
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else if (tag == PUB.setting.TAG_F4_F5) { dirBW = "0"; return ePosition.F4_F5; }
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else if (tag == PUB.setting.TAGQAB) { dirBW = "0"; return ePosition.QA; }
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else if (tag == PUB.setting.TAGQCB) { dirBW = "0"; return ePosition.QC; }
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else if (tag == PUB.setting.TAGF1B) { dirBW = "0"; return ePosition.F1; }
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else if (tag == PUB.setting.TAGF2B) { dirBW = "0"; return ePosition.F2; }
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else if (tag == PUB.setting.TAGF3B) { dirBW = "0"; return ePosition.F3; }
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else if (tag == PUB.setting.TAGF4B) { dirBW = "0"; return ePosition.F4; }
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else if (tag == PUB.setting.TAGF5B) { dirBW = "0"; return ePosition.F5; }
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//else if (tag == PUB.setting.TAGQAA) { dirBW = "1"; return ePosition.QA; }
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//else if (tag == PUB.setting.TAGCHA) { dirBW = "1"; return ePosition.CHARGE; }
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else if (tag == PUB.setting.TAGQAA) { dirBW = "1"; return ePosition.QA; }
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else if (tag == PUB.setting.TAGQCA) { dirBW = "1"; return ePosition.QC; }
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else if (tag == PUB.setting.TAGF1A) { dirBW = "1"; return ePosition.F1; }
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else if (tag == PUB.setting.TAGF2A) { dirBW = "1"; return ePosition.F2; }
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else if (tag == PUB.setting.TAGF3A) { dirBW = "1"; return ePosition.F3; }
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else if (tag == PUB.setting.TAGF4A) { dirBW = "1"; return ePosition.F4; }
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else if (tag == PUB.setting.TAGF5A) { dirBW = "1"; return ePosition.F5; }
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else if (tag == PUB.setting.TAGPOT) { dirBW = "0"; return ePosition.POT; }
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else
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{
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if (tag > 9350 && tag < 9400)
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{
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dirBW = "0"; return ePosition.QC_F1;
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}
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else if (tag > 9250 && tag < 9300)
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{
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dirBW = "0"; return ePosition.QA_QC;
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}
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else if (tag > 9000 && tag < 9100)
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{
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dirBW = "0"; return ePosition.NOT;
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}
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else
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{
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dirBW = "0"; return ePosition.NONE;
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}
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}
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}
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bool _charging = false;
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private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
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{
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switch (e.DataType)
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{
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case arDev.Narumi.DataType.STS:
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{
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//마크센서 확인
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var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
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var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
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var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
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var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
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//if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
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VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
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// PUB.AGV.signal.mark_sensor = PUB.AGV.signal.mark_sensor;
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VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
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VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
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if (PUB.AGV.signal.mark_sensor == false)
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{
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if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
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{
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VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
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VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
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PUB.log.Add($"마크센서off를 설정");
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}
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}
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else
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{
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if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
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{
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VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
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VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
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PUB.log.Add($"마크센서off를 해제");
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}
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}
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//차징상태변경
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if (_charging != PUB.AGV.system1.Battery_charging)
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{
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if (PUB.AGV.system1.Battery_charging)
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{
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VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
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PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
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}
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_charging = PUB.AGV.system1.Battery_charging;
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}
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//배터리충전상태
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if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
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{
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PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
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VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
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}
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//자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
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PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
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if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
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{
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if (PUB.AGV.error.Charger_pos_error)
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{
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PUB.Speak(Lang.충전기위치오류);
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}
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VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
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}
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if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
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{
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//현재 활성화된 위치를 꺼준다
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if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
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{
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var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
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if (ts.TotalSeconds >= 2)
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{
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ctlPos1.SetPositionDeActive();
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PUB.log.Add($"현재 활성위치를 해제 함");
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}
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}
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}
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//나르미가 멈췄다면 다음 마크 이동 기능이 OFF 된다
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if (PUB.AGV.system1.agv_stop)
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VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
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if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
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{
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if (PUB.AGV.signal.mark_sensor)
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{
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//현재위치를 확정한다
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var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
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if (curact == false)
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{
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PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
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ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
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ctlPos1.SetDirection("");
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ctlPos1.Invalidate();
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}
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}
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VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
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}
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}
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break;
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case arDev.Narumi.DataType.TAG:
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{
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//자동 실행 중이다.
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PUB.log.Add($"RFID값에서 위치정보를 추출할 수 있도록 해야한다");
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PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
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var curpos = ParsePosition(PUB.AGV.data.TagNo, out string dirForward);
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if (curpos != PUB.Result.CurrentPos)
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{
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PUB.log.Add($"현재위치변경 {PUB.Result.CurrentPos} -> {curpos}");
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PUB.Result.CurrentPos = curpos;
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}
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PUB.Result.CurrentPosCW = dirForward;
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ctlPos1.SetPositionDeActive();
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ctlPos1.SetPosition(PUB.Result.CurrentPos);
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ctlPos1.SetDirection(dirForward);
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ctlPos1.Invalidate();
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//pot not를 보면 일단 바로 멈추게한다
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if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
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{
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PUB.AGV.AGVMoveStop("TAG:pot/not 발견으로 즉시 멈춤");
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}
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//자동, 상하차 모드일때 RFID 가 타겟위치에 올때는 - 멈춤을 설정해준다
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if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == true &&
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PUB.Result.CurrentPos == PUB.Result.TargetPos &&
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PUB.Result.TargetPos != ePosition.NONE &&
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(PUB.sm.RunStep == ERunStep.GODOWN ||
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PUB.sm.RunStep == ERunStep.GOUP ||
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PUB.sm.RunStep == ERunStep.GOHOME ||
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PUB.sm.RunStep == ERunStep.GOCHARGE))
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{
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if (PUB.AGV.data.Sts == 'F' && dirForward == "0") //아래로 내려오고있음
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{
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PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
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PUB.Speak( Lang.다음마크위치에서정지합니다);
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}
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else if (PUB.AGV.data.Sts == 'B' && dirForward == "1")
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{
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//VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = true;
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PUB.AGV.AGVMoveStop("AGV_DataReceive", arDev.Narumi.eStopOpt.MarkStop);
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PUB.Speak(Lang.다음마크위치에서정지합니다);
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}
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}
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}
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break;
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case arDev.Narumi.DataType.ACK:
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PUB.logagv.Add($"AGV_[ACK]Receive : {PUB.AGV.ACKData}");
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break;
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default:
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PUB.logagv.Add($"AGV_DataReceive : {e.DataType}");
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break;
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}
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}
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}
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}
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