Pull Push

Dev/OHV/OHV.Module.Interactivity/PopUp/BatteryConfigView.xaml

@@ -141,7 +141,7 @@
                                VerticalAlignment="Center"
                                HorizontalAlignment="Center"
                                Foreground="Orange" FontSize="20">
-                                <Run Text="{Binding AvereageTimeToFull,StringFormat={}{0:0.00}, FallbackValue=min}"/>
+                                <Run Text="{Binding AvereageTimeToFull,StringFormat={}{0:0.0}H, FallbackValue=H}"/>
                         </TextBlock>
                     </Border>
 
@@ -154,7 +154,7 @@
                                VerticalAlignment="Center"
                                HorizontalAlignment="Center"
                                Foreground="Orange" FontSize="20">
-                                <Run Text="{Binding AverageTimeToEmpty, StringFormat={}{0:0.00},FallbackValue=min}"/>
+                                <Run Text="{Binding AverageTimeToEmpty, StringFormat={}{0:0.0}H,FallbackValue=H}"/>
                         </TextBlock>
                     </Border>
 

Dev/OHV/OHV.Module.Interactivity/PopUp/ConveyorControlView.xaml

@@ -167,6 +167,14 @@
                     <Grid Grid.Column="0">
                         <StackPanel VerticalAlignment="Center"
                                     HorizontalAlignment="Center">
+
+                            <Button Background="{x:Null}">
+                                <StackPanel Orientation="Horizontal">
+                                    <Ellipse Margin="0,0,8,0" Width="20" Height="20" Fill="{Binding AxisLeftIsServoOn, FallbackValue=Gray}"/>
+                                    <TextBlock Text="Axis-L ServoON"/>
+                                </StackPanel>
+                            </Button>
+
                             <Button Background="{x:Null}">
                                 <StackPanel Orientation="Horizontal">
                                     <Ellipse Margin="0,0,18,0" Width="20" Height="20" Fill="{Binding AxisLeftIsOrg, FallbackValue=Gray}"/>
@@ -181,6 +189,13 @@
                                 </StackPanel>
                             </Button>
 
+                            <Button Background="{x:Null}" Margin="0,10,0,0">
+                                <StackPanel Orientation="Horizontal">
+                                    <Ellipse Margin="0,0,8,0" Width="20" Height="20" Fill="{Binding AxisRightIsServoOn, FallbackValue=Gray}"/>
+                                    <TextBlock Text="Axis-R ServoON"/>
+                                </StackPanel>
+                            </Button>
+
                             <Button Background="{x:Null}">
                                 <StackPanel Orientation="Horizontal">
                                     <Ellipse Margin="0,0,16,0" Width="20" Height="20" Fill="{Binding AxisRightIsOrg, FallbackValue=Gray}"/>

Dev/OHV/OHV.Module.Interactivity/PopUp/ConveyorControlViewModel.cs

@@ -61,10 +61,21 @@ namespace OHV.Module.Interactivity.PopUp
 
         private Brush _axisLeftIsOrg = Brushes.Red;
         private Brush _axisLeftAmpFault = Brushes.Gray;
+        private Brush _axisLeftIsServoOn = Brushes.Gray;
 
+        private Brush _axisRightIsServoOn = Brushes.Gray;
         private Brush _axisRightIsOrg = Brushes.Red;
         private Brush _axisRightAmpFault = Brushes.Gray;
 
+        public Brush AxisLeftIsServoOn
+        {
+            get { return this._axisLeftIsServoOn; }
+            set
+            {
+                this.SetProperty( ref this._axisLeftIsServoOn , value );
+            }
+        }
+
         public Brush AxisLeftIsOrg
         {
             get { return _axisLeftIsOrg; }
@@ -81,6 +92,16 @@ namespace OHV.Module.Interactivity.PopUp
                 SetProperty( ref _axisLeftAmpFault , value );
             }
         }
+
+        public Brush AxisRightIsServoOn
+        {
+            get { return this._axisRightIsServoOn; }
+            set
+            {
+                this.SetProperty( ref this._axisRightIsServoOn, value );
+            }
+        }
+
         public Brush AxisRightIsOrg
         {
             get { return _axisRightIsOrg; }
@@ -325,6 +346,11 @@ namespace OHV.Module.Interactivity.PopUp
             var left = args.Args[ "Left" ] as AxisState;
             var right = args.Args[ "Right" ] as AxisState;
 
+            if ( left.IsServoOn )
+                this.AxisLeftIsServoOn = Brushes.LimeGreen;
+            else
+                this.AxisLeftIsServoOn = Brushes.Gray;
+
             if ( left.IsOriginReturn )
                 this.AxisLeftIsOrg = Brushes.LimeGreen;
             else
@@ -335,6 +361,11 @@ namespace OHV.Module.Interactivity.PopUp
             else
                 this.AxisLeftAmpFault = Brushes.Gray;
 
+            if ( right.IsServoOn )
+                this.AxisRightIsServoOn = Brushes.LimeGreen;
+            else
+                this.AxisRightIsServoOn = Brushes.Gray;
+
             if ( right.IsOriginReturn )
                 this.AxisRightIsOrg = Brushes.LimeGreen;
             else

Dev/OHV/VehicleControlSystem/ControlLayer/Serial/BatteryTabos/Advantech/Advantech.cs

@@ -30,7 +30,25 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
         string errormsg = string.Empty;
 
         //Todo:Dll 에서 상태 가져오기
-        bool IsConnected = false;
+        //bool IsConnected = false;
+        bool IsConnected
+        {
+            get 
+            {
+                var state = new AdvCan.CanStatusPar_t();
+                var ret = this.device.acGetStatus( ref state );
+                if ( ret == AdvCANIO.SUCCESS )
+                {
+                    //정상 연결일때 값이 12 들어옴.
+                    if ( state.status == 12/*AdvCan.STATUS_OK*/ )
+                        return true;
+                    else
+                        return false;
+                }
+                else
+                    return false;
+            }
+        }
 
         #region Enum
         public enum eSendMode
@@ -78,6 +96,7 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
         public Advantech( BMUManager mrg, string canPortName )
         {
             this.manager = mrg;
+
             this.canPortName = canPortName;
 
             this.device = new AdvCANIO();
@@ -90,9 +109,13 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
 
         void TryToConnect( )
         {
+            //var a = AdvCANIO.OPERATION_ERROR; == -1
             this.qqW.Clear();
 
-            var ret = this.device.acCanOpen( this.canPortName/*this.manager.BMUConfig.ID*/ , false , 500 , 500 );
+            var d = this.device.acCanClose();
+            Thread.Sleep( 50 );
+
+            var ret = this.device.acCanOpen( this.canPortName, false , 500 , 500 );
 
             if(ret < 0)
             {
@@ -101,12 +124,19 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
             }
 
             ret = this.device.acEnterResetMode();
-            if(ret < 0)
+            if ( ret < 0 )
             {
                 throw new Exception( "AdvCAN Reset Error" );
                 return;
             }
 
+            //ret = this.device.acSetAcceptanceFilterMode( AdvCan.PELICAN_SINGLE_FILTER );
+            //if ( ret < 0 )
+            //{
+            //    throw new Exception( "AdvCAN AcceptFilterMode Set Error" );
+            //    return;
+            //}
+
             ret = this.device.acSetBaud(500);
             if ( ret < 0 )
             {
@@ -114,6 +144,20 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
                 return;
             }
 
+            ret = this.device.acSetAcceptanceFilterMask( Convert.ToUInt32( "FFFFFFFF" , 16 ));
+            if ( ret < AdvCANIO.SUCCESS )
+            {
+                throw new Exception( "AdvCAN AcceptFilterMask Set Error " );
+                return;
+            }
+
+            ret = this.device.acSetAcceptanceFilterCode( Convert.ToUInt32( "FFFFFFFF" , 16 ) );
+            if ( ret < AdvCANIO.SUCCESS )
+            {
+                throw new Exception( "AdvCAN AcceptFilterCode Set Error " );
+                return;
+            }
+
             ret = this.device.acSetTimeOut( 2000 , 2000 );
             if(ret < AdvCANIO.SUCCESS)
             {
@@ -135,8 +179,8 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
                 return;
             }
 
-            this.IsConnected = true;
-
+            //this.IsConnected = true;
+            this.Write( eSendMode.AUTO );
             manager._OnConnected();
         }
 
@@ -244,7 +288,7 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
             uint pulNumberofWritten = 1;
             AdvCan.canmsg_t[] msg = new AdvCan.canmsg_t[1];
             
-            msg[ 0 ].flags = AdvCan.MSG_EXT;
+            msg[ 0 ].flags = 0; // -> standard = 0, 
             msg[ 0 ].cob = 0;
             msg[ 0 ].id = idOffset + Convert.ToByte( this.manager.BMUConfig.ID );
             msg[ 0 ].length = ( short )AdvCan.DATALENGTH;
@@ -269,11 +313,13 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
 
             if(ret == AdvCANIO.TIME_OUT)
             {
-                CanError( );
+                CanError();
+                logger.E( "Battery Write TimeOut Error" );
             }
             else if (ret == AdvCANIO.OPERATION_ERROR)
             {
-                CanError(  );
+                CanError();
+                logger.E( "Battery Operation Error" );
             }
 
             return 1;
@@ -290,8 +336,8 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
         /// <returns></returns>
         void ReadMessage( )
         {
-            Thread.Sleep( 1000 );
-            uint readCount = 3;
+            Thread.Sleep( 10 );
+            uint readCount = 3; 
             uint pulNumberofRead = 3;
             AdvCan.canmsg_t[] recv = new AdvCan.canmsg_t[ 3 ];
 
@@ -317,7 +363,7 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
         {
             //null check battery receive
             var ll = recv.Select( x => x.data ).ToList();
-            if ( !ll.Any(null) )
+            if ( !ll.Any() )
                 return;
 
             ll.ForEach( r =>
@@ -380,7 +426,7 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
         void CanError(  )
         {
             //var result = PCANBasic.Uninitialize( this.handle );
-            this.IsConnected = false;
+            //this.IsConnected = false;
             var ret = this.device.acCanClose();
 
             //logger.E( $"[Battery Advantech] - {e.Message} -" );
@@ -458,7 +504,7 @@ namespace VehicleControlSystem.ControlLayer.Serial.BatteryTabos
 
         private void DisConnect( )
         {
-            this.IsConnected = false;
+            //this.IsConnected = false;
             //PCANBasic.Reset( this.handle );
             //PCANBasic.Uninitialize( this.handle );