616 lines
20 KiB
C#
616 lines
20 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Globalization;
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using System.Linq;
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using System.Security.Cryptography.X509Certificates;
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using System.Text;
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using System.Windows.Forms;
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using System.Windows.Forms.VisualStyles;
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using static AGVEmulator.DevAGV;
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namespace AGVEmulator
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{
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public partial class Form1 : Form
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{
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arUtil.Log logAGV, logBMS, logCAL;
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DevBMS BMS;
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DevAGV AGV;
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DevXBE XBE;
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float BMS_MaxA = 80f;
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float BMS_Remain = 79f;
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float BMS_CurA = 70f;
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float BMS_Volt = 25.4f;
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UInt16[] cellvolt = new UInt16[] { 0, 0, 0, 0, 0, 0, 0, 0 };
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public Form1()
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{
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InitializeComponent();
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this.Text = $"{Application.ProductName} ver.{Application.ProductVersion}";
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// logPLC = new arUtil.Log();
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logAGV = new arUtil.Log();
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logBMS = new arUtil.Log();
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logCAL = new arUtil.Log();
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// logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
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logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
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logBMS.FileNameFormat = "{yyyyMMdd}_BMS";
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logCAL.FileNameFormat = "{yyyyMMdd}_CAL";
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// logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
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logAGV.RaiseMsg += (s1, e1, d1) =>
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{
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if (d1.StartsWith("Tx"))
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this.rtAGV.AddMsg(s1, e1, d1);
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else
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this.rtAGVPro.AddMsg(s1, e1, d1);
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};
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logBMS.RaiseMsg += (s1, e1, d1) => { this.rtBMS.AddMsg(s1, e1, d1); };
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logCAL.RaiseMsg += (s1, e1, d1) => { this.rtCAL.AddMsg(s1, e1, d1); };
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var logcolor = new arCtl.sLogMessageColor[] {
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new arCtl.sLogMessageColor("NORM", Color.White),
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new arCtl.sLogMessageColor("INF", Color.SkyBlue),
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new arCtl.sLogMessageColor("WARN", Color.Tomato),
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new arCtl.sLogMessageColor("ERR", Color.Red),
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new arCtl.sLogMessageColor("RX", Color.Lime),
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new arCtl.sLogMessageColor("TX", Color.Orange),
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};
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//rtPLC.ColorList = logcolor;
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rtAGV.ColorList = logcolor;
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rtBMS.ColorList = logcolor;
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rtCAL.ColorList = logcolor;
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rtAGVPro.ColorList = logcolor;
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this.FormClosed += Form1_FormClosed;
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BMS = new DevBMS();
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AGV = new DevAGV();
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XBE = new DevXBE();
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this.serAGV.dev = AGV;
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this.serBMS.dev = BMS;
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this.serCAL.dev = XBE;
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BMS.Message += BMS_Message;
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AGV.Message += AGV_Message;
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XBE.Message += CAL_Message;
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BMS.RequestBatteryData += Bms_RequestBatteryData;
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BMS.RequestVoltageData += BMS_RequestVoltageData;
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XBE.ProtocReceived += CAL_ProtocReceived;
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AGV.RequestStatusData += Agv_RequestStatusData;
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AGV.ValueChanged += Agv_ValueChanged;
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AGV.StsValueChanged += Agv_StsValueChanged;
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AGV.Command += Agv_Command;
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}
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Random rnd;
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private void Form1_Load(object sender, EventArgs e)
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{
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rnd = new Random(3000);
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serAGV.BaudRate = 57600;
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// serPLC.BaudRate = 57600;
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trackBar1_Scroll(null, null);
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trbT2_Scroll(null, null);
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trbT1_Scroll(null, null);
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timer1.Start();
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//plc inout 이름 설정
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List<string> titles = new List<string>();
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List<bool> values = new List<bool>();
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var arrs = Enum.GetNames(typeof(DevAGV.esystemflag0));
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foreach (var item in arrs)
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{
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var data = (DevAGV.esystemflag0)Enum.Parse(typeof(DevAGV.esystemflag0), item);
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var chk = new CheckBox();
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chk.Text = $"[{(int)data:00}] {item}";
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chk.AutoSize = true;
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chk.Visible = true;
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chk.Tag = (int)data;
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chk.Dock = DockStyle.Top;
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chk.CheckedChanged += Chk_CheckedChanged;
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this.panel6.Controls.Add(chk);
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chk.Checked = true; //기본값 rue
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}
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arrs = Enum.GetNames(typeof(DevAGV.esystemflag1));
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foreach (var item in arrs)
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{
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var data = (DevAGV.esystemflag1)Enum.Parse(typeof(DevAGV.esystemflag1), item);
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var chk = new CheckBox();
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chk.Text = $"[{(int)data:00}] {item}";
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chk.AutoSize = true;
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chk.Visible = true;
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chk.Tag = (int)data;
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chk.Dock = DockStyle.Top;
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chk.CheckedChanged += Chk_CheckedChanged;
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this.panel7.Controls.Add(chk);
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}
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arrs = Enum.GetNames(typeof(DevAGV.esignal));
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foreach (var item in arrs)
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{
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var data = (DevAGV.esignal)Enum.Parse(typeof(DevAGV.esignal), item);
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var chk = new CheckBox();
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chk.Text = $"[{(int)data:00}] {item}";
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chk.AutoSize = true;
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chk.Visible = true;
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chk.Tag = (int)data;
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chk.Dock = DockStyle.Top;
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chk.CheckedChanged += Chk_CheckedChanged;
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this.panel8.Controls.Add(chk);
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}
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arrs = Enum.GetNames(typeof(DevAGV.eerror));
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foreach (var item in arrs)
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{
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var data = (DevAGV.eerror)Enum.Parse(typeof(DevAGV.eerror), item);
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var chk = new CheckBox();
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chk.Text = $"[{(int)data:00}] {item}";
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chk.AutoSize = true;
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chk.Visible = true;
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chk.Tag = (int)data;
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chk.Dock = DockStyle.Top;
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chk.CheckedChanged += Chk_CheckedChanged;
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this.panel9.Controls.Add(chk);
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}
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//기본 중지상태로 변환
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AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
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foreach (RadioButton rad in groupBox5.Controls)
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{
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rad.CheckedChanged += (s1, e1) =>
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{
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if (rad.Checked)
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{
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AGV.sts_dir = rad.Text[0];
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}
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};
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}
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foreach (RadioButton rad in groupBox2.Controls)
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{
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rad.CheckedChanged += (s1, e1) =>
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{
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if (rad.Checked)
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{
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AGV.sts_bunki = rad.Text[0];
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}
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};
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}
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foreach (RadioButton rad in groupBox4.Controls)
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{
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rad.CheckedChanged += (s1, e1) =>
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{
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if (rad.Checked)
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{
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AGV.sts_speed = rad.Text[0];
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}
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};
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}
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foreach (RadioButton rad in groupBox8.Controls)
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{
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rad.CheckedChanged += (s1, e1) =>
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{
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if (rad.Checked)
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{
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AGV.sts_sensor = rad.Text[0];
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}
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};
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}
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MakeViewer();
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agvViewer1.TagTouched += AgvViewer1_TagTouched;
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agvViewer1.MarkTouched += AgvViewer1_MarkTouched;
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agvViewer1.Command += AgvViewer1_Command;
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}
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void MakeViewer()
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{
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//태그목록
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List<UC.AgvViewer.ptdata> listTAG = new List<UC.AgvViewer.ptdata>();
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//var strtag = new string[] {
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// "9000", "9001", //not
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// "9010", "9011",
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// //"9020", "9021",
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// "9030", "9031",
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// // "9040", "9041",
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// "9050", "9051",
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// // "9060", "9061",
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// "9070", "9071",
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// "9080", "9081",
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// "9090", "9091"};
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//foreach(var tag in strtag)
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//{
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// listTAG.Add(new UC.AgvViewer.ptdata {
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// active=false,
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// data = tag,
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// pos =
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// });
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//}
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//agvViewer1.listTAG = listTAG.ToArray();
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//마크지점
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List<UC.AgvViewer.ptdata> listMRK = new List<UC.AgvViewer.ptdata>();
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var strmark = new string[] { "NOT", "QC", "CHG", "{0}", "#1", "{1}", "#2", "{2}", "#3", "{3}", "#4", "POT" };
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var pos = 50;
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var tagstart = 9000;
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foreach (var item in strmark)
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{
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listMRK.Add(new UC.AgvViewer.ptdata
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{
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pos = pos,
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data = item,
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});
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if (item.Equals("CHG"))
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{
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pos += 100;
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continue;
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}
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else if (item.Equals("{0}")) tagstart = 9350;
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else if (item.Equals("{1}")) tagstart = 9450;
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else if (item.Equals("{2}")) tagstart = 9550;
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else if (item.Equals("{3}")) tagstart = 9650;
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else if (item.Equals("#1")) tagstart = 9400;
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else if (item.Equals("#2")) tagstart = 9500;
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else if (item.Equals("#3")) tagstart = 9600;
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else if (item.Equals("#4")) tagstart = 9700;
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//지정위치 좌우에 태그를 심는다
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listTAG.Add(new UC.AgvViewer.ptdata
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{
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pos = pos - 20,
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data = tagstart.ToString(),
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});
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if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
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tagstart += 1;
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listTAG.Add(new UC.AgvViewer.ptdata
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{
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pos = pos + 20,
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data = tagstart.ToString(),
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});
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pos += 100;
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if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
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tagstart += 99;
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else
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tagstart += 100;
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if (item.Equals("NOT"))
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tagstart = 9300;
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//else
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//{
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// pos += 100;
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// tagstart += 10;
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//}
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}
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agvViewer1.listMRK = listMRK.ToArray();
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agvViewer1.listTAG = listTAG.ToArray();
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agvViewer1.Invalidate();
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}
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private void AgvViewer1_Command(object sender, UC.AgvViewer.TagArgs e)
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{
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if (e.Data == "stop")
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{
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AGV.SetAGV(esystemflag1.agv_run, false);
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AGV.SetAGV(esystemflag1.agv_stop, true);
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logAGV.Add("시뮬로부터 자동 중지");
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}
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}
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private void AgvViewer1_MarkTouched(object sender, UC.AgvViewer.TagArgs e)
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{
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// throw new NotImplementedException();
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AGV.SetAGV(esignal.mark_sensor_1, e.Active);
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logAGV.Add($"mark {e.Data} touch:{e.Active}");
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}
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private void AgvViewer1_TagTouched(object sender, UC.AgvViewer.TagArgs e)
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{
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logAGV.Add($"tag touch:{e.Data}");
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numericUpDown1.Value = decimal.Parse(e.Data);
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button18.PerformClick();
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}
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char GetGroupItemCheckbox(GroupBox grp)
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{
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foreach (var ctl in grp.Controls)
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{
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if (ctl is RadioButton)
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{
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var rad = ctl as RadioButton;
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if (rad.Checked) return rad.Text[0];
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}
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}
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return '0';
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}
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int PLC_LeftPosition = 0;
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int PLC_RightPosition = 0;
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int PLC_LeftDir = 0;
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int PLC_RightDir = 0;
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public void SetBit(ref UInt16 _value, int idx, Boolean value)
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{
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if (value)
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{
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var offset = (UInt16)(1 << idx);
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_value = (UInt16)(_value | offset);
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}
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else
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{
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var offset = (UInt16)(~(1 << idx));
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_value = (UInt16)(_value & offset);
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}
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}
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public void SetBit(ref byte _value, int idx, Boolean value)
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{
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if (value)
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{
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var offset = (byte)(1 << idx);
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_value = (byte)(_value | offset);
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}
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else
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{
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var offset = (byte)(~(1 << idx));
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_value = (byte)(_value & offset);
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}
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}
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void aaplycheckboxbit(ref UInt16 v, Panel p)
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{
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foreach (CheckBox chk in p.Controls)
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{
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var idx = int.Parse(chk.Tag.ToString());
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SetBit(ref v, idx, chk.Checked);
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}
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}
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void aaplycheckboxbit(ref byte v, Panel p)
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{
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foreach (CheckBox chk in p.Controls)
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{
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var idx = int.Parse(chk.Tag.ToString());
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SetBit(ref v, idx, chk.Checked);
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}
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}
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private void button5_Click(object sender, EventArgs e)
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{
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AGV.WriteData("ACK");
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}
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private void button4_Click(object sender, EventArgs e)
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{
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AGV.WriteData("NAK");
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}
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private void trackBar1_Scroll(object sender, EventArgs e)
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{
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BMS_MaxA = float.Parse(label4.Text);
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BMS_CurA = (float)(trackBar1.Value / 100f);
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BMS_Remain = 100f * (BMS_CurA / BMS_MaxA);// (trackBar1.Value / 10f);
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var minvolt = 20.2f;
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var maxvolt = 26.8f;
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// BMS_CurA = (BMS_MaxA * (BMS_Remain / 100f));
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label3.Text = BMS_CurA.ToString("N0"); //curr amp
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label5.Text = $"{BMS_Remain:N2}%";
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BMS_Volt = minvolt + ((maxvolt - minvolt) * (BMS_CurA / BMS_MaxA));
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label6.Text = $"{BMS_Volt:N2}v";
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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timer1.Stop();
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sbAGV.ForeColor = AGV.IsOpen ? Color.ForestGreen : Color.Red;
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// sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
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sbBMS.ForeColor = BMS.IsOpen ? Color.ForestGreen : Color.Red;
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sbCAL.ForeColor = XBE.IsOpen ? Color.ForestGreen : Color.Red;
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//if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData(); //자동전송해야함
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if (checkBox3.Checked && AGV != null && AGV.IsOpen) AGV.AutoSendData(); //자동전송해야함
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if (BMS != null && BMS.IsOpen) BMS.AutoSendData(); //자동전송해야함
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if (XBE != null && XBE.IsOpen) XBE.AutoSendData(); //자동전송해야함
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if (chkSimulation.Checked && AGV.GetAGV(esystemflag1.agv_run))
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{
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if (radioButton15.Checked)
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{
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agvViewer1.dir = 1;
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}
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else
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{
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agvViewer1.dir = -1;
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}
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if (radioButton12.Checked) agvViewer1.mspd = 7;
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else if (radioButton11.Checked) agvViewer1.mspd = 20;
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else agvViewer1.mspd = 40;
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agvViewer1.Invalidate();
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}
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timer1.Start();
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}
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private void Form1_FormClosed(object sender, FormClosedEventArgs e)
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{
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timer1.Stop();
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logAGV.Flush();
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logBMS.Flush();
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logCAL.Flush();
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}
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private void button14_Click(object sender, EventArgs e)
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{
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//agv 정지
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//비상정지 에러 플래그
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AGV.SetAGV(DevAGV.eerror.Emergency, true);
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AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
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AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
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}
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private void button16_Click(object sender, EventArgs e)
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{
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AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, true);
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}
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private void button15_Click(object sender, EventArgs e)
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{
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AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, false);
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}
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private void button17_Click(object sender, EventArgs e)
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{
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//agv 정지
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//비상정지 에러 플래그
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AGV.SetAGV(DevAGV.eerror.Emergency, false);
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AGV.SetAGV(DevAGV.eerror.line_out_error, false);
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AGV.SetAGV(DevAGV.eerror.Overcurrent, false);
|
|
AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
|
|
AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
|
|
}
|
|
|
|
|
|
|
|
private void Chk_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
var chk = sender as CheckBox;
|
|
var idx = int.Parse(chk.Tag.ToString());
|
|
|
|
switch (chk.Parent.Tag.ToString().ToLower())
|
|
{
|
|
case "s0":
|
|
var v0 = (DevAGV.esystemflag0)idx;
|
|
AGV.SetAGV(v0, chk.Checked);
|
|
break;
|
|
case "s1":
|
|
var v1 = (DevAGV.esystemflag1)idx;
|
|
AGV.SetAGV(v1, chk.Checked);
|
|
break;
|
|
case "er":
|
|
var v2 = (DevAGV.eerror)idx;
|
|
AGV.SetAGV(v2, chk.Checked);
|
|
break;
|
|
case "sg":
|
|
var v3 = (DevAGV.esignal)idx;
|
|
AGV.SetAGV(v3, chk.Checked);
|
|
break;
|
|
}
|
|
|
|
chk.BackColor = chk.Checked ? Color.Lime : SystemColors.Window;
|
|
}
|
|
|
|
private void button18_Click(object sender, EventArgs e)
|
|
{
|
|
AGV.SendTag(numericUpDown1.Value.ToString());
|
|
}
|
|
|
|
private void agvViewer1_MouseDown(object sender, MouseEventArgs e)
|
|
{
|
|
if (e.Button == MouseButtons.Left)
|
|
{
|
|
agvViewer1.StopbyMark = !agvViewer1.StopbyMark;
|
|
}
|
|
else if (e.Button == MouseButtons.Right)
|
|
{
|
|
MakeViewer();
|
|
}
|
|
}
|
|
|
|
private void button6_Click(object sender, EventArgs e)
|
|
{
|
|
var target = (byte)nudIDAgv.Value;
|
|
var tagno = (uint)nudTagNo.Value;
|
|
this.XBE.SendGotoTag(target, tagno);
|
|
}
|
|
|
|
private void button1_Click(object sender, EventArgs e)
|
|
{
|
|
var target = (byte)nudIDAgv.Value;
|
|
var tagno = (uint)numericUpDown2.Value;
|
|
this.XBE.SendCurrentPos(target, tagno);
|
|
}
|
|
|
|
UInt16 Temp1, Temp2;
|
|
private void trbT1_Scroll(object sender, EventArgs e)
|
|
{
|
|
//값에 /10해서 표시한다.
|
|
Temp1 =(UInt16) trbT1.Value;
|
|
label10.Text = $"{Temp1 / 10f}º";
|
|
|
|
}
|
|
|
|
private void trbT2_Scroll(object sender, EventArgs e)
|
|
{
|
|
Temp2 = (UInt16)trbT2.Value;
|
|
label11.Text = $"{Temp2 / 10f}º";
|
|
}
|
|
|
|
private void toolStripButton1_Click(object sender, EventArgs e)
|
|
{
|
|
serAGV.Connect();
|
|
serBMS.Connect();
|
|
serCAL.Connect();
|
|
}
|
|
|
|
private void toolStripButton2_Click(object sender, EventArgs e)
|
|
{
|
|
serAGV.Disconnect();
|
|
serBMS.Disconnect();
|
|
serCAL.Disconnect();
|
|
}
|
|
|
|
|
|
}
|
|
}
|