..

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -106,6 +106,7 @@ namespace AGVNavigationCore.Controls
             }
             DrawSystemMessage(g);
             DrawAlertMessage(g);
+            DrawTagIgnoreMessage(g);
 
         }
 
@@ -313,6 +314,61 @@ namespace AGVNavigationCore.Controls
                 g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
             }
 
+        }
+        void DrawTagIgnoreMessage(Graphics g)
+        {
+            if (!showtagigreno || String.IsNullOrEmpty(this._tagignoreMessage)) return;
+            var ts = DateTime.Now - tagignoretime;
+            if (ts.TotalSeconds > 5) return;
+
+            // 상단 중앙에 반투명 빨간색 배경 바 표시
+            int barHeight = 40;
+            int barWidth = Math.Min(600, this.Width - 40); // 최대 600px, 좌우 여백 20px
+            int barX = (this.Width - barWidth) / 2;
+            int barY = this.Height - barHeight-20;
+
+            // 둥근 사각형 배경
+            using (var path = new GraphicsPath())
+            {
+                int radius = 10;
+                path.AddArc(barX, barY, radius * 2, radius * 2, 180, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY, radius * 2, radius * 2, 270, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY + barHeight - radius * 2, radius * 2, radius * 2, 0, 90);
+                path.AddArc(barX, barY + barHeight - radius * 2, radius * 2, radius * 2, 90, 90);
+                path.CloseFigure();
+
+                using (var brush = new SolidBrush(Color.FromArgb(255, Color.Violet)))
+                {
+                    g.FillPath(brush, path);
+                }
+
+                using (var pen = new Pen(Color.FromArgb(255, 255, 255), 2))
+                {
+                    g.DrawPath(pen, path);
+                }
+            }
+
+            // 텍스트 깜박임 효과 (배경은 유지하고 텍스트만 깜박임)
+
+            using (var font = new Font("Malgun Gothic", 12, FontStyle.Bold))
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                var textSize = g.MeasureString(_tagignoreMessage, font);
+                g.DrawString(_tagignoreMessage, font, brush,
+                    barX + (barWidth - textSize.Width) / 2,
+                    barY + (barHeight - textSize.Height) / 2);
+            }
+
+            // 경고 아이콘 그리기 (왼쪽)
+            // 간단한 느낌표 아이콘
+            int iconX = barX + 15;
+            int iconY = barY + barHeight / 2;
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                g.FillEllipse(brush, iconX - 2, iconY - 8, 4, 16); // body
+                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
+            }
+
         }
         private void DrawSyncScreen(Graphics g)
         {

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -140,9 +140,17 @@ namespace AGVNavigationCore.Controls
 
         string _systemmesage = "";
         string _infomessage = "";
+        string _tagignoreMessage = "";
         bool showalertsystem = false;
         bool showinfo = false;
-
+        bool showtagigreno = false;
+        DateTime tagignoretime = DateTime.Now;
+        public void SetTagIgnore(string m)
+        {
+            _tagignoreMessage = m;
+            tagignoretime = DateTime.Now;
+            showtagigreno = !string.IsNullOrEmpty(m);
+        }
         public void SetInfoMessage(string m)
         {
             _infomessage = m;

AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -503,6 +503,11 @@ namespace AGVNavigationCore.PathFinding.Planning
             retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
             retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3T", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
 
+            //일반노드도 일부 경로를 계산한다.
+            // 일반노드 3 -> 
+
+            // 일반노드 7 ->
+
             return retval;
         }
         /// <summary>
@@ -568,6 +573,14 @@ namespace AGVNavigationCore.PathFinding.Planning
             IEnumerable<MapZonePathData> candidates;
             // 목적지가 현재 위치와 동일한 경우 처리
 
+            //시작이 일반노드라면 , 경로가 등록된 주변 노드로 이동해서 이후경로를 계산하자
+            //일반노드용 기준은 7,3이있다. 
+            //11번은 7로 이동해서 경로를 계산한다.
+            //10,6번은 7로 이동해서 경로를 계산한다. 
+            //대상노드까지 CalculateScriptedPath를 재귀로 호출해서 계산을 완료한 후, 대상에서 목적지계산해서 전체 경로를 만들어낸다.
+
+
+
 
             // 시작Zone과 목표Zone이 다른 경우에만 하드코딩된 zonepath 검색
             if (startZone != targetZone)

AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj

@@ -22,6 +22,7 @@
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
+    <PlatformTarget>AnyCPU</PlatformTarget>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
     <DebugType>pdbonly</DebugType>

HMI/Project/Dialog/fACSCommand.cs

@@ -22,12 +22,12 @@ namespace Project.Dialog
             if (btn == null) return;
 
             var targetAlias = btn.Text.Trim();
-            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == targetAlias);
+            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.ToUpper() == targetAlias.ToUpper());
 
             if (targetNode == null)
             {
                 // Fallback for Buffer names which might have spaces
-                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.Replace(" ", "") == targetAlias.Replace(" ", ""));
+                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.ToUpper().Replace(" ", "") == targetAlias.ToUpper().Replace(" ", ""));
             }
 
             if (targetNode == null)

HMI/Project/StateMachine/Step/_Util.cs

@@ -57,7 +57,7 @@ namespace Project
 
             // Core Logic으로 이관됨
             var pathFinder = new AGVPathfinder(nodes);
-            var result = pathFinder.CalculatePath(startNode, targetNode, prevNode, prevDir);
+            var result = pathFinder.CalculateScriptedPath(startNode, targetNode, prevNode, prevDir);
 
             //게이트웨이노드를 하이라이트강조 한단
             _simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);

HMI/Project/StateMachine/_AGV.cs

@@ -107,6 +107,11 @@ namespace Project
             }
             else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Send)
                 PUB.logagv.Add("AGV-TX", e.Message);
+            else if(e.MsgType == arDev.NarumiSerialComm.MessageType.TagIgnore)
+            {
+                PUB._mapCanvas.SetTagIgnore(e.Message);
+                PUB.logagv.Add(e.MsgType.ToString(), e.Message);
+            }
             else
             {
                 PUB.logagv.Add(e.MsgType.ToString(), e.Message);

HMI/Project/fMain.Designer.cs

@@ -120,6 +120,8 @@ namespace Project
             this.toolStripMenuItem5 = new System.Windows.Forms.ToolStripMenuItem();
             this.refreshListToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.gotoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.buffer2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pandBottomDIO = new System.Windows.Forms.Panel();
             this.panel9 = new System.Windows.Forms.Panel();
@@ -128,8 +130,6 @@ namespace Project
             this.panDlg = new System.Windows.Forms.Panel();
             this.arPanel2 = new arCtl.arPanel();
             this.arPanel1 = new arCtl.arPanel();
-            this.gotoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.buffer2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.panRight.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel4.SuspendLayout();
@@ -1679,7 +1679,7 @@ namespace Project
             this.xbeeSettingToolStripMenuItem,
             this.gotoToolStripMenuItem});
             this.cmDebug.Name = "cmVision";
-            this.cmDebug.Size = new System.Drawing.Size(229, 390);
+            this.cmDebug.Size = new System.Drawing.Size(229, 368);
             // 
             // mapFileToolStripMenuItem
             // 
@@ -1737,6 +1737,21 @@ namespace Project
             this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
             this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
             // 
+            // gotoToolStripMenuItem
+            // 
+            this.gotoToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.buffer2ToolStripMenuItem});
+            this.gotoToolStripMenuItem.Name = "gotoToolStripMenuItem";
+            this.gotoToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
+            this.gotoToolStripMenuItem.Text = "Goto";
+            // 
+            // buffer2ToolStripMenuItem
+            // 
+            this.buffer2ToolStripMenuItem.Name = "buffer2ToolStripMenuItem";
+            this.buffer2ToolStripMenuItem.Size = new System.Drawing.Size(113, 22);
+            this.buffer2ToolStripMenuItem.Text = "Buffer2";
+            this.buffer2ToolStripMenuItem.Click += new System.EventHandler(this.buffer2ToolStripMenuItem_Click);
+            // 
             // debugtestToolStripMenuItem
             // 
             this.debugtestToolStripMenuItem.Name = "debugtestToolStripMenuItem";
@@ -1803,7 +1818,7 @@ namespace Project
             this.IOState.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(200)))), ((int)(((byte)(200)))), ((int)(((byte)(200)))));
             this.IOState.ForeColorPin = System.Drawing.Color.WhiteSmoke;
             this.IOState.Location = new System.Drawing.Point(0, 0);
-            this.IOState.MatrixSize = new System.Drawing.Point(12, 1);
+            this.IOState.MatrixSize = new System.Drawing.Point(11, 1);
             this.IOState.MenuBorderSize = 1;
             this.IOState.MenuGap = 5;
             this.IOState.MinimumSize = new System.Drawing.Size(100, 0);
@@ -1846,8 +1861,7 @@ namespace Project
         ((ushort)(7)),
         ((ushort)(8)),
         ((ushort)(8)),
-        ((ushort)(8)),
+        ((ushort)(8))};
-        ((ushort)(0))};
             this.IOState.ItemClick += new System.EventHandler<arFrame.Control.GridView.ItemClickEventArgs>(this.IOState_ItemClick_1);
             // 
             // SSInfo
@@ -1981,21 +1995,6 @@ namespace Project
             this.arPanel1.TextShadow = false;
             this.arPanel1.UseProgressBar = false;
             // 
-            // gotoToolStripMenuItem
-            // 
-            this.gotoToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.buffer2ToolStripMenuItem});
-            this.gotoToolStripMenuItem.Name = "gotoToolStripMenuItem";
-            this.gotoToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
-            this.gotoToolStripMenuItem.Text = "Goto";
-            // 
-            // buffer2ToolStripMenuItem
-            // 
-            this.buffer2ToolStripMenuItem.Name = "buffer2ToolStripMenuItem";
-            this.buffer2ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
-            this.buffer2ToolStripMenuItem.Text = "Buffer2";
-            this.buffer2ToolStripMenuItem.Click += new System.EventHandler(this.buffer2ToolStripMenuItem_Click);
-            // 
             // fMain
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;

HMI/Project/fMain.resx

@@ -126,163 +126,160 @@
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HMI/SubProject/AGV/Narumi.cs

@@ -355,7 +355,7 @@ namespace arDev
                     if (TurnInformation != null && TurnInformation.IsTurning)
                     {
                         //턴진행중에 들어온 태그는 무시하자 260226
-                        RaiseMessage(MessageType.Normal, $"Tag Ignore by Turn (Tag:{tagnostr})");
+                        RaiseMessage(MessageType.TagIgnore, $"Tag Ignore by Turn (Tag:{tagnostr})");
                     }
                     else
                     {

HMI/SubProject/AGV/NarumiSerialComm.cs

@@ -485,6 +485,7 @@ namespace arDev
             Error,
             Send,
             Recv,
+            TagIgnore,
         }
 
         public class MessageEventArgs : EventArgs

HMI/SubProject/CommData/CommData.csproj

@@ -23,6 +23,7 @@
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <Prefer32Bit>false</Prefer32Bit>
+    <PlatformTarget>x86</PlatformTarget>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
     <DebugType>pdbonly</DebugType>

HMI/TestProject/Test_ACS/Test_ACS.csproj

@@ -14,7 +14,7 @@
     <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x86</PlatformTarget>
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>

HMI/TestProject/Test_Port/Test_Port.csproj

@@ -14,7 +14,7 @@
     <Deterministic>true</Deterministic>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x86</PlatformTarget>
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>