130 lines
5.7 KiB
C#
130 lines
5.7 KiB
C#
using System;
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using System.Collections.Generic;
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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 AR;
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using arDev;
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using COMM;
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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 XBE_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
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{
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//TODO : 기능 처리필요 (XBee 메세지 데이터처리)
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//PUB.CheckManualChargeMode() : 수동충전확인
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//VAR.BOOL[eVarBool.FLAG_AUTORUN] : 자동실행
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//PUB.Speak("현재 위치는 QA 입니다.") : 음성출력
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//ACS 수신 데이터 처리(타 장비는 확인하지 않는다)
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if (e.ReceivedPacket.ID == 0)
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{
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var data = e.ReceivedPacket.Data;
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var dataStr = System.Text.Encoding.Default.GetString(data);
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var cmd = (ENIGProtocol.AGVCommands)e.ReceivedPacket.Command;
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switch (cmd)
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{
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case ENIGProtocol.AGVCommands.SetCurrent: //Set Current Position
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if (dataStr.Length == 6)
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{
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var targID = dataStr.Substring(0, 2);
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var targstr = dataStr.Substring(2);
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if (byte.TryParse(targID, out byte tID))
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{
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if (PUB.setting.XBE_ID == tID)
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{
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if (ushort.TryParse(targstr, out ushort tagno))
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{
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if (PUB.mapctl.SetCurrentPosition(tagno) == true)
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{
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PUB.log.AddI($"Set Position:{tagno}");
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}
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else PUB.log.AddE($"Position Set Error:{tagno}");
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}
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else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}");
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}
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else PUB.log.AddI($"Another Target {tID}:{PUB.setting.XBE_ID}");
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}
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else PUB.log.AddE($"Position Param(targetid) Error:{dataStr}");
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}
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else PUB.log.AddE($"Position Param Error:{dataStr}");
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break;
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case ENIGProtocol.AGVCommands.Goto: //move to tag
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if (uint.TryParse(dataStr, out uint tagno2))
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{
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var currPos = PUB.mapctl.agv.CurrentRFID;///.AGVMoveToRFID(;
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if (PUB.mapctl.SetTargetPosition(tagno2))
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PUB.log.AddI($"New Target {tagno2}");
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else
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PUB.log.AddE($"Path Error {tagno2}");
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}
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else PUB.log.AddE($"Path Param Error :{dataStr}");
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break;
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case ENIGProtocol.AGVCommands.Stop: //stop
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PUB.AGV.AGVMoveStop("xbee");
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break;
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case ENIGProtocol.AGVCommands.Reset: //Error Reset
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PUB.AGV.AGVErrorReset();
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break;
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case ENIGProtocol.AGVCommands.Manual: //Manual Move (Direction, speed, runtime)
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var Direction = data[0]; //0=back, 1=forward, 2=left, 3=right
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var Speed = data[1]; //0=slow, 1=normal, 2=fast
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var Runtime = data[2]; // running seconds
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arDev.Narumi.ManulOpt opt = arDev.Narumi.ManulOpt.BS;
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arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
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if (Speed == 1) spd = arDev.Narumi.Speed.Mid;
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else if (Speed == 2) spd = arDev.Narumi.Speed.High;
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//0.자동모드가 아니라면 실행하지 않는다
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//1.입력된 파라미터로 AGV를 이동한다
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if (Direction == 0) opt = arDev.Narumi.ManulOpt.BS;
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else if (Direction == 1) opt = arDev.Narumi.ManulOpt.FS;
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else if (Direction == 2) opt = arDev.Narumi.ManulOpt.LT;
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else if (Direction == 3) opt = arDev.Narumi.ManulOpt.RT;
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PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
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break;
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case ENIGProtocol.AGVCommands.MarkStop: //Set MarkStop
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var MarkStop = data[0]; //0=off, 1=on
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//마크센서에서 멈추게 한다
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PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
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break;
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case ENIGProtocol.AGVCommands.LiftControl: //Lift Control
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var LiftCommand = data[0]; //0=stop, 1=up, 2=down
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arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
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if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
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else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
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//리프트제어
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PUB.AGV.LiftControl(LCmd);
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break;
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}
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}
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}
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private void XBE_MessageReceived(object sender, Device.Xbee.MessageArgs e)
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{
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if (e.IsError) PUB.log.AddE(e.Message);
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else PUB.log.Add(e.Message);
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}
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}
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}
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