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+1,
    AGV2 = 10+2,
    BUFFER1 = 20+1,
    BUFFER2 = 20+2,
    BUFFER3 = 20+3,
    BUFFER4 = 20+4,
    BUFFER5 = 20+5,
    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 | Move : cmd(107) : 대상별칭까지 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

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

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