diff --git a/ReadMe.MD b/ReadMe.MD index 427e742..1c2f529 100644 --- a/ReadMe.MD +++ b/ReadMe.MD @@ -38,7 +38,7 @@ This README provides a comprehensive overview of the `ENIGProtocol` library, mak ## 장비 목록 ``` -public enum DeviceType +public enum DeviceType : byte { ACS = 0, AGV1 = 10, @@ -53,9 +53,10 @@ public enum DeviceType ``` ### 기본 패킷 구조 ``` -[STX][LEN][CMD][DATA][CRC16][ETX] +[STX][LEN][ID][CMD][DATA][CRC16][ETX] ``` - **STX (Start of Text)**: 0x02 +- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType) - **LEN (Length)**: 데이터 길이 (1바이트) = {CMD+DATA} - **CMD (Command)**: 명령어 코드 (1바이트) - **DATA**: 명령어에 따른 데이터 (가변 길이) @@ -71,44 +72,39 @@ public enum DeviceType 2. **Buffer** - - E -> H | cmd(3): 상태 (data len=1 : 0=카트없음, 1=카트있음, 2=바쁨, 3=알수없음, 255=오류) + - E -> H | cmd(3): 상태 (data len=1 : 0=카트없음, 1=카트있음, 2=바쁨, 3=알수없음, 255=오류) + - H -> E | cmd(1): Lock + - Target[1] = {DeviceType} + - H -> E | cmd(2): UnLock + - Target[1] = {DeviceType} 3. **AGV** - H -> E | Move : cmd(100) : 대상태그까지 이동(자동이동) - - TagID[6] = 000000 + - Target[1] = {DeviceType} + - TagID[4] = 0000 - H -> E | Stop : cmd(101) : 멈춤 - H -> E | Reset : cmd(102) : 오류 소거 - H -> E | Charge On: cmd(103) : 충전실행(충전기 이동 후 자동 충전 진행) + - Target[1] = {DeviceType} - Action[1] : 0=Charge Off, 1=Charge On - H -> E | MoveManual : cmd(104) : 메뉴얼이동 + - Target[1] = {DeviceType} - Direction[1] : 0=Backward, 1=Forward, 2=TurnLeft, 3=TurnRight - Speed[1] : 0=Slow, 1=Normal, 2=Fast - Runtime[1] : 0 second - H -> E | MarkStop : cmd(105) : 마크센서스톱 + - Target[1] = {DeviceType} - H -> E | Lift Control : cmd(106) : 리프트제어 + - Target[1] = {DeviceType} - Action[1] : 0=STOP, 1=UP, 2=DOWN - - H -> E | ClearPath : cmd(107) : 설정된 경로를 삭제(기동중에 수신되는 경우 강제 정지) - + - E -> H | Move Complete : cmd(1) : 목적지이동완료 후 전송 + - TagID[4] : "0000" + - E -> H | TagID Received : cmd(2) : 태그값 인식시 전송 + - TagID[4] : "0000" - - H <-> E | Send Path : cmd(108) : 경로정보를 반환 (태그목록이 콤마로 분리되어 ASCII로 전송) - - PathID[1] : 1 : 명령어 식별번호, AGV상태값에 Path ID가 출력됨 - - PathCount[1] : 전체 태그 갯수 - - PageNo[1] : 1 : 데이터 총길이가 255를 넘어서면 페이지 분리하여 전달 - - PageCount[1] : 1 - - TagID[6]....[n] - - - E <-> H | Request Path : cmd(1) - - PathID[1] : 식별용 Path ID, 데이터전송대상은 동일 ID로 값을 반환해야한다 - - PathPage[1] : 요청페이지 (최초 1번 요청 후 수신데이터에서 다음페이지 존재한다면 페이지번호를 변경하여 요청해야 함) - - - E -> H | Move Complete : cmd(2) : 목적지이동완료 후 전송 - - TagID[6] : "000000" - - E -> H | TagID Received : cmd(3) : 태그값 인식시 전송 - - TagID[6] : "000000" - - - E -> H | Status : cmd(9) + - E -> H | Status : cmd(3) - Mode[1] : 0=manual, 1=auto - RunSt[1] : 0=stop, 1=run, 2=error - Diection[1] : 0=straight, 1=left, 2=right, 3=markstop @@ -116,7 +112,7 @@ public enum DeviceType - ChargeSt[1] : 0=off, 1=on - CartSt[1] : 0=off, 1=on, 2=unknown - LiftSt[1] : 0=down , 1=up, 2=unknown - - LastTag[6] : "000000" + - LastTag[4] : "0000" - CurrentPath[1] : Path ID , 0=미설정, 1~255(순차증가) 4. **Door** diff --git a/enigprotocol/Commands.cs b/enigprotocol/Commands.cs new file mode 100644 index 0000000..f443da9 --- /dev/null +++ b/enigprotocol/Commands.cs @@ -0,0 +1,17 @@ +using System; +using System.Collections.Generic; +using System.Text; + +namespace ENIGProtocol +{ + public enum AGVCommands + { + Goto = 100, + Stop = 101, + Reset, + SetCurrent, + Manual, + MarkStop, + LiftControl + } +} diff --git a/enigprotocol/ReadMe.MD b/enigprotocol/ReadMe.MD new file mode 100644 index 0000000..1c2f529 --- /dev/null +++ b/enigprotocol/ReadMe.MD @@ -0,0 +1,210 @@ +# ENIG Protocol + +ENIG 프로토콜 통신 라이브러리 + +**Explanation of the README Content:** + +1. **Title and Overview:** Clearly states the purpose of the library. +2. **Key Components:** Explains the main building blocks: + * `DeviceType` enum: Lists the device types. + * `Packet` class: Describes the packet structure. + * `EEProtocol` class: Explains its role in packet handling. +3. **Key Features:** Details the core functionalities of the `EEProtocol` class: + * Packet creation. + * Packet parsing. + * Data reception. + * Event-driven nature. + * CRC16 calculation. +4. **Usage:** Provides code examples for: + * Creating a packet. + * Parsing a packet. + * Processing received data. +5. **Error Handling:** Explains how the library handles invalid data and incomplete packets. +6. **Dependencies:** Lists any required frameworks or libraries. +7. **License:** Placeholder for the project's license. + +This README provides a comprehensive overview of the `ENIGProtocol` library, making it easy for other developers to understand and use it. I hope this is helpful! + + +## 개발 환경 +- Frameworks : .NET Standard 2.0 +- Visual Studio 2022 또는 Visual Studio Code + +## 프로젝트 구조 + +- `EEProtocol.cs`: ENIG 프로토콜 구현 +- `EEProtocolTests.cs`: 단위 테스트 코드 +- `Sample`: C# Winform 샘플 프로젝트 + +## 장비 목록 +``` +public enum DeviceType : byte +{ + ACS = 0, + AGV1 = 10, + AGV2 = 11, + BUFFER1 = 20, + BUFFER2 = 21, + BUFFER3 = 22, + BUFFER4 = 23, + BUFFER5 = 24, + DOOR = 30, +} +``` +### 기본 패킷 구조 +``` +[STX][LEN][ID][CMD][DATA][CRC16][ETX] +``` +- **STX (Start of Text)**: 0x02 +- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType) +- **LEN (Length)**: 데이터 길이 (1바이트) = {CMD+DATA} +- **CMD (Command)**: 명령어 코드 (1바이트) +- **DATA**: 명령어에 따른 데이터 (가변 길이) +- **CRC16**: 데이터 무결성 검사 (2바이트) +- **ETX (End of Text)**: 0x03 + +### 통신 방향 (호스트=ACS, 장비=agv,buffer,door) +- H -> E: 호스트에서 장비로 전송 +- E -> H: 장비에서 호스트로 전송 + +### 명령어 목록 +1. **ACS (AGV Control System)** + + +2. **Buffer** + - E -> H | cmd(3): 상태 (data len=1 : 0=카트없음, 1=카트있음, 2=바쁨, 3=알수없음, 255=오류) + - H -> E | cmd(1): Lock + - Target[1] = {DeviceType} + - H -> E | cmd(2): UnLock + - Target[1] = {DeviceType} + +3. **AGV** + - H -> E | Move : cmd(100) : 대상태그까지 이동(자동이동) + - Target[1] = {DeviceType} + - TagID[4] = 0000 + - H -> E | Stop : cmd(101) : 멈춤 + - H -> E | Reset : cmd(102) : 오류 소거 + - H -> E | Charge On: cmd(103) : 충전실행(충전기 이동 후 자동 충전 진행) + - Target[1] = {DeviceType} + - Action[1] : 0=Charge Off, 1=Charge On + - H -> E | MoveManual : cmd(104) : 메뉴얼이동 + - Target[1] = {DeviceType} + - Direction[1] : 0=Backward, 1=Forward, 2=TurnLeft, 3=TurnRight + - Speed[1] : 0=Slow, 1=Normal, 2=Fast + - Runtime[1] : 0 second + - H -> E | MarkStop : cmd(105) : 마크센서스톱 + - Target[1] = {DeviceType} + + - H -> E | Lift Control : cmd(106) : 리프트제어 + - Target[1] = {DeviceType} + - Action[1] : 0=STOP, 1=UP, 2=DOWN + + - E -> H | Move Complete : cmd(1) : 목적지이동완료 후 전송 + - TagID[4] : "0000" + - E -> H | TagID Received : cmd(2) : 태그값 인식시 전송 + - TagID[4] : "0000" + + - E -> H | Status : cmd(3) + - Mode[1] : 0=manual, 1=auto + - RunSt[1] : 0=stop, 1=run, 2=error + - Diection[1] : 0=straight, 1=left, 2=right, 3=markstop + - Inposition[1] : 0=off, 1=on : 목적위치에 도달완료 시 설정 이동 이동시 OFF됨 + - ChargeSt[1] : 0=off, 1=on + - CartSt[1] : 0=off, 1=on, 2=unknown + - LiftSt[1] : 0=down , 1=up, 2=unknown + - LastTag[4] : "0000" + - CurrentPath[1] : Path ID , 0=미설정, 1~255(순차증가) + +4. **Door** + - H -> E | cmd(1): 출입문 열기 + - H -> E | cmd(2): 출입문 닫기 + - E -> H | cmd(3): 출입문 상태 (data len=1 : 0=닫힘, 1=열림, 2=바쁨, 3=알수없음, 255=오류) + +### CRC16 계산 +- CRC16 다항식 사용 +- 초기값: 0xFFFF +- 데이터 무결성 검증에 사용 + + +#### CRC-16 테이블 값 +``` +0x0000, 0x408E, 0x73EF, 0x3361, 0x152D, 0x55A3, 0x66C2, 0x264C, +0x2A5A, 0x6AD4, 0x59B5, 0x193B, 0x3F77, 0x7FF9, 0x4C98, 0x0C16, +0x54B4, 0x143A, 0x275B, 0x67D5, 0x4199, 0x0117, 0x3276, 0x72F8, +0x7EEE, 0x3E60, 0x0D01, 0x4D8F, 0x6BC3, 0x2B4D, 0x182C, 0x58A2, +0x5B9B, 0x1B15, 0x2874, 0x68FA, 0x4EB6, 0x0E38, 0x3D59, 0x7DD7, +0x71C1, 0x314F, 0x022E, 0x42A0, 0x64EC, 0x2462, 0x1703, 0x578D, +0x0F2F, 0x4FA1, 0x7CC0, 0x3C4E, 0x1A02, 0x5A8C, 0x69ED, 0x2963, +0x2575, 0x65FB, 0x569A, 0x1614, 0x3058, 0x70D6, 0x43B7, 0x0339, +0x45C5, 0x054B, 0x362A, 0x76A4, 0x50E8, 0x1066, 0x2307, 0x6389, +0x6F9F, 0x2F11, 0x1C70, 0x5CFE, 0x7AB2, 0x3A3C, 0x095D, 0x49D3, +0x1171, 0x51FF, 0x629E, 0x2210, 0x045C, 0x44D2, 0x77B3, 0x373D, +0x3B2B, 0x7BA5, 0x48C4, 0x084A, 0x2E06, 0x6E88, 0x5DE9, 0x1D67, +0x1E5E, 0x5ED0, 0x6DB1, 0x2D3F, 0x0B73, 0x4BFD, 0x789C, 0x3812, +0x3404, 0x748A, 0x47EB, 0x0765, 0x2129, 0x61A7, 0x52C6, 0x1248, +0x4AEA, 0x0A64, 0x3905, 0x798B, 0x5FC7, 0x1F49, 0x2C28, 0x6CA6, +0x60B0, 0x203E, 0x135F, 0x53D1, 0x759D, 0x3513, 0x0672, 0x46FC, +0x7979, 0x39F7, 0x0A96, 0x4A18, 0x6C54, 0x2CDA, 0x1FBB, 0x5F35, +0x5323, 0x13AD, 0x20CC, 0x6042, 0x460E, 0x0680, 0x35E1, 0x756F, +0x2DCD, 0x6D43, 0x5E22, 0x1EAC, 0x38E0, 0x786E, 0x4B0F, 0x0B81, +0x0797, 0x4719, 0x7478, 0x34F6, 0x12BA, 0x5234, 0x6155, 0x21DB, +0x22E2, 0x626C, 0x510D, 0x1183, 0x37CF, 0x7741, 0x4420, 0x04AE, +0x08B8, 0x4836, 0x7B57, 0x3BD9, 0x1D95, 0x5D1B, 0x6E7A, 0x2EF4, +0x7656, 0x36D8, 0x05B9, 0x4537, 0x637B, 0x23F5, 0x1094, 0x501A, +0x5C0C, 0x1C82, 0x2FE3, 0x6F6D, 0x4921, 0x09AF, 0x3ACE, 0x7A40, +0x3CBC, 0x7C32, 0x4F53, 0x0FDD, 0x2991, 0x691F, 0x5A7E, 0x1AF0, +0x16E6, 0x5668, 0x6509, 0x2587, 0x03CB, 0x4345, 0x7024, 0x30AA, +0x6808, 0x2886, 0x1BE7, 0x5B69, 0x7D25, 0x3DAB, 0x0ECA, 0x4E44, +0x4252, 0x02DC, 0x31BD, 0x7133, 0x577F, 0x17F1, 0x2490, 0x641E, +0x6727, 0x27A9, 0x14C8, 0x5446, 0x720A, 0x3284, 0x01E5, 0x416B, +0x4D7D, 0x0DF3, 0x3E92, 0x7E1C, 0x5850, 0x18DE, 0x2BBF, 0x6B31, +0x3393, 0x731D, 0x407C, 0x00F2, 0x26BE, 0x6630, 0x5551, 0x15DF, +0x19C9, 0x5947, 0x6A26, 0x2AA8, 0x0CE4, 0x4C6A, 0x7F0B, 0x3F85, +``` + + +#### CRC16 계산 테이블 생성 코드 +```csharp +const ushort polynomial = 0x7979; +ushort[] CRC16_TABLE = new ushort[256]; + +for (ushort i = 0; i < CRC16_TABLE.Length; i++) +{ + ushort value = 0; + ushort temp = i; + for (byte j = 0; j < 8; j++) + { + if (((value ^ temp) & 0x0001) != 0) + { + value = (ushort)((value >> 1) ^ polynomial); + } + else + { + value >>= 1; + } + temp >>= 1; + } + CRC16_TABLE[i] = value; +} +``` + +#### CRC16 계산 예시 +```csharp +ushort CalculateCRC16(byte[] data) +{ + ushort crc = 0xFFFF; + for (int i = 0; i < data.Length; i++) + { + byte index = (byte)(crc ^ data[i]); + crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]); + } + return crc; +} +``` + +## 라이센스 + + + + +