588 lines
22 KiB
C#
588 lines
22 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 partial class Narumi : arRS232
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{
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Hashtable SystemCheck, ErrorCheck;
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private Queue Errlog; // 에러발생시 코드 임시 저장용(쓰레드 동기화용)
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public int nBatteryNo { get; set; } = 0;
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public Narumi()
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{
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SystemCheck = new Hashtable();
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SystemCheck.Add(15, "100");
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SystemCheck.Add(14, "9");
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SystemCheck.Add(13, "8");
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SystemCheck.Add(12, "53");
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SystemCheck.Add(11, "3");
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//SystemCheck.Add(10, "66");
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//SystemCheck.Add(9, "56");
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SystemCheck.Add(8, "6");
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SystemCheck.Add(7, "5");
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SystemCheck.Add(6, "60");
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SystemCheck.Add(5, "1");
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SystemCheck.Add(4, "2");
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//SystemCheck.Add(3, "65");
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//SystemCheck.Add(2, "55");
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//SystemCheck.Add(1, "11");
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//SystemCheck.Add(0, "22");
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ErrorCheck = new Hashtable();
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ErrorCheck.Add(15, "17");
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ErrorCheck.Add(14, "15");
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ErrorCheck.Add(13, "18");
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ErrorCheck.Add(12, "19");
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//ErrorCheck.Add(11, "300");
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ErrorCheck.Add(10, "299");
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ErrorCheck.Add(9, "298");
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ErrorCheck.Add(8, "297");
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ErrorCheck.Add(7, "296");
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//ErrorCheck.Add(6,"");
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ErrorCheck.Add(5, "12");
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ErrorCheck.Add(4, "13");
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ErrorCheck.Add(3, "14");
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ErrorCheck.Add(2, "16");
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ErrorCheck.Add(1, "11");
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ErrorCheck.Add(0, "10");
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Errlog = new Queue();
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MinRecvLength = 4;
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VAR.Init(128);
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}
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#region "External Events"
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/// <summary>
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/// 분석완료된 데이터 이벤트
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/// </summary>
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public event EventHandler<DataEventArgs> DataReceive;
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#endregion
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protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
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{
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List<byte> remain = new List<byte>();
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//데이터는 총 34byt 이며 , DD~77로 구성됨
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Boolean bComplete = false;
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for (int i = 0; i < buf.Length; i++)
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{
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var incomByte = buf[i];
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if (bComplete == true)
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{
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remain.Add(incomByte);
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}
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else
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{
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if (incomByte == 0x02)
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{
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findSTX = true;
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tempBuffer.Clear();
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tempBuffer.Add(incomByte);
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}
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else if (incomByte == 0x03)
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{
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//데이터가 맞게 수신됨
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//tempBuffer.Add(incomByte);
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tempBuffer.Add(incomByte);
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findSTX = false;
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bComplete = true;
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}
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else
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{
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tempBuffer.Add(incomByte);
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if (tempBuffer.Count == 150) //data overload
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{
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findSTX = false;
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tempBuffer.Clear();
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bComplete = false;
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RaiseMessage(MessageType.Error, "Buffer Over");
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}
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}
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}
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}
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remainBuffer = remain.ToArray();
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return bComplete;
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}
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public class Dataframe
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{
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public byte STX { get; private set; }
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public byte ETX { get; private set; }
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public byte[] Data { get; private set; }
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public string DataString { get; private set; }
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public byte[] checksum { get; private set; } = new byte[2];
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public bool Valid { get; private set; } = false;
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public string Message { get; private set; } = string.Empty;
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public byte[] Buffer { get; private set; }
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public string Cmd { get; private set; } = string.Empty;
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public bool Parse(byte[] data, int MinRecvLength = 0)
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{
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if (data == null || data.Any() == false)
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{
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this.Message = string.Format("수신 데이터가 없습니다");
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return false;
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}
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else if (data.Length < 5)
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{
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this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
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return false;
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}
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else if (MinRecvLength > 0 && data.Length < MinRecvLength)
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{
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this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
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return false;
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}
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else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
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{
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this.Message = $"STX/ETX Error";
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return false;
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}
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Buffer = new byte[data.Length];
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Array.Copy(data, Buffer, data.Length);
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STX = data[0];
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ETX = data[data.Length - 1];
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Array.Copy(data, data.Length - 3, checksum, 0, 2);
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Data = new byte[data.Length - 4];
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Array.Copy(data, 1, Data, 0, data.Length - 4);
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if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
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this.DataString = System.Text.Encoding.Default.GetString(Data);
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Valid = true;
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return true;
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}
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public Dataframe(byte[] buffer = null, int minlen = 0)
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{
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if (buffer != null) Parse(buffer);
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}
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}
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public override bool ProcessRecvData(byte[] data)
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{
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//LastReceiveBuffer
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var frame = new Dataframe(data, MinRecvLength);
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if (frame.Valid == false)
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{
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RaiseMessage(arRS232.MessageType.Error, frame.Message);
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return false;
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}
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else if (frame.DataString.StartsWith("$") == false && CheckSum(data) == false)
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{
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RaiseMessage(arRS232.MessageType.Error, "Checksum Error MSG=" + frame.DataString);
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return false;
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}
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var retval = true;
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///////////////////////////////////////////////////////////////////////////////
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if (frame.Cmd.Equals("ACK") || frame.Cmd.Equals("NAK"))
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{ // 응답확인값 수신 : Header(ACX), Length(9), CheckSum 확인
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RevACK(frame);
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}
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///////////////////////////////////////////////////////////////////////////////
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else if (frame.Cmd.Equals("STS"))
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{ // AGV 상태 정보 : Header(STS), Length(30), CheckSum 확인
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RevSTS(frame);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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else if ((frame.Cmd.Equals("TAG") || frame.Cmd.Equals("CAL") || frame.Cmd.Equals("CCA")))
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{ // TAG ID 정보 : Header(STX), Length(13), CheckSum 확인
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RevTAG(frame);
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}
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else if (frame.DataString.StartsWith("$"))
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{
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// $로 시작되는 AGV 상태 표시
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//var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' '); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
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//var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
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RaiseMessage(arRS232.MessageType.Normal, "$메세지수신:" + frame.DataString);
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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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DataReceive?.Invoke(this, new DataEventArgs(DataType.UNKNOWN));
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}
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catch (Exception ex)
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{
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RaiseMessage(arRS232.MessageType.Error, ex.Message);
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retval = false;
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}
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}
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return retval;
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}
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#region [수신] ACK(응답확인값) 분석
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public string ACKData { get; set; } = string.Empty;
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public DateTime ACKtime { get; set; } = DateTime.Now;
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private void RevACK(Dataframe frame)
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{
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//ACKSADA7
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var rcvdNow = frame.DataString;
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var bRcvData = frame.Buffer;
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ACKData = rcvdNow.Substring(3);
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ACKtime = DateTime.Now;
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if (rcvdNow.StartsWith("ACK"))
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{
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//RaiseMessage("get ack");
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DataReceive?.Invoke(this, new DataEventArgs(DataType.ACK));
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//if (datamanager.commandQueue.Count != 0)
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//{
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// byte[] bCmdData = encoding.GetBytes((String)datamanager.commandQueue.Peek());
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// if (bCmdData[1] == bRcvData[4] && bCmdData[2] == bRcvData[5] && bCmdData[3] == bRcvData[6]) //보낸값이 맞는지 확인후 Dequeue
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// {
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// nSendCount = 0;
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// datamanager.commandQueue.Dequeue();
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// sSendCommandString = "";
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// }
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//}
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}
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else if (rcvdNow.StartsWith("NAK"))
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{
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//RaiseMessage("get nak");
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DataReceive?.Invoke(this, new DataEventArgs(DataType.NAK));
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//nSendCount = 0; //NAK - 재전송이 날아왔을때 nSendCommandCounter 초기화
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}
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}
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#endregion
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public SystemFlag0 system0 = new SystemFlag0();
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public SystemFlag1 system1 = new SystemFlag1();
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public ErrorFlag error = new ErrorFlag();
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public AgvData data = new AgvData();
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public Signal signal = new Signal();
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#region [수신] STS(AGV상태정보) 분석
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public string LastSTS { get; set; } = string.Empty;
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private void RevSTS(Dataframe frame)
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{
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LastSTS = frame.DataString;
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string rcvdNow = frame.DataString;
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byte[] bRcvData = frame.Buffer;
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var encoding = System.Text.Encoding.Default;
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try
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{
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// AGV 베터리 잔량 표시 flag (4~6) /////////////////////////////////////////////////////////////////////////////////////////////////////////////
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var idx = 3;
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var battery = int.Parse(rcvdNow.Substring(idx, 3)) / 10f;// Convert.ToDouble(encoding.GetString(rcvdNow, 3, 3)) / 10;
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idx += 3;
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// AGV 장치연결상태 flag (7~10) ////////////////////////////////////////////////////////////////////////////////////////////////////////////
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var nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
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system0.SetValue(nDataTemp);
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idx += 4;
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// AGV Sts(현재 상태) flag (11~14) ////////////////////////////////////////////////////////////////////////////////////////////////////////////
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nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
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system1.SetValue(nDataTemp);
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idx += 4;
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// AGV Error flag (15~18)////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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nDataTemp = Convert.ToInt16(rcvdNow.Substring(idx, 4), 16);
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error.SetValue(nDataTemp);
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idx += 4;
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data.Speed = rcvdNow.Substring(idx, 1)[0]; idx += 1; //L,M.H
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data.Sts = rcvdNow.Substring(idx, 1)[0]; idx += 1; //S(직진),L(좌분기),R(우분기)
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data.Direction = rcvdNow.Substring(idx, 1)[0]; idx += 1; //F,B,L,R
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data.guidesensor = int.Parse(rcvdNow.Substring(idx, 1)); idx += 1; //가이드 좌측부터 1~9
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nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
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signal.SetValue(nDataTemp);
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//data.Sts = encoding.GetString(bRcvData, 19, 3); //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
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//var Sts_cSpeed = encoding.GetString(bRcvData, 19, 1)[0];
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//var Sts_cDirection = encoding.GetString(bRcvData, 20, 1)[0];
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//var Sts_cFB = encoding.GetString(bRcvData, 21, 1)[0];
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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////가이드센서 정보 (22)//////////////////////////////////////////////////////////////////////////////////////////////////////////
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//var Sts_nGuide = 0;
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//if (bRcvData[22] > 47 && bRcvData[22] < 58) { Sts_nGuide = Convert.ToInt32(encoding.GetString(bRcvData, 22, 1)); }
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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////마크센서 & 포토센서 정보 (23~24)////////////////////////////////////////////////////////////////////////////////////////////////////
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//nDataTemp = Convert.ToInt32(encoding.GetString(bRcvData, 23, 2), 16);
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//data.Sts_bMark1 = Convert.ToBoolean(nDataTemp & 0x4);
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//data.Sts_bMark2 = Convert.ToBoolean(nDataTemp & 0x8);
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//data.Sts_bCargo = Convert.ToBoolean(nDataTemp & 0x10);
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////포토센서
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//if (Sts_cFB == 'F')
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//{
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// system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 26, 1));
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//}
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//else if (Sts_cFB == 'B')
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//{
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// system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 27, 1));
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//}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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//AGV 속도/분기/방향 (19~21)//////////////////////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));
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}
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catch (Exception ex)
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{
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RaiseMessage(MessageType.Error, $"Parse Error(STS) = {ex.Message}");
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}
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}
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#endregion
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#region [수신] TAG(태그정보) 분석
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System.Text.Encoding encoding = System.Text.Encoding.Default;
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string old_TagString = string.Empty;
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string old_CALString = string.Empty;
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string old_CCAString = string.Empty;
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private void RevTAG(Dataframe frame)
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{
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string rcvdNow = frame.DataString;
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byte[] bRcvData = frame.Buffer;
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if (rcvdNow.StartsWith("TAG"))
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{
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//221123 chi 숫자로변경
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var tagnostr = rcvdNow.Substring(3);
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if (int.TryParse(tagnostr, out int tagnoint))
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{
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var Changed = !old_TagString.Equals(tagnostr);
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data.TagString = tagnostr;
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data.TagNo = tagnoint;
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old_TagString = tagnostr;
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DataReceive?.Invoke(this, new DataEventArgs(DataType.TAG));
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}
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WriteData(MakeCheckSum("ACKTAG"));
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}
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else if (rcvdNow.StartsWith("CAL"))
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{
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var tagnostr = encoding.GetString(bRcvData, 4, 4);
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if (int.TryParse(tagnostr, out int tagnoint))
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{
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var Changed = !old_CALString.Equals(tagnostr);
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data.CallString = tagnostr;
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data.CallNo = tagnoint;
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old_CALString = tagnostr;
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if (Changed) DataReceive?.Invoke(this, new DataEventArgs(DataType.CALL));
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}
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WriteData(MakeCheckSum("ACKCAL"));
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}
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else if (rcvdNow.StartsWith("CCA")) //능동형 Call에 의하여 들어 오는 구문
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{
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var tagnostr = encoding.GetString(bRcvData, 4, 4);
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if (int.TryParse(tagnostr, out int tagnoint))
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{
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var Changed = !old_CCAString.Equals(tagnostr);
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data.CCAString = tagnostr;
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data.CCANo = tagnoint;
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old_CCAString = tagnostr;
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if (Changed) DataReceive?.Invoke(this, new DataEventArgs(DataType.CCA));
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}
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WriteData(MakeCheckSum("ACKCCA"));
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}
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}
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#endregion
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private string MakeCheckSum(string sCommand)
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{
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//sCommand = sCommand.ToUpper();
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List<byte> buffer = new List<byte>();
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buffer.Add(0x02);
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//byte[] bCommand = System.Text.ASCIIEncoding.ASCII.GetBytes(sCommand);
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buffer.AddRange(System.Text.ASCIIEncoding.ASCII.GetBytes(sCommand));
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//make sum
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int nSum = 0;
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for (int nCnt = 1; nCnt < buffer.Count; nCnt++)
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nSum += buffer[nCnt];
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string sSum = nSum.ToString("X2").ToUpper();// Convert.ToString(nSum, 16).ToUpper();
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if (sSum.Length < 2) sSum = "0" + sSum;
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sSum = sSum.Substring(sSum.Length - 2);
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//if (sSum.Length == 3)
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// sSum = sSum.Remove(0, 1);
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//else if (sSum.Length == 4)
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// sSum = sSum.Remove(0, 2);
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buffer.AddRange(System.Text.ASCIIEncoding.Default.GetBytes(sSum));
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buffer.Add(0x03);
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// byte[] bStxEtx = { 0x02, 0x03 };
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//var orgstr = (System.Text.ASCIIEncoding.ASCII.GetString(bStxEtx, 0, 1) + sCommand + sSum + System.Text.ASCIIEncoding.ASCII.GetString(bStxEtx, 1, 1));
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var newstr = System.Text.Encoding.Default.GetString(buffer.ToArray());
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return newstr;
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}
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///// <summary>
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///// commandQueue에 명령을 추가합니다(체크섬은 자동 추가됨)
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///// </summary>
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///// <param name="cmd">체크섬을 제외한 평문</param>
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///// <param name="addlog">sendlog 에 추가할 경우 true를 입력하세요</param>
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//public void AddCommand(string cmd, bool addlog = true, int Repeat = 1)
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//{
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|
// var fullcmd = MakeCheckSum(cmd);
|
|
// for (int i = 0; i < Repeat; i++)
|
|
// commandQueue.Enqueue(fullcmd);
|
|
// if (addlog)
|
|
// {
|
|
// Message?.Invoke(this, new MessageEventArgs()
|
|
// }
|
|
//}
|
|
|
|
public enum eStopOpt
|
|
{
|
|
Stop = 0,
|
|
MarkStop,
|
|
MarkRotateLeft,
|
|
MarkRotateRight,
|
|
MarkChangeDirection,
|
|
}
|
|
public enum eRunOpt
|
|
{
|
|
NotSet,
|
|
Forward,
|
|
Backward,
|
|
}
|
|
|
|
public enum ManulOpt
|
|
{
|
|
FS,
|
|
BS,
|
|
RT,
|
|
LT,
|
|
FL,
|
|
FR,
|
|
BL,
|
|
BR,
|
|
}
|
|
public enum Sensor
|
|
{
|
|
PBSOff = 0,
|
|
PBSOn,
|
|
AllOn,
|
|
}
|
|
public enum Speed
|
|
{
|
|
High,
|
|
Mid,
|
|
Low,
|
|
}
|
|
public enum LiftCommand
|
|
{
|
|
/// <summary>
|
|
/// lift up
|
|
/// </summary>
|
|
UP,
|
|
/// <summary>
|
|
/// lift down
|
|
/// </summary>
|
|
DN,
|
|
/// <summary>
|
|
/// lift 동작 정지
|
|
/// </summary>
|
|
STP,
|
|
/// <summary>
|
|
/// magnet holder on
|
|
/// </summary>
|
|
ON,
|
|
/// <summary>
|
|
/// magnet holder off
|
|
/// </summary>
|
|
OFF
|
|
}
|
|
|
|
|
|
private bool CheckSum(byte[] bData)
|
|
{
|
|
if (bData.Length < 2) // 데이터 길이가 2이하일 경우 비정상 처리
|
|
return false;
|
|
|
|
int nSum = 0;
|
|
// byte[] bData = encoding.GetBytes(sData);
|
|
|
|
for (int nCnt = 1; nCnt < bData.Length - 3; nCnt++)
|
|
{
|
|
nSum += bData[nCnt];
|
|
}
|
|
|
|
|
|
string sSum = Convert.ToString(nSum, 16).ToUpper();
|
|
|
|
string sCSTemp = string.Empty;
|
|
|
|
if (sSum.Length == 3)
|
|
sCSTemp = sSum.Remove(0, 1);
|
|
else if (sSum.Length == 4)
|
|
sCSTemp = sSum.Remove(0, 2);
|
|
|
|
if (bData[bData.Length - 2] == '*' && bData[bData.Length - 3] == '*')
|
|
return true;
|
|
|
|
if (sCSTemp[0] == (char)(bData[bData.Length - 3]) && sCSTemp[1] == (char)(bData[bData.Length - 2]))
|
|
return true;
|
|
else
|
|
return false;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
}
|