static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
g_frmMain = new frmMain();
data = new Database();
server = new TcpIpServer();
formRobot_1 = new formRobotCom_1();
formRobot_2 = new formRobotCom_2();
Application.Run(g_frmMain);
//Application.Run(formRobot_1);
//Application.Run(formRobot_2);
}
//static void Woman_InOrder(NetworkStream stream)
//{
// int length = 0;
// string data = "";
// byte[] bytes = new byte[256];
// //string cmd_in_order = "IN_ORDER";
// //string productNo = "";
// //string in_prod_pos = "";
// if (stream.DataAvailable != true)
// return;
// while ((length = stream.Read(bytes, 0, bytes.Length)) != 0)
// {
// data = Encoding.Default.GetString(bytes, 0, length);
// Program.g_frmMain.AddConsoleOutput(String.Format("수신 : {0}", data));
// //string[] sRcvMessage = data.Split(new string[] { "{{$", "=", "[!]", "$}}", "MSGID", "CMD", "NUMBER" }, StringSplitOptions.RemoveEmptyEntries);
// //productNo = sRcvMessage[2];
// //if (sRcvMessage[2] == WOMAN1001) in_prod_pos = WSTG01;
// //else if (sRcvMessage[2] == WOMAN1002) in_prod_pos = WSTG02;
// //else if (sRcvMessage[2] == WOMAN1003) in_prod_pos = WSTG03;
// //SendCmdToRobot(ref stream, cmd_in_order, in_prod_pos);
// //Woman_Order_Rev(ref stream);
// //Program.data.insertValue(productNo,in_prod_pos);
// //Program.g_frmMain.AddConsoleOutput("입고기록 삽입");
// }
//}
//public static void Woman_Order_Rev(ref NetworkStream stream, string product_code, string out_product_position)
//{
// int length = 0;
// string data = "";
// byte[] bytes = new byte[256];
// try
// {
// while ((length = stream.Read(bytes, 0, bytes.Length)) != 0)
// {
// data = Encoding.Default.GetString(bytes, 0, length);
// // string[] sRcvMessage = data.Split(new string[] { "{{$", "=", "[!]", "$}}", "MSGID", "CMD", "POS", "STATE"}, StringSplitOptions.RemoveEmptyEntries);
// if (data.Contains("COMPLETE_OUTPUT"))
// {
// Program.g_frmMain.AddConsoleOutput("작업 완료/출고 완료");
// Program.data.RowDelete();
// Program.g_frmMain.AddConsoleOutput("주문 테이블 삭제");
// break;
// }
// //if (data.Contains("COMPLETE_INPUT"))
// //{
// // Program.g_frmMain.AddConsoleOutput("작업 완료/입고 완료");
// // break;
// //}
// //foreach (var k in dicWomanLog.Keys)
// //{
// // if (data.Contains(k))
// // {
// // Program.g_frmMain.AddConsoleOutput(dicWomanLog[k]);
// // }
// //}
// //foreach (var p in dicWomanPos)
// //{
// // if (data.Contains(p))
// // {
// // sPosition = p;
// // }
// //}
// }
// }
// catch( Exception ex )
// {
// }
//}
private static void RobotComProc_Woman()
{
TcpClient client = TcpIpServer.GetWomanClient();
Program.g_frmMain.AddConsoleOutput(string.Format("Woman 로봇 :{0}", ((IPEndPoint)client.Client.RemoteEndPoint).Address.ToString()));
NetworkStream stream = client.GetStream();
while (true)
{
Thread.Sleep(1);
Woman_OutOrder(stream);
//Woman_InOrder(stream);
}
//stream.Close();
//client.Close();
}
private void button2_Click(object sender, EventArgs e)
{
TcpIpServer.SendCmdToWoman("MOVE", "LEFT");
}
private void Output_Click(object sender, EventArgs e)
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
}
private void tmr_man_seq_Tick(object sender, EventArgs e)
{
switch (man_seq_step)
{
case 0:
{
if (target_man.Route == null || target_man.Dest == null)
{
tmr_man_seq.Enabled = false;
tmr_man_seq.Stop();
}
if (target_man.Route == "" || target_man.Dest == "")
{
tmr_man_seq.Enabled = false;
tmr_man_seq.Stop();
}
man_seq_step = 5;
}
break;
case 5:
{
if (man_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "UP");
}
else if (man_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "DOWN");
}
man_tickcount_ms = Environment.TickCount;
man_seq_step = 6;
}
break;
case 6:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > man_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 20;
}
}
break;
case 20:
{
if (man_route_code == target_man.Route)
{
TcpIpServer.SendCmdToMan("MOVE", "STOP");
man_seq_step = 30;
}
}
break;
case 30:
{
TcpIpServer.SendCmdToMan("MOVE", "LEFT_TURN_90");
man_seq_step = 35;
}
break;
case 35:
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 40;
}
break;
case 40:
{
if (man_route_code == target_man.Dest)
{
TcpIpServer.SendCmdToMan("MOVE", "STOP");
man_seq_step = 50;
}
}
break;
case 50:
{
if (man_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "DOWN");
}
else if (man_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "UP");
}
man_tickcount_ms = Environment.TickCount;
man_seq_step = 60;
}
break;
case 60:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > man_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToMan("MOVE", "LEFT_TURN_180");
man_seq_step = 65;
}
}
break;
case 65:
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 70;
}
break;
case 70:
{
if (man_route_code == target_man.Route)
{
TcpIpServer.SendCmdToMan("MOVE", "STOP");
man_seq_step = 75;
}
}
break;
case 75:
{
TcpIpServer.SendCmdToMan("MOVE", "LEFT_TURN_90");
man_seq_step = 80;
}
break;
case 80:
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 90;
}
break;
case 90:
{
if (man_INPUT_OUTPUT == "OUTPUT")
{
if (man_route_code == target_man.output)
{
TcpIpServer.SendCmdToMan("MOVE", "STOP");
man_seq_step = 100;
}
}
else if (man_INPUT_OUTPUT == "INPUT")
{
if (man_route_code == target_man.output)
{
TcpIpServer.SendCmdToMan("MOVE", "STOP");
man_seq_step = 100;
}
}
}
break;
case 100:
{
if (man_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "LEFT_TURN_90");
man_seq_step = 110;
}
else if (man_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "DOWN");
man_tickcount_ms = Environment.TickCount;
man_seq_step = 105;
}
}
break;
case 105:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > man_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToMan("MOVE", "LEFT_TURN_90");
man_seq_step = 110;
}
}
break;
case 110:
{
if (man_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 120;
}
else if (man_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToMan("MOVE", "FORWARD");
man_seq_step = 120;
}
}
break;
case 120:
{
if (man_INPUT_OUTPUT == "INPUT")
{
if (man_route_code == target_man.input)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
man_seq_step = 121;
}
}
else if (man_INPUT_OUTPUT == "OUTPUT")
{
if (man_route_code == target_man.input)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
TcpIpServer.SendCmdToWoman("MOVE", "LEFT_TURN_90");
Program.g_frmMain.AddConsoleOutput("작업 완료/출고 완료");
tmr_man.Enabled = false;
tmr_man.Stop();
tmr_man_seq.Enabled = false;
tmr_man_seq.Stop();
}
}
}
break;
case 121:
{
TcpIpServer.SendCmdToWoman("MOVE", "LEFT_TURN_90");
Program.g_frmMain.AddConsoleOutput("작업 완료/입고 완료");
tmr_man_seq.Enabled = false;
tmr_man_seq.Stop();
}
break;
}
}
private void tmr_woman_seq_Tick(object sender, EventArgs e)
{
switch (woman_seq_step)
{
case 0:
{
if (target_woman.Route == null || target_woman.Dest == null)
{
tmr_woman_seq.Enabled = false;
tmr_woman_seq.Stop();
}
if (target_woman.Route == "" || target_woman.Dest == "")
{
tmr_woman_seq.Enabled = false;
tmr_woman_seq.Stop();
}
woman_seq_step = 5;
}
break;
case 5:
{
if (woman_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "UP");
}
else if (woman_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "DOWN");
}
woman_tickcount_ms = Environment.TickCount;
woman_seq_step = 6;
}
break;
case 6:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > woman_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 20;
}
}
break;
case 20:
{
if (woman_route_code == target_woman.Route)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 30;
}
}
break;
case 30:
{
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
woman_seq_step = 35;
}
break;
case 35:
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 40;
}
break;
case 40:
{
if (woman_route_code == target_woman.Dest)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 50;
}
}
break;
case 50:
{
if (woman_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "DOWN");
}
else if (woman_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "UP");
}
woman_tickcount_ms = Environment.TickCount;
woman_seq_step = 60;
}
break;
case 60:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > woman_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToWoman("MOVE", "LEFT_TURN_180");
woman_seq_step = 65;
}
}
break;
case 65:
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 70;
}
break;
case 70:
{
if (woman_route_code == target_woman.Route)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 75;
}
}
break;
case 75:
{
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
woman_seq_step = 80;
}
break;
case 80:
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 90;
}
break;
case 90:
{
if (woman_INPUT_OUTPUT == "OUTPUT")
{
if (woman_route_code == target_woman.output)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 100;
}
}
else if (woman_INPUT_OUTPUT == "INPUT")
{
if (woman_route_code == target_woman.output)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 100;
}
}
}
break;
case 100:
{
if (woman_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
woman_seq_step = 110;
}
else if (woman_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "DOWN");
woman_tickcount_ms = Environment.TickCount;
woman_seq_step = 105;
}
}
break;
case 105:
{
int now_tickcount = Environment.TickCount;
if (now_tickcount > woman_tickcount_ms + 3000)
{
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
woman_seq_step = 110;
}
}
break;
case 110:
{
if (woman_INPUT_OUTPUT == "OUTPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 120;
}
else if (woman_INPUT_OUTPUT == "INPUT")
{
TcpIpServer.SendCmdToWoman("MOVE", "FORWARD");
woman_seq_step = 120;
}
}
break;
case 120:
{
if (woman_INPUT_OUTPUT == "INPUT")
{
if (woman_route_code == target_woman.input)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
woman_seq_step = 121;
Program.g_frmMain.AddConsoleOutput("작업 완료/입고 완료");
//Program.data.insertValue(woman_product_code, target_woman.Dest);
//Program.g_frmMain.AddConsoleOutput("입고기록 삽입");
//TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
//tmr_woman_seq.Enabled = false;
//tmr_woman_seq.Stop();
}
}
else if (woman_INPUT_OUTPUT == "OUTPUT")
{
if (woman_route_code == target_woman.input)
{
TcpIpServer.SendCmdToWoman("MOVE", "STOP");
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
tmr_woman_seq.Enabled = false;
tmr_woman_seq.Stop();
Program.g_frmMain.AddConsoleOutput("작업 완료/출고 완료");
Program.data.RowDelete();
Program.g_frmMain.AddConsoleOutput("주문 테이블 삭제");
Program.data.insertValue(Output_Log, woman_product_code, target_woman.Dest);
Program.g_frmMain.AddConsoleOutput("출고기록 삽입");
tmr_woman.Enabled = false;
tmr_woman.Stop();
}
}
}
break;
case 121:
{
TcpIpServer.SendCmdToWoman("MOVE", "RIGHT_TURN_90");
Program.g_frmMain.AddConsoleOutput("작업 완료/입고 완료");
Program.data.insertValue(Input_Log, woman_product_code, target_woman.Dest);
Program.g_frmMain.AddConsoleOutput("입고기록 삽입");
tmr_woman_seq.Enabled = false;
tmr_woman_seq.Stop();
}
break;
}
}