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@@ -19,6 +19,8 @@ using Prism.Events;
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using VehicleControlSystem.ControlLayer.Actuator.Cylinder;
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using VehicleControlSystem.ControlLayer.IO;
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using VehicleControlSystem.ControlLayer.Motion;
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+using VehicleControlSystem.ControlLayer.Serial.BatteryTabos;
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+using VehicleControlSystem.ControlLayer.Serial.DataModel;
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using VehicleControlSystem.Managers;
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namespace VehicleControlSystem.ControlLayer
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@@ -49,13 +51,13 @@ namespace VehicleControlSystem.ControlLayer
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/// <summary>
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/// Tag 위치
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/// </summary>
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- private string currentTag;
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+ private string currentTag = "0000";
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public string CurrentTag
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{
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get { return currentTag; }
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- set
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- {
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- if ( SetField(ref this.currentTag, value))
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+ set
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+ {
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+ if (SetField(ref this.currentTag, value))
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this.OnCurrentTagChanged?.Invoke(value);
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}
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}
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@@ -107,8 +109,8 @@ namespace VehicleControlSystem.ControlLayer
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public eObstacleState ObstacleStateProperty
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{
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get { return obstacleState; }
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- set
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- {
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+ set
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+ {
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if (SetField(ref this.obstacleState, value))
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{
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if (value == eObstacleState.Blocked)
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@@ -124,6 +126,13 @@ namespace VehicleControlSystem.ControlLayer
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set { SetField(ref this.vehicleState, value); }
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}
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+ private double batteryVolte;
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+ public double BatteryVolt
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+ {
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+ get { return batteryVolte; }
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+ set { SetField(ref this.batteryVolte, value); }
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+ }
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+
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//이동
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public bool Busy
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{
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@@ -135,7 +144,6 @@ namespace VehicleControlSystem.ControlLayer
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}
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public bool IsMoving { get; set; }
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- public double BatteryVolt { get; set; }
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public bool IsError { get; set; }
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public SubCmd CurrentSubCommand { get; private set; }
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@@ -180,9 +188,11 @@ namespace VehicleControlSystem.ControlLayer
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Clamp clamp = null;
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Steering steering = null;
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AutoManager autoManager = null;
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+ BMUManager bMUManager = null;
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ThreadCancel cancel = new ThreadCancel();
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TaskCancel taskCancel = new TaskCancel();
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+ TaskCancel moveTaskCancel = new TaskCancel(); // 이동 중에 필요한 사항들을 체크
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IEventAggregator eventAggregator;
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@@ -205,23 +215,23 @@ namespace VehicleControlSystem.ControlLayer
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this.eventAggregator = ea;
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/*Drive*/
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- this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Unsubscribe( ReceiveDriveControlEvent );
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- this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Subscribe( ReceiveDriveControlEvent );
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+ this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Unsubscribe(ReceiveDriveControlEvent);
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+ this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Subscribe(ReceiveDriveControlEvent);
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/*IO*/
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- this.eventAggregator.GetEvent<IOControlPubSubEvent>().Unsubscribe( ReceiveIOControlEvent );
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- this.eventAggregator.GetEvent<IOControlPubSubEvent>().Subscribe( ReceiveIOControlEvent );
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+ this.eventAggregator.GetEvent<IOControlPubSubEvent>().Unsubscribe(ReceiveIOControlEvent);
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+ this.eventAggregator.GetEvent<IOControlPubSubEvent>().Subscribe(ReceiveIOControlEvent);
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}
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- private void ReceiveIOControlEvent( IOControlEventArgs _args )
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+ private void ReceiveIOControlEvent(IOControlEventArgs _args)
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{
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- if ( this.autoManager.OperationModeProperty != eOperatationMode.ManualMode )
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+ if (this.autoManager.OperationModeProperty != eOperatationMode.ManualMode)
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return;
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var msg = _args;
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- if(msg.EventDir == IOControlEventArgs.eEventDir.ToBack)
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+ if (msg.EventDir == IOControlEventArgs.eEventDir.ToBack)
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{
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- switch ( msg.ControlKind )
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+ switch (msg.ControlKind)
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{
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case IOControlEventArgs.eControlKind.USE:
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break;
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@@ -306,6 +316,7 @@ namespace VehicleControlSystem.ControlLayer
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this.CreateClamp();
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this.CreateSteering();
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CreateDrive();
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+ this.CreateBMUManager();
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ThreadStart();
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@@ -330,6 +341,14 @@ namespace VehicleControlSystem.ControlLayer
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{
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this.cancel.Cancel();
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this.cancel.StopWaitAll();
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+
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+ this.taskCancel.Cancel();
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+ this.taskCancel.WaitAll();
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+
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+ moveTaskCancel.Cancel();
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+ moveTaskCancel.WaitAll();
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+
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+ this.bMUManager.Disconnect();
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}
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#region Request Method
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@@ -349,7 +368,7 @@ namespace VehicleControlSystem.ControlLayer
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DriveControlEventPublish(msg);
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}
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- private void ReqMoveToPos( DriveControlEventArgs args )
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+ private void ReqMoveToPos(DriveControlEventArgs args)
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{
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//var result = drive.Move( args.PositionTag );
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//this.MoveTo( "1111" );
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@@ -357,7 +376,7 @@ namespace VehicleControlSystem.ControlLayer
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int targetTag = args.TargetRouteID;
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var route = sql.RouteDal.GetK(targetTag);
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- if ( route == null)
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+ if (route == null)
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{
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reply.Result = Results.Fail("Not Found Route");
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this.DriveControlEventPublish(reply);
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@@ -365,7 +384,7 @@ namespace VehicleControlSystem.ControlLayer
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}
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this.MoveTo(route.Name);
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- reply.Result = Results.Ok( "Position Move" );
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+ reply.Result = Results.Ok("Position Move");
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this.DriveControlEventPublish(reply);
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}
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@@ -406,15 +425,15 @@ namespace VehicleControlSystem.ControlLayer
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{
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LockUtils.Wait(500);
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- var msg = new DriveControlEventArgs
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- {
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- EventDir = DriveControlEventArgs.eEventDir.ToFront ,
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- ControlKind = DriveControlEventArgs.eControlKind.ReqCurrentPos ,
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- CurrentPosition = new Random().Next(0, 1000),
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- };
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-
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- this.DriveControlEventPublish( msg );
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- }
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+ var msg = new DriveControlEventArgs
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+ {
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+ EventDir = DriveControlEventArgs.eEventDir.ToFront,
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+ ControlKind = DriveControlEventArgs.eControlKind.ReqCurrentPos,
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+ CurrentPosition = new Random().Next(0, 1000),
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+ };
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+
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+ this.DriveControlEventPublish(msg);
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+ }
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});
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this.taskCancel.Add(task);
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@@ -454,6 +473,8 @@ namespace VehicleControlSystem.ControlLayer
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{
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this.cancel.AddGo(new Action(this._ThSubCmdWorker));
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this.cancel.AddGo(new Action(this._ThObstacleChecker));
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+
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+ this.bMUManager.Connect();
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}
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//장애물 감지 Thread
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@@ -562,6 +583,8 @@ namespace VehicleControlSystem.ControlLayer
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void Move(SubCmd sub)
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{
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+ //Todo: 이동 중 브레이크를 풀어야 함. 평소에는 풀고 있다가 Load Unload 시에만 잡아줘야 하는건가??
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+ // 브레이크 플어 주기 B접 this.iO.OutputOn("OUT_DRIVE_BRAKE_OFF");
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if (this.MoveTo(sub.TargetID))
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{
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sql.SubCmdDAL.Delete(sub);
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@@ -650,7 +673,9 @@ namespace VehicleControlSystem.ControlLayer
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return false;
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}
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+ this.iO.OutputOn("OUT_PIO_SENSOR_ONOFF");
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result = this.PIOAndLoad(sub.TargetID);
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+ this.iO.OutputOff("OUT_PIO_SENSOR_ONOFF");
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if (result != 0)
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{
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this.OccurVehicleAlarm(result);
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@@ -692,7 +717,9 @@ namespace VehicleControlSystem.ControlLayer
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return false;
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}
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+ this.iO.OutputOn("OUT_PIO_SENSOR_ONOFF");
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result = this.PIOAndUnload(sub.TargetID);
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+ this.iO.OutputOff("OUT_PIO_SENSOR_ONOFF");
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if (result != 0)
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{
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this.OccurVehicleAlarm(result);
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@@ -940,100 +967,100 @@ namespace VehicleControlSystem.ControlLayer
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Thread.Sleep(1000);
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this.OnConveyorStop?.Invoke(true);
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#else
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- var pioTimeout = sql.ConfigDal.GetValueToInt( ConstString.PIOTimeOut );
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+ var pioTimeout = sql.ConfigDal.GetValueToInt(ConstString.PIOTimeOut);
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- if ( this.IsInverterError() )
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+ if (this.IsInverterError())
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return 16;
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- if ( this.IsLifterPositinCheck() )
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+ if (this.IsLifterPositinCheck())
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return 14;
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- if ( !this.IsLifterDuplication() )
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+ if (!this.IsLifterDuplication())
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{
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- this.OnFailReport?.Invoke( eFailCode.Load_PortHasNotCarrier );
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+ this.OnFailReport?.Invoke(eFailCode.Load_PortHasNotCarrier);
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return 0;
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}
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- if ( this.IsDetectedCenter() )
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+ if (this.IsDetectedCenter())
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{
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- this.OnFailReport?.Invoke( eFailCode.Load_VehicleHasCarrier );
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+ this.OnFailReport?.Invoke(eFailCode.Load_VehicleHasCarrier);
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return 0;
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}
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PIOClear();
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- loggerPIO.I( $"Start Load PIO - [{targetName}]" );
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- this.OnPIOStart?.Invoke( true );
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+ loggerPIO.I($"Start Load PIO - [{targetName}]");
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+ this.OnPIOStart?.Invoke(true);
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- this.iO.WriteOutputIO( "OUT_PIO_RECEIVE_RUN", true );
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- loggerPIO.I( "[Vehicle] - 4 Receive Run On" );
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+ this.iO.WriteOutputIO("OUT_PIO_RECEIVE_RUN", true);
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+ loggerPIO.I("[Vehicle] - 4 Receive Run On");
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- if ( !this.iO.WaitChangeInputIO( true, pioTimeout, "IN_PIO_SENDABLE" ) )
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+ if (!this.iO.WaitChangeInputIO(true, pioTimeout, "IN_PIO_SENDABLE"))
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{
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PIOClear();
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- loggerPIO.E( "[Port] - 4 Ready Time Out" );
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- this.OnFailReport?.Invoke( eFailCode.LoadPIOInterlockTimeout );
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+ loggerPIO.E("[Port] - 4 Ready Time Out");
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+ this.OnFailReport?.Invoke(eFailCode.LoadPIOInterlockTimeout);
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return 0;
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}
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- loggerPIO.E( "[Port] - 4 Ready On" );
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+ loggerPIO.E("[Port] - 4 Ready On");
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- this.SetConveyorSpeed( true );
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- this.OnOffConveyor( true, true );
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- this.iO.WriteOutputIO( "OUT_PIO_RECEIVE_RUN", true );
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- loggerPIO.I( "[Vehicle] - Conveyor Run" );
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- this.OnConveyorStart?.Invoke( true );
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+ this.SetConveyorSpeed(true);
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+ this.OnOffConveyor(true, true);
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+ this.iO.WriteOutputIO("OUT_PIO_RECEIVE_RUN", true);
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+ loggerPIO.I("[Vehicle] - Conveyor Run");
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+ this.OnConveyorStart?.Invoke(true);
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- if ( !this.iO.WaitChangeInputIO( true, pioTimeout, "IN_PIO_SEND_RUN" ) )
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+ if (!this.iO.WaitChangeInputIO(true, pioTimeout, "IN_PIO_SEND_RUN"))
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{
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- this.OnOffConveyor( false, true );
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+ this.OnOffConveyor(false, true);
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PIOClear();
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- loggerPIO.E( "[Port] - 5 Sending Run Time Out" );
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- this.OnFailReport?.Invoke( eFailCode.LoadPIOInterlockTimeout );
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+ loggerPIO.E("[Port] - 5 Sending Run Time Out");
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+ this.OnFailReport?.Invoke(eFailCode.LoadPIOInterlockTimeout);
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return 0;
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}
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bool isStartDetected = false;
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var sTime = SwUtils.CurrentTimeMillis;
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- while ( true )
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+ while (true)
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{
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- if ( SwUtils.Gt( sTime, 20 * ConstUtils.ONE_SECOND ) )
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+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND))
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{
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PIOClear();
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- this.OnOffConveyor( false, true );
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- loggerPIO.E( "[Vehicle] Conveyor Wait Time Out" );
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- this.OnFailReport?.Invoke( eFailCode.LoadPIOInterlockTimeout );
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+ this.OnOffConveyor(false, true);
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+ loggerPIO.E("[Vehicle] Conveyor Wait Time Out");
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+ this.OnFailReport?.Invoke(eFailCode.LoadPIOInterlockTimeout);
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- if ( this.IsDetectedLoadStart() ) // 감지가 시작 되었으면 이동중 Error 로 판단 설비를 정지 상태로
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+ if (this.IsDetectedLoadStart()) // 감지가 시작 되었으면 이동중 Error 로 판단 설비를 정지 상태로
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return 10; //Conveyor Moving Timeout
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else
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return 0;
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}
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- if ( this.IsDetectedLoadStart() && !isStartDetected )
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+ if (this.IsDetectedLoadStart() && !isStartDetected)
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isStartDetected = true;
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- if ( !this.IsDetectedLoadStart() && isStartDetected )
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- this.SetConveyorSpeed( false );
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+ if (!this.IsDetectedLoadStart() && isStartDetected)
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+ this.SetConveyorSpeed(false);
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- if ( this.IsDetectedLoadStop() ) break;
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+ if (this.IsDetectedLoadStop()) break;
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- if ( this.IsPIOInterLockOn() )
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+ if (this.IsPIOInterLockOn())
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{
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PIOClear();
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- this.OnOffConveyor( false ); //Stop
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- loggerPIO.E( "[Port] PIO InterLock On " );
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+ this.OnOffConveyor(false); //Stop
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+ loggerPIO.E("[Port] PIO InterLock On ");
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return 19; //
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}
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}
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- if ( this.IsDetectedCenter() )
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- this.OnCarrierDetected?.Invoke( true );
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+ if (this.IsDetectedCenter())
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+ this.OnCarrierDetected?.Invoke(true);
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- this.OnOffConveyor( false ); //Stop
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+ this.OnOffConveyor(false); //Stop
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PIOClear();
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- this.OnConveyorStop?.Invoke( true );
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+ this.OnConveyorStop?.Invoke(true);
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- this.iO.WriteOutputIO( "OUT_PIO_RECIVE_COMPLITE", true );
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- this.iO.WriteOutputIO( "OUT_PIO_RECIVE_COMPLITE", false, 1000 );
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+ this.iO.WriteOutputIO("OUT_PIO_RECIVE_COMPLITE", true);
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+ this.iO.WriteOutputIO("OUT_PIO_RECIVE_COMPLITE", false, 1000);
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this.OnLoadComplete?.Invoke();
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#endif
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@@ -1063,84 +1090,84 @@ namespace VehicleControlSystem.ControlLayer
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this.OnUnloadComplete?.Invoke();
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#else
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- var pioTimeout = sql.ConfigDal.GetValueToInt( ConstString.PIOTimeOut );
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+ var pioTimeout = sql.ConfigDal.GetValueToInt(ConstString.PIOTimeOut);
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- if ( this.IsInverterError() )
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+ if (this.IsInverterError())
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return 16;
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- if ( this.IsLifterDuplication() )
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+ if (this.IsLifterDuplication())
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{
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- this.OnFailReport?.Invoke( eFailCode.Unload_PortHasCarrier );
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+ this.OnFailReport?.Invoke(eFailCode.Unload_PortHasCarrier);
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return 0;
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}
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- if ( !this.IsDetectedCenter() )
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+ if (!this.IsDetectedCenter())
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{
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- this.OnFailReport?.Invoke( eFailCode.Unload_VehicleHasNotCarrier );
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+ this.OnFailReport?.Invoke(eFailCode.Unload_VehicleHasNotCarrier);
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return 0;
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}
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- if ( this.IsLifterPositinCheck() )
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+ if (this.IsLifterPositinCheck())
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return 13;
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PIOClear();
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- loggerPIO.I( $"Start Unload PIO - [{targetName}]" );
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- this.OnPIOStart?.Invoke( false );
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+ loggerPIO.I($"Start Unload PIO - [{targetName}]");
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|
|
+ this.OnPIOStart?.Invoke(false);
|
|
|
|
|
|
- if ( !this.iO.IsOn( "IN_PIO_READY" ) )
|
|
|
+ if (!this.iO.IsOn("IN_PIO_READY"))
|
|
|
{
|
|
|
- loggerPIO.E( "[Port] - 1 Ready not On" );
|
|
|
- this.OnFailReport?.Invoke( eFailCode.UnlaodPIOInterlockTimeout );
|
|
|
+ loggerPIO.E("[Port] - 1 Ready not On");
|
|
|
+ this.OnFailReport?.Invoke(eFailCode.UnlaodPIOInterlockTimeout);
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
- this.iO.WriteOutputIO( "OUT_PIO_READY", true );
|
|
|
- loggerPIO.I( "[Vehicle] - 1 Ready On" );
|
|
|
+ this.iO.WriteOutputIO("OUT_PIO_READY", true);
|
|
|
+ loggerPIO.I("[Vehicle] - 1 Ready On");
|
|
|
|
|
|
- if ( !this.iO.WaitChangeInputIO( true, pioTimeout, "IN_PIO_RECEIVE_RUN" ) )
|
|
|
+ if (!this.iO.WaitChangeInputIO(true, pioTimeout, "IN_PIO_RECEIVE_RUN"))
|
|
|
{
|
|
|
PIOClear();
|
|
|
- loggerPIO.E( "[Port] - 2 Receive CV Run Timeout" );
|
|
|
- this.OnFailReport?.Invoke( eFailCode.UnlaodPIOInterlockTimeout );
|
|
|
+ loggerPIO.E("[Port] - 2 Receive CV Run Timeout");
|
|
|
+ this.OnFailReport?.Invoke(eFailCode.UnlaodPIOInterlockTimeout);
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
- this.iO.WriteOutputIO( "OUT_PIO_SENDING_RUN", true );
|
|
|
- loggerPIO.I( "[Vehicle] - 2 Send Run On" );
|
|
|
+ this.iO.WriteOutputIO("OUT_PIO_SENDING_RUN", true);
|
|
|
+ loggerPIO.I("[Vehicle] - 2 Send Run On");
|
|
|
|
|
|
- this.SetConveyorSpeed( true );
|
|
|
- this.OnOffConveyor( true );
|
|
|
- this.OnConveyorStart?.Invoke( false );
|
|
|
+ this.SetConveyorSpeed(true);
|
|
|
+ this.OnOffConveyor(true);
|
|
|
+ this.OnConveyorStart?.Invoke(false);
|
|
|
|
|
|
var sTime = SwUtils.CurrentTimeMillis;
|
|
|
- while ( true )
|
|
|
+ while (true)
|
|
|
{
|
|
|
- if ( SwUtils.Gt( sTime, 20 * ConstUtils.ONE_SECOND ) )
|
|
|
+ if (SwUtils.Gt(sTime, 20 * ConstUtils.ONE_SECOND))
|
|
|
{
|
|
|
PIOClear();
|
|
|
- this.OnOffConveyor( false, true );
|
|
|
- loggerPIO.E( "[Port] Conveyor Wait Time Out" );
|
|
|
- this.OnFailReport?.Invoke( eFailCode.UnlaodPIOInterlockTimeout );
|
|
|
+ this.OnOffConveyor(false, true);
|
|
|
+ loggerPIO.E("[Port] Conveyor Wait Time Out");
|
|
|
+ this.OnFailReport?.Invoke(eFailCode.UnlaodPIOInterlockTimeout);
|
|
|
|
|
|
- if ( IsDetectedLoadStart() || IsDetectedCenter() ) //중간에 걸려 있다고 생각해서 알람 처리.
|
|
|
+ if (IsDetectedLoadStart() || IsDetectedCenter()) //중간에 걸려 있다고 생각해서 알람 처리.
|
|
|
return 12; //Conveyor Moving Timeout
|
|
|
else
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
- if ( this.iO.IsOn( "IN_PIO_RECEIVE_COMPLITE" ) )
|
|
|
+ if (this.iO.IsOn("IN_PIO_RECEIVE_COMPLITE"))
|
|
|
break;
|
|
|
}
|
|
|
|
|
|
- if ( !IsDetectedCenter() )
|
|
|
- this.OnCarrierDetected?.Invoke( false );
|
|
|
+ if (!IsDetectedCenter())
|
|
|
+ this.OnCarrierDetected?.Invoke(false);
|
|
|
|
|
|
- this.OnOffConveyor( false ); //Stop
|
|
|
- this.OnConveyorStop?.Invoke( false );
|
|
|
+ this.OnOffConveyor(false); //Stop
|
|
|
+ this.OnConveyorStop?.Invoke(false);
|
|
|
PIOClear();
|
|
|
|
|
|
- this.iO.WriteOutputIO( "OUT_PIO_SEND_COMPLITE", true );
|
|
|
- this.iO.WriteOutputIO( "OUT_PIO_SEND_COMPLITE", false, 1000 );
|
|
|
+ this.iO.WriteOutputIO("OUT_PIO_SEND_COMPLITE", true);
|
|
|
+ this.iO.WriteOutputIO("OUT_PIO_SEND_COMPLITE", false, 1000);
|
|
|
|
|
|
this.OnUnloadComplete?.Invoke();
|
|
|
#endif
|
|
|
@@ -1175,6 +1202,15 @@ namespace VehicleControlSystem.ControlLayer
|
|
|
this.motion = new GSIMotion(this.sql);
|
|
|
this.motion.PropertyChanged += Motion_PropertyChanged;
|
|
|
}
|
|
|
+ void CreateBMUManager()
|
|
|
+ {
|
|
|
+ this.bMUManager = new BMUManager();
|
|
|
+ this.bMUManager.BMUConfig = new Serial.BatteryTabos.Config() { ID = "1" };
|
|
|
+ this.bMUManager.OnConnect += BMUManager_OnConnect;
|
|
|
+ this.bMUManager.OnDisconnect += BMUManager_OnDisconnect;
|
|
|
+ this.bMUManager.OnFirstColtd += BMUManager_OnFirstColtd;
|
|
|
+ this.bMUManager.OnChangedReceivedData += BMUManager_OnChangedReceivedData;
|
|
|
+ }
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
@@ -1246,6 +1282,58 @@ namespace VehicleControlSystem.ControlLayer
|
|
|
#endregion
|
|
|
|
|
|
#region Event Subscribe
|
|
|
+
|
|
|
+ #region Battery
|
|
|
+ private void BMUManager_OnChangedReceivedData( Serial.DataModel.ReceivedData obj )
|
|
|
+ {
|
|
|
+ var data = obj as ReceivedData;
|
|
|
+ if ( null == data )
|
|
|
+ logger.E( "[Battery Data] Null" );
|
|
|
+
|
|
|
+ var kind = CastTo<eDataKind>.From<Enum>( data.DataKind );
|
|
|
+ switch ( kind )
|
|
|
+ {
|
|
|
+ case eDataKind.Volte:
|
|
|
+ this.BatteryVolt = data.Value;
|
|
|
+ break;
|
|
|
+ case eDataKind.Current:
|
|
|
+ break;
|
|
|
+ case eDataKind.BatteryState:
|
|
|
+ break;
|
|
|
+ case eDataKind.ChargeCompleteTime:
|
|
|
+ break;
|
|
|
+ case eDataKind.DisChargeCompleteTime:
|
|
|
+ break;
|
|
|
+ case eDataKind.SOC:
|
|
|
+ break;
|
|
|
+ case eDataKind.SOH:
|
|
|
+ break;
|
|
|
+ case eDataKind.ResidualCapacity:
|
|
|
+ break;
|
|
|
+ case eDataKind.ResidualEnergy:
|
|
|
+ break;
|
|
|
+ case eDataKind.Temperature:
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ private void BMUManager_OnFirstColtd( List<Serial.DataModel.ReceivedData> obj )
|
|
|
+ {
|
|
|
+ logger.I( "[Battery Data] First Collected" );
|
|
|
+ }
|
|
|
+
|
|
|
+ private void BMUManager_OnDisconnect( string obj )
|
|
|
+ {
|
|
|
+ }
|
|
|
+
|
|
|
+ private void BMUManager_OnConnect( string obj )
|
|
|
+ {
|
|
|
+ }
|
|
|
+
|
|
|
+ #endregion
|
|
|
+
|
|
|
private void Motion_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
|
|
|
{
|
|
|
var property = sender.GetType().GetProperty(e.PropertyName);
|
DESKTOP-Kang