no message

Dev/OHV/VehicleControlSystem/ControlLayer/Vehicle.cs

@@ -578,6 +578,7 @@ namespace VehicleControlSystem.ControlLayer
             this.refObjects = vehicleRefObjects;
 
             this.refObjects.IO.OnChangedIO += IO_OnChangedIO;
+            this.refObjects.IO.OnContd += IO_OnContd;
 
             this.refObjects.BMUManager.OnConnect += BMUManager_OnConnect;
             this.refObjects.BMUManager.OnDisconnect += BMUManager_OnDisconnect;
@@ -1266,7 +1267,7 @@ namespace VehicleControlSystem.ControlLayer
 
                 this.VehicleStateProperty = eVehicleState.Move;
 
-                this.ObstaclePatternChange(this.refObjects.ZmqManager.SegmentID);
+                //this.ObstaclePatternChange(this.refObjects.ZmqManager.SegmentID);
             }
 
             this.OnMoving?.Invoke();
@@ -2353,28 +2354,28 @@ namespace VehicleControlSystem.ControlLayer
         int TestLoad()
         {
             PIOClear();
-            this.OnPIOStart?.Invoke( true );
+            this.OnPIOStart?.Invoke(true);
 
-            this.refObjects.IO.WriteOutputIO( "OUT_PIO_RECEIVE_RUN", true );
-            loggerPIO.I( "[Vehicle] - 4 Receive Run On" );
+            this.refObjects.IO.WriteOutputIO("OUT_PIO_RECEIVE_RUN", true);
+            loggerPIO.I("[Vehicle] - 4 Receive Run On");
 
-            Thread.Sleep( 1000 );//상대 IO 기다린다 생각.
-            loggerPIO.I( "[Port] - 4 Ready On" );
+            Thread.Sleep(1000);//상대 IO 기다린다 생각.
+            loggerPIO.I("[Port] - 4 Ready On");
 
             //Conveyor Start
             this.refObjects.Conveyor.OnOffConveyor(true, true);
-            loggerPIO.I( "[Vehicle] - Conveyor Run" );
-            this.OnConveyorStart?.Invoke( true );
+            loggerPIO.I("[Vehicle] - Conveyor Run");
+            this.OnConveyorStart?.Invoke(true);
 
-            Thread.Sleep( 10000 );//Conveyor 구동
-            this.OnCarrierDetected?.Invoke( true );
+            Thread.Sleep(10000);//Conveyor 구동
+            this.OnCarrierDetected?.Invoke(true);
             this.refObjects.Conveyor.OnOffConveyor(false);
 
             PIOClear();
-            Thread.Sleep( 1000 );
-            this.OnConveyorStop?.Invoke( true );
+            Thread.Sleep(1000);
+            this.OnConveyorStop?.Invoke(true);
 
-            Thread.Sleep( 1000 );
+            Thread.Sleep(1000);
             this.OnLoadComplete?.Invoke();
 
             return 0;
@@ -2383,22 +2384,22 @@ namespace VehicleControlSystem.ControlLayer
         int TestUnload()
         {
             PIOClear();
-            this.OnPIOStart?.Invoke( false );
+            this.OnPIOStart?.Invoke(false);
 
-            Thread.Sleep( 1000 );
+            Thread.Sleep(1000);
 
-            this.refObjects.IO.WriteOutputIO( "OUT_PIO_READY", true );
-            loggerPIO.I( "[Vehicle] - 1 Ready On" );
+            this.refObjects.IO.WriteOutputIO("OUT_PIO_READY", true);
+            loggerPIO.I("[Vehicle] - 1 Ready On");
 
-            Thread.Sleep( 1000 );
-            this.OnConveyorStart?.Invoke( false );
+            Thread.Sleep(1000);
+            this.OnConveyorStart?.Invoke(false);
 
-            Thread.Sleep( 10000 );
-            this.refObjects.Conveyor.OnOffConveyor( false ); //Stop
-            this.OnConveyorStop?.Invoke( false );
+            Thread.Sleep(10000);
+            this.refObjects.Conveyor.OnOffConveyor(false); //Stop
+            this.OnConveyorStop?.Invoke(false);
             PIOClear();
 
-            Thread.Sleep( 1000 );
+            Thread.Sleep(1000);
             this.OnUnloadComplete?.Invoke();
 
             return 0;
@@ -2948,6 +2949,23 @@ namespace VehicleControlSystem.ControlLayer
             }
         }
 
+        /// <summary>
+        /// 연결 초기에 장애물 감지 센서의 패턴을 30번으로 고정하여 사용.
+        /// 연결 초기 시 메뉴얼 상태일때만 동작.
+        /// </summary>
+        bool isFirstConnected = false;
+        private void IO_OnContd(string ID)
+        {
+            if (this.refObjects.AutoManager.OperationModeProperty == eOperatationMode.ManualMode)
+            {
+                if (!isFirstConnected)
+                {
+                    this.ChgObstacleDetectPattern(30);
+                    isFirstConnected = true;
+                }
+            }
+        }
+
         private void IO_OnChangedIO(BitBlock bit)
         {
             switch (bit.Tag)