에뮬레이터 개발 전.

Cs_HMI/AGVLogic/AGVNavigationCore/AGVNavigationCore.csproj

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
   <PropertyGroup>
@@ -73,6 +73,7 @@
       <DependentUpon>UnifiedAGVCanvas.cs</DependentUpon>
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Models\AGVCommand.cs" />
     <Compile Include="Models\Enums.cs" />
     <Compile Include="Models\IMovableAGV.cs" />
     <Compile Include="Models\VirtualAGV.cs" />

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -163,6 +163,7 @@ namespace AGVNavigationCore.Controls
 
         #region Properties
 
+        public string PredictMessage { get; set; } = "";
         public string MapFileName { get; set; } = "";
 
         /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/AGVCommand.cs

@@ -0,0 +1,54 @@
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// AGV 제어 명령 클래스 (실제 AGV 제어용)
+    /// Predict() 메서드가 반환하는 다음 동작 명령
+    /// </summary>
+    public class AGVCommand
+    {
+        /// <summary>모터 명령 (정지/전진/후진)</summary>
+        public MotorCommand Motor { get; set; }
+
+        /// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
+        public MagnetPosition Magnet { get; set; }
+
+        /// <summary>속도 레벨 (저속/중속/고속)</summary>
+        public SpeedLevel Speed { get; set; }
+
+        /// <summary>명령 이유 메세지- (디버깅/로깅용)</summary>
+        public string Message { get; set; }
+
+        /// <summary>명령 이유- (디버깅/로깅용)</summary>
+        public eAGVCommandReason Reason { get; set; }
+
+        /// <summary>
+        /// 생성자
+        /// </summary>
+        public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, eAGVCommandReason reason, string reasonmessage = "")
+        {
+            Motor = motor;
+            Magnet = magnet;
+            Speed = speed;
+            Reason = reason;
+            Message = reasonmessage;
+        }
+
+        /// <summary>
+        /// 기본 생성자
+        /// </summary>
+        public AGVCommand()
+        {
+            Motor = MotorCommand.Stop;
+            Magnet = MagnetPosition.S;
+            Speed = SpeedLevel.L;
+            Message = "";
+            Reason = eAGVCommandReason.Normal;
+        }
+
+        public override string ToString()
+        {
+            return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed},Reason:{Reason}" +
+                   (string.IsNullOrEmpty(Message) ? "" : $" ({Message})");
+        }
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -141,50 +141,42 @@ namespace AGVNavigationCore.Models
         H
     }
 
-    /// <summary>
+    public enum eAGVCommandReason
-    /// AGV 제어 명령 클래스 (실제 AGV 제어용)
-    /// Predict() 메서드가 반환하는 다음 동작 명령
-    /// </summary>
-    public class AGVCommand
     { 
-        /// <summary>모터 명령 (정지/전진/후진)</summary>
+        /// <summary>
-        public MotorCommand Motor { get; set; }
+        /// 초기 미지정
-
+        /// </summary>
-        /// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
+        Normal,
-        public MagnetPosition Magnet { get; set; }
-
-        /// <summary>속도 레벨 (저속/중속/고속)</summary>
-        public SpeedLevel Speed { get; set; }
-
-        /// <summary>명령 이유 (디버깅/로깅용)</summary>
-        public string Reason { get; set; }
 
         /// <summary>
-        /// 생성자
+        /// 위치 미확정
         /// </summary>
-        public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, string reason = "")
+        UnknownPosition,
-        {
-            Motor = motor;
-            Magnet = magnet;
-            Speed = speed;
-            Reason = reason;
-        }
 
         /// <summary>
-        /// 기본 생성자
+        /// 대상경로없음
         /// </summary>
-        public AGVCommand()
+        NoTarget,
-        {
+
-            Motor = MotorCommand.Stop;
+        /// <summary>
-            Magnet = MagnetPosition.S;
+        /// 경로없음
-            Speed = SpeedLevel.L;
+        /// </summary>
-            Reason = "";
+        NoPath,
-        }
+
+        /// <summary>
+        /// 경로이탈
+        /// </summary>
+        PathOut,
+
+        /// <summary>
+        /// 마크스탑을 해야한다
+        /// </summary>
+        MarkStop,
+
+        /// <summary>
+        /// 완료
+        /// </summary>
+        Complete,
 
-        public override string ToString()
-        {
-            return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed}" +
-                   (string.IsNullOrEmpty(Reason) ? "" : $" ({Reason})");
-        }
     }
 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/IMovableAGV.cs

@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID 조회
         /// </summary>
-        string GetCurrentNodeId();
+        MapNode GetCurrentNode();
 
         /// <summary>
         /// AGV 상태 정보 문자열 조회

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -217,6 +217,8 @@ namespace AGVNavigationCore.Models
             _currentPosition = position;
         }
 
+
+
         /// <summary>
         /// 감지된 RFID 설정 (실제 RFID 센서에서)
         /// </summary>
@@ -259,6 +261,19 @@ namespace AGVNavigationCore.Models
             }
         }
 
+        /// <summary>
+        /// 현재 노드id의 개체를 IsPass 로 설정합니다
+        /// </summary>
+        public bool SetCurrentNodeMarkStop()
+        {
+            if (_currentNode == null) return false;
+            var 미완료된처음노드 = _currentPath.DetailedPath.Where(t => t.IsPass == false).OrderBy(t => t.seq).FirstOrDefault();
+            if (미완료된처음노드 ==  null) return false;
+            미완료된처음노드.IsPass = true;
+            Console.WriteLine($"미완료된처음노드를 true러치합니다");
+            return true;
+        }
+
         /// <summary>
         /// 다음 동작 예측 (실제 AGV 제어용)
         /// AGV가 지속적으로 호출하여 현재 상태와 예측 상태를 일치시킴
@@ -274,6 +289,7 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Forward,
                     MagnetPosition.S,  // 직진
                     SpeedLevel.L,      // 저속                
+                    eAGVCommandReason.UnknownPosition,
                     $"위치 미확정 (RFID {_detectedRfids.Count}/2) - 전진하여 RFID 탐색"
                 );
             }
@@ -285,6 +301,7 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
+                     eAGVCommandReason.NoPath,
                     $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.NodeId ?? "알수없음"}"
                 );
             }
@@ -292,14 +309,34 @@ namespace AGVNavigationCore.Models
             // 3. 위치 확정됨 + 경로 있음 + 남은 노드 없음 → 정지 (목적지 도착)
             var lastNode = _currentPath.DetailedPath.Last();
             if (_currentPath.DetailedPath.Where(t => t.seq < lastNode.seq && t.IsPass == false).Any() == false)
+            {
+                // 마지막 노드에 도착했는지 확인 (현재 노드가 마지막 노드와 같은지)
+                if (_currentNode != null && _currentNode.NodeId == lastNode.NodeId)
+                {
+                    if (lastNode.IsPass) //이미완료되었다.
                     {
                         return new AGVCommand(
                         MotorCommand.Stop,
                         MagnetPosition.S,
                         SpeedLevel.L,
+                         eAGVCommandReason.Complete,
                         $"목적지 도착 - 최종:{_currentNode?.NodeId ?? "알수없음"}"
                         );
                     }
+                    else
+                    {
+                        //마지막노드는 일혔지만 완료되지 않았다. 마크스탑필요
+                        return new AGVCommand(
+                         MotorCommand.Stop,
+                         MagnetPosition.S,
+                         SpeedLevel.L,
+                          eAGVCommandReason.MarkStop,
+                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                         );
+                    }
+
+                }
+            }
 
             // 4. 경로이탈
             var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.NodeId)).FirstOrDefault();
@@ -309,120 +346,14 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
+                     eAGVCommandReason.PathOut,
                     $"(재탐색요청)경로이탈 현재위치:{_currentNode.NodeId}"
                 );
             }
 
-            // 5. 방향체크
-            //if(CurrentDirection != TargetNode.MotorDirection)
-            //{
-            //    return new AGVCommand(
-            //         MotorCommand.Stop,
-            //         MagnetPosition.S,
-            //         SpeedLevel.L,
-            //         $"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}"
-            //     );
-            //}
-
-
-            //this.CurrentNodeId
-
             return GetCommandFromPath(CurrentNodeId, "경로 실행 시작");
 
-            // 4. 위치 확정 + 경로 실행 중 → 현재 상태에 따른 명령 예측
-            switch (_currentState)
-            {
-                case AGVState.Idle:
-                    // 🔥 경로가 있다면 이동 시작 (경로 실행 대기 중)
-                    if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
-                    {
-                        // DetailedPath에서 다음 노드 정보 가져오기
-                        return GetCommandFromPath(_remainingNodes[0], "경로 실행 시작");
-                    }
 
-                    // 경로가 없으면 대기
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "대기 중 (경로 없음)"
-                    );
-
-                case AGVState.Moving:
-                    {
-                        // 이동 중 - DetailedPath에서 현재/다음 노드 정보 가져오기
-                        if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
-                        {
-                            return GetCommandFromPath(_remainingNodes[0], "이동 중");
-                        }
-
-                        // 경로 정보가 없으면 기본 명령 (fallback)
-                        var motorCmd = _currentDirection == AgvDirection.Forward
-                            ? MotorCommand.Forward
-                            : MotorCommand.Backward;
-
-                        return new AGVCommand(
-                            motorCmd,
-                            MagnetPosition.S,
-                            SpeedLevel.M,
-                            $"이동 중 (DetailedPath 없음)"
-                        );
-                    }
-
-                case AGVState.Rotating:
-                    // 회전 중 - 정지 상태에서 마그넷만 조정
-                    MagnetPosition magnetPos = MagnetPosition.S;
-                    if (_currentDirection == AgvDirection.Left)
-                        magnetPos = MagnetPosition.L;
-                    else if (_currentDirection == AgvDirection.Right)
-                        magnetPos = MagnetPosition.R;
-
-                    return new AGVCommand(
-                        MotorCommand.Stop,  // 회전은 정지 상태에서
-                        magnetPos,
-                        SpeedLevel.L,
-                        $"회전 중 ({_currentDirection})"
-                    );
-
-                case AGVState.Docking:
-                    {
-                        // 도킹 중 - 저속으로 전진 또는 후진
-                        var dockingMotor = _dockingDirection == DockingDirection.Forward
-                            ? MotorCommand.Forward
-                            : MotorCommand.Backward;
-
-                        return new AGVCommand(
-                            dockingMotor,
-                            MagnetPosition.S,
-                            SpeedLevel.L,  // 도킹은 항상 저속
-                            $"도킹 중 ({_dockingDirection})"
-                        );
-                    }
-
-                case AGVState.Charging:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "충전 중"
-                    );
-
-                case AGVState.Error:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "오류 발생"
-                    );
-
-                default:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "알 수 없는 상태"
-                    );
-            }
         }
 
         #endregion
@@ -442,7 +373,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID 조회
         /// </summary>
-        public string GetCurrentNodeId() => _currentNode?.NodeId;
+        public MapNode GetCurrentNode() => _currentNode;
 
         /// <summary>
         /// AGV 정보 조회
@@ -682,6 +613,7 @@ namespace AGVNavigationCore.Models
                     defaultMotor,
                     MagnetPosition.S,
                     SpeedLevel.M,
+                     eAGVCommandReason.NoPath,
                     $"{actionDescription} (DetailedPath 없음)"
                 );
             }
@@ -701,6 +633,7 @@ namespace AGVNavigationCore.Models
                     defaultMotor,
                     MagnetPosition.S,
                     SpeedLevel.M,
+                      eAGVCommandReason.NoTarget,
                     $"{actionDescription} (노드 {targetNodeId} 정보 없음)"
                 );
             }
@@ -745,6 +678,7 @@ namespace AGVNavigationCore.Models
                 motorCmd,
                 magnetPos,
                 speed,
+                 eAGVCommandReason.Normal,
                 $"{actionDescription} → {targetNodeId} (Motor:{motorCmd}, Magnet:{magnetPos})"
             );
         }
@@ -817,7 +751,27 @@ namespace AGVNavigationCore.Models
         }
 
         public MapNode StartNode { get; set; } = null;
-        public MapNode TargetNode { get; set; } = null;
+
+        private MapNode _targetnode = null;
+
+        /// <summary>
+        /// 목적지를 설정합니다. 목적지가 변경되면 경로계산정보가 삭제 됩니다.
+        /// </summary>
+        public MapNode TargetNode
+        {
+            get
+            {
+                return _targetnode;
+            }
+            set
+            {
+                if (_targetnode != value)
+                {
+                    _currentPath = null;
+                    _targetnode = value;
+                }
+            }
+        }
 
         private void ProcessNextNode()
         {

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -1803,7 +1803,7 @@ namespace AGVSimulator.Forms
                          $"모터: {command.Motor}\n" +
                          $"마그넷: {command.Magnet}\n" +
                          $"속도: {command.Speed}\n" +
-                         $"이유: {command.Reason}\n\n" +
+                         $"이유: {command.Message}\n\n" +
                          $"---\n" +
                          $"현재 상태: {agv.CurrentState}\n" +
                          $"현재 방향: {agv.CurrentDirection}\n" +
@@ -1824,7 +1824,7 @@ namespace AGVSimulator.Forms
             // 첫 번째 AGV의 다음 행동 예측
             var agv = _agvList[0];
             var command = agv.Predict();
-            this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+            this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Message}";
         }
     
 

Cs_HMI/Project/AGV4.csproj

@@ -284,6 +284,15 @@
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="PUB.cs" />
     <Compile Include="CSetting.cs" />
+    <Compile Include="StateMachine\Step\_Util.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_CHGOFF.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -305,12 +314,6 @@
     <Compile Include="StateMachine\Step\_SM_RUN_GOHOME.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
-      <SubType>Form</SubType>
-    </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_IN.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_SYNC.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/Project/CSetting.cs

@@ -254,20 +254,10 @@ namespace Project
         [Browsable(false)]
         public string musicfile { get; set; }
 
-        /// <summary>
+    
-        /// FVI로 가능 방향이 Backward 인가?
-        /// Forward 방향이라면 false 를 한다
-        /// </summary>
-        [Browsable(false)]
-        public Boolean AGV_Direction_FVI_Backward { get; set; }
         [Browsable(false)]
         public Boolean Enable_Speak { get; set; }
 
-        //public Boolean Disable_BMS { get; set; }
-        //public Boolean Log_BMS_Tx { get; set; }
-        //public Boolean Log_BMS_Rx { get; set; }
-        //public double ChargeLimitLow { get; set; }
-        //public double ChargeLimitHigh { get; set; }
 
         [Browsable(false)]
         public string AGV_PANID { get; set; }
@@ -338,7 +328,7 @@ namespace Project
         /// 스피커출력 간격
         /// </summary>
         [DisplayName("Speak Term")]
-        public int doorSoundTerm { get; set; }
+        public int alarmSoundTerm { get; set; }
 
         [Browsable(false)]
         public int musicvol { get; set; }
@@ -346,6 +336,16 @@ namespace Project
         public bool Enable_Music { get; set; }
         #endregion
 
+        #region "Node Mapping"
+
+        [Category("Node Mapping"),DisplayName("Charger")]
+        public string NodeMAP_RFID_Charger { get; set; }
+
+        [Category("Node Mapping"), DisplayName("Home")]
+        public string NodeMAP_RFID_Home { get; set; }
+
+        #endregion  
+
         [Browsable(false)]
         public string LastMapFile { get; set; }
 
@@ -429,7 +429,7 @@ namespace Project
 
             //충전은 10분간격으로 재시도 한다
             if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
-            if (doorSoundTerm == 0) doorSoundTerm = 15; //기본 15초
+            if (alarmSoundTerm == 0) alarmSoundTerm = 15; //기본 15초
             if (ChargeSearchTime == 0) ChargeSearchTime = 25;
             //최대 충전진행 시간(기본 1시간)
             if (ChargeMaxTime == 0) ChargeMaxTime = 3600;

Cs_HMI/Project/Class/CResult.cs

@@ -67,7 +67,6 @@ namespace Project
         /// </summary>
         private ePosition _targetPos = ePosition.NONE;
 
-        public event EventHandler TargetPosSet;
       
         public string result_message = "";
         public double result_progressmax = 0;
@@ -91,8 +90,6 @@ namespace Project
             set
             {
                 _targetPos = value;
-                TargetPosSet?.Invoke(this, null);
-             
                 PUB.log.Add(string.Format("대상위치설정:{0}", value));
             }
         }

Cs_HMI/Project/PUB.cs

@@ -94,7 +94,14 @@ namespace Project
             else return false;
         }
 
-        public static void Speak(string m, Boolean force = false, bool addlog = true)
+        /// <summary>
+        /// 스피커를 통한 음성을 출력합니다
+        /// 출력되는 음성은 기본로그에도 자동 포함됩니다
+        /// </summary>
+        /// <param name="m"></param>
+        /// <param name="force"></param>
+        /// <param name="addlog">로그에도 출력 합니다</param>
+        public static void Speak(string m, Boolean force = false, bool addlog = true,string logcate="")
         {
             if (force == false && PUB.setting.Enable_Speak == false)
             {
@@ -105,7 +112,11 @@ namespace Project
                 voice.SpeakAsyncCancelAll();
             if (voice.State == SynthesizerState.Ready)
                 voice.SpeakAsync(m);
-            if (addlog) PUB.log.Add("SPEAK", m);
+            if (addlog)
+            {
+                if (logcate.isEmpty()) logcate = "SPEAK";
+                PUB.log.Add(logcate, m);
+            }
         }
 
         /// <summary>
@@ -382,6 +393,9 @@ namespace Project
                     return Lang.AGV연결실패;
                 case eECode.PLCCONN:
                     return Lang.PLC통신실패;
+                case eECode.MESSAGE_ERROR:
+                    if (values.Length > 0) return values[0].ToString();
+                    return "Message Error";
 
                 default:
                     return err.ToString();
@@ -582,7 +596,33 @@ namespace Project
         }
 
         #region VirtualAGV 실제 데이터 동기화
-
+        public static MapNode FindByNodeID(string nodeidx)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (nodeidx.isEmpty()) return null;
+            return _mapNodes.Where(t => t.NodeId.Equals(nodeidx)).FirstOrDefault();
+        }
+        public static MapNode FindByRFID(string rfidValue)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (rfidValue.isEmpty()) return null;
+            return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
+        }
+        public static List<MapNode> FindByNodeAlias(string alias)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (alias.isEmpty()) return null;
+            var lst = _mapNodes.Where(t => t.NodeAlias.Equals(alias));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
+        public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            var lst = _mapNodes.Where(t => t.Type.Equals(type));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
         /// <summary>
         /// RFID 읽기 시 해당 노드 위치로 AGV 업데이트
         /// </summary>

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -84,7 +84,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -96,7 +96,7 @@ namespace Project
             if (PUB.AGV.error.runerror_by_no_magent_line == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.선로를이탈했습니다);
                     LastSpeakTime = DateTime.Now;
@@ -105,45 +105,18 @@ namespace Project
             }
 
             //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
-            if (PUB._virtualAGV.CurrentNodeId.isEmpty())// .cur.    . CurrentPos == ePosition.NONE)
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return;
-            {
-                //이동중이지 않거나 홈이동상태가 아니라면?
-                if (PUB.AGV.system1.agv_run == false || PUB.sm.RunStep != ERunStep.GOHOME)
-                {
-                    //현재위치를 검색해야함
-                    PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                    PUB.AddEEDB($"READY상태에서 현재위치를 몰라 홈으로 이동 백업스텝:{PUB.sm.RunStep}");
-                    PUB.sm.BackupRunStep.Push(PUB.sm.RunStep);  //현재 상태를 백업
-                    return;
-                }
-                VAR.STR[eVarString.ChargeCheckMsg] = "현재 위치 모름";
-            }
 
             //나머지 상황체크
             switch (PUB.sm.RunStep)
             {
                 case ERunStep.GOHOME:
-                    if (runStepisFirst)
+                    if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime) == true)
                     {
-                        PUB.Speak(Lang.FindCurrentPisition);
+                        PUB.log.Add($"홈 이동이 완료되어 준비상태로 전환합니다");
-                    }
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
-                    else if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime))
-                    {
-                        //230601
-                        PUB.Speak(Lang.홈이동완료대기상태로전환합니다);
-                        VAR.TIME.Update(eVarTime.ChargeTry);
-
-                        ERunStep NextStep = ERunStep.READY;
-                        if (PUB.sm.BackupRunStep.Count > 0)
-                            NextStep = PUB.sm.BackupRunStep.Pop();
-
-                        PUB.log.Add($"현재위치 검색완료로 {NextStep} 으로 RUNSTEP값을 변경 합니다");
-                        PUB.sm.SetNewRunStep(NextStep); //대기상태로 전환한다
-                        return;
                     }
                     break;
-
                 case ERunStep.GOTO: //목적지까지 이동하는 경우
                     if (_SM_RUN_GOTO(runStepisFirst, PUB.sm.GetRunSteptime) == true)
                     {
@@ -155,7 +128,7 @@ namespace Project
 
                             //현재위치가 마지막경로의 NODEID와 일치해야한다
                             var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
-                            if(lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
+                            if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
                             {
                                 //버퍼진입전 노드에 도착완료했따
                                 PUB.XBE.BufferInReady = true;
@@ -172,7 +145,7 @@ namespace Project
                             PUB.XBE.BufferOutComplete = false;
                         }
 
-                        else if(target.Type == AGVNavigationCore.Models.NodeType.Charging)
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.Charging)
                         {
 
                         }
@@ -271,8 +244,8 @@ namespace Project
                                 PUB.Result.TargetPos = ePosition.QC;
                             }
                             PUB.Result.CurrentPosCW = "1";
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
-                            PUB.log.AddAT("충전 해제로 홈으로 이동");
+                            PUB.log.AddAT("충전 해제로 대기상태로 전환 합니다");
                         }
                     }
                     break;
@@ -313,342 +286,5 @@ namespace Project
 
         }
 
-        bool CheckStopCondition()
-        {
-            return true;
-        }
-
-
-        void CheckAGVMoveTo(eGoDir dir)
-        {
-            //계속내려간다
-            if (dir == eGoDir.Down)
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    //현재 동작중인상태에서 방향이 맞지 않다면 일단 움직임을 멈춘다
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'B')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        //움직이지 않으므로 전진하도록 한다
-                        PUB.log.Add($"AGV 기동 방향(DOWN):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-            else
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'F')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        PUB.log.Add($"AGV 기동 방향(UP):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-        }
-
-        void CheckAGVStopbyMARK(string sender)
-        {
-            //계속내려간다
-            var tsCmd = DateTime.Now - LastCommandTime;
-            if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false || tsCmd.TotalMilliseconds >= 1500)
-            {
-                PUB.AGV.AGVMoveStop("CheckAGVStopbyMARK", arDev.Narumi.eStopOpt.MarkStop);
-                LastCommandTime = DateTime.Now;
-                PUB.log.Add($"[{sender}] MARK신호에 멈춤 설정");
-            }
-        }
-
-        Boolean UpdateMotionPositionForMark(string sender)
-        {
-            //이머전시상태에서는 처리하지 않는다.
-            if (VAR.BOOL[eVarBool.EMERGENCY]) return false;
-
-            //DOWN 작업
-            // if (goDIR == eGoDir.Down)
-            {
-                //1. 현재위치 > 대상위치
-                if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-                {
-                    //계속내려간다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Down);
-                    else
-                        CheckAGVMoveTo(eGoDir.Up);
-                }
-                //2. 현재위치 < 대상위치
-                else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-                {
-                    //올라가야한다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Up);
-                    else
-                        CheckAGVMoveTo(eGoDir.Down);
-                }
-                //3. 현재위치 = 대상위치
-                else
-                {
-                    //현재위치가 확정되었는가?
-                    var actpos = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                    if (actpos == false && PUB.AGV.system1.agv_stop == true)
-                    {
-                        //위치확정이되지 않았다면 AGV멈춤시에 기동하게 한다.
-                        var lastcom = DateTime.Now - LastCommandTime;
-                        if (lastcom.TotalSeconds > 3)
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-
-
-                            LastCommandTime = DateTime.Now;
-                            PUB.logagv.Add($"AGV가 멈춰있다 동작을 재개 합니다");
-                        }
-                    }
-                    else
-                    {
-                        //마크센서가 들어와잇고, 위치가 act 되어있다면 해당 위치에 있는 것이다
-                        if (PUB.AGV.error.Emergency == false &&
-                            PUB.AGV.system1.agv_stop &&
-                            PUB.AGV.signal.mark_sensor && actpos &&
-                           PUB.Result.CurrentPos == PUB.Result.TargetPos)
-                        {
-                            //PUB.AGV.AGVMoveStop();
-                            return true;
-                        }
-
-                        if (PUB.AGV.system1.agv_stop == true && PUB.AGV.system1.agv_run == false)
-                        {
-                            PUB.log.Add($"멈춰있으므로 이동을 시작 합니다");
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                        }
-
-                        //AGV는 아래로 FVI방향으로 내려가고 있다
-                        if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-                        {
-                            if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //장비가 마크센서에의해 멈췃다면 완료이다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "1";
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                        }
-                        //AGV는 Qc방향으로 올라가고 있다
-                        else
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "0";
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                        }
-                    }
-
-
-                }
-            }
-            //UP 작업
-            //else
-            //{
-            //    //1. 현재위치 > 대상위치
-            //    if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-            //    {
-            //        //계속내려간다
-            //        CheckAGVMoveTo(eGoDir.Down);
-            //    }
-            //    //2. 현재위치 < 대상위치
-            //    else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-            //    {
-            //        //올라가야한다
-            //        CheckAGVMoveTo(eGoDir.Up);
-            //    }
-            //    //3. 현재위치 = 대상위치
-            //    else
-            //    {
-            //        //AGV는 위로가고 있다
-            //        if (VAR.BOOL[eVarBool.AGVDIR_UP] == true)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //장비가 마크센서에의해 멈췃다면 완료이다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Down);
-            //            }
-            //        }
-            //        //AGV는 내려가고 있다
-            //        else if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Up);
-            //            }
-            //        }
-            //    }
-            //}
-
-
-
-
-
-
-            return false;
-        }
-        Boolean UpdateMotionPositionForCharger(string sender)
-        {
-            if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
-            {
-                //충전기 검색은 항상 뒤로 검색한다
-                var tsCmd = DateTime.Now - tm_gocharge_command;
-                if (tsCmd.TotalMilliseconds >= 1999 &&
-                    PUB.AGV.error.Emergency == false &&
-                    PUB.AGV.system1.agv_run == false)
-                {
-                    //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition(" + sender + ")");
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                    tm_gocharge_command = DateTime.Now;
-                }
-            }
-            else
-            {
-                //CCW (역방향 )
-                //if (Pub.Result.RFIDPos < ePosition.CHARGE || Pub.Result.RFIDPos > ePosition.QC)
-                //{
-                //    //정상적이라면 RFID값은 QC + 혹은  QC - 에 있어야 하므로 항상 차저보다 높이 있다
-                //    //그렇지 않다면 초기화해서 QC검색부터 다시 실행하게 한다
-                //    //여기는 비정상 위치 값이다.
-                //    Pub.sm.SetStepSeq(1);
-                //}
-                //else 
-                //{
-                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
-                if (PUB.Result.CurrentPos == ePosition.CHARGE &&
-                      PUB.AGV.signal.mark_sensor == true)
-                {
-                    PUB.log.AddI("충전위치 검색 완료");
-                    return true;
-                }
-                else
-                {
-                    //이동중이지 않다면 항상 이동을 해줘야한다
-                    var tsCmd = DateTime.Now - LastCommandTime;
-                    if (tsCmd.TotalMilliseconds >= 1999 &&
-                        PUB.AGV.error.Emergency == false &&
-                        PUB.AGV.system1.agv_run == false)
-                    {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-                //}
-            }
-
-            return false;
-        }
-
-
-
     }//cvass
 }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -45,7 +45,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -214,7 +214,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //마크스탑신호가 3초이내로 들어와야 한다
-                if (PUB.AGV.signal.mark_sensor == false)
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
                 {
                     var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
                     if (ts.TotalSeconds > 3)

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -34,7 +34,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs

@@ -14,6 +14,8 @@ namespace Project
 
         public Boolean _SM_RUN_CHGOFF(bool isFirst, TimeSpan stepTime)
         {
+          
+
             //충전중인지 확인한다.
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true)
             {
@@ -47,6 +49,17 @@ namespace Project
                         PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
                         VAR.TIME.Update(eVarTime.SendChargeOff);
                     }
+
+
+                    // 1분 타임아웃 체크
+                    if (stepTime.TotalMinutes >= 1)
+                    {
+                        PUB.XBE.errorMessage = $"충전해제가 실패되었습니다(1분)";
+                        PUB.log.AddE(PUB.XBE.errorMessage);
+                        PUB.sm.SetNewStep(eSMStep.IDLE);
+                        return false;
+                    }
+
                 }
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs

@@ -38,7 +38,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -63,8 +63,16 @@ namespace Project
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
-                PUB.Speak(Lang.충전을위해홈위치로이동합니다);
+                var targetnode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Charger);
-                PUB.Result.TargetPos = ePosition.QC;
+                if(targetnode == null)
+                {
+                    PUB.log.AddE($"충전기 노드가 설정되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                //충전기로 대상을 설정한다
+                PUB._virtualAGV.TargetNode = targetnode;
                 VAR.TIME.Update(eVarTime.ChargeSearch);
                 PUB.sm.UpdateRunStepSeq();
                 PUB.log.Add($"충전:대상위치 QC 시작");
@@ -73,7 +81,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOCHARGE #1") == true)
+                if ( UpdateMotionPositionForCharger("GOCHARGE #1") == true)
                 {
                     PUB.log.Add($"충전:충전기 검색 전 QC위치 확인 완료");
                     PUB.sm.UpdateRunStepSeq();
@@ -200,9 +208,6 @@ namespace Project
                 PUB.Result.CurrentPos = ePosition.CHARGE; //현재위치를 충전기로 한다
                 PUB.Result.TargetPos = ePosition.CHARGE;
                 PUB.Result.CurrentPosCW = "1";
-                ctlPos1.SetPosition(ePosition.CHARGE);
-                ctlPos1.SetPositionActive(ePosition.CHARGE);
-                ctlPos1.Invalidate();
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOHOME.cs

@@ -13,20 +13,12 @@ namespace Project
     {
         public Boolean _SM_RUN_GOHOME(bool isFirst, TimeSpan stepTime)
         {
+            var funcName = "_SM_RUN_GOHOME";
             if (runStepisFirst)
             {
-                //  PUB.flag.set(EFlag.FLAG_NEXTSTOP_ALIGN, false);
-
-                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
                 VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//);
             }
 
-            //220629
-            //         if(PUB.flag.get(EFlag.FLAG_GO_CHAGER_TEMP))
-            //{
-            //             PUB.flag.set(EFlag.FLAG_GO_CHAGER_TEMP, false);
-            //}
-
             //HW 연결오류
             if (PUB.AGV.IsOpen == false)
             {
@@ -34,7 +26,6 @@ namespace Project
                 return false;
             }
 
-
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
                 return false;
@@ -43,7 +34,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -51,27 +42,29 @@ namespace Project
                 return false;
             }
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-                return false;
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
                 PUB.Speak(Lang.홈으로이동합니다);
 
-                //홈은 무조건 QC위치로 간다
+                var homenode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Home);
-                PUB.AddEEDB($"홈검색시작({PUB.Result.TargetPos})");
+                if (homenode == null)
-                PUB.Result.TargetPos = ePosition.QC;
+                {
+                    PUB.log.Add($"홈위치의 노드맵핑(환경설정)이 없습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+                PUB._virtualAGV.TargetNode = homenode;
+                PUB.AddEEDB($"홈검색시작({homenode.RfidId})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOHOME"))
+                if (UpdateMotionPositionForMark(funcName))
                 {
-                    PUB.AGV.AGVMoveStop("SM_RUN_GOHOME");
+                    PUB.AGV.AGVMoveStop(funcName);
                     PUB.sm.UpdateRunStepSeq();
                 }
                 return false;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

@@ -3,6 +3,8 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using AR;
+using COMM;
 
 namespace Project
 {
@@ -10,45 +12,30 @@ namespace Project
     {
         public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime)
         {
-            //현재 위치가 찾아지지 않았다면. 먼저 위치를 찾는다. 위로 이동시켜서 찾는다.
+            //현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환
-            if (PUB.Result.CurrentPos == ePosition.NONE)
+            var currentnode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
-            {
+            if (currentnode != null) return true;
-                if (isFirst)
-                {
-                    PUB.Speak( Lang.현재위치를검색합니다);
-                }
 
-                if (PUB.AGV.system1.agv_run)
+            //이동을 하지 않고있다면 전진을 진행한다
+            if (PUB.AGV.system1.agv_run == false)
             {
-                    //방향을 체크한다
+                var ts = VAR.TIME.RUN(eVarTime.LastRunCommandTime);
-                    var basedir = PUB.setting.AGV_Direction_FVI_Backward ? 'F' : 'B';
+                if (ts.TotalSeconds > 5)
-                    if (PUB.AGV.data.Direction == basedir)
                 {
-                        var ts = DateTime.Now - LastCommandTime;
+                    PUB.log.Add($"현재위치를 몰라 전진 이동 합니다");
-                        if (ts.TotalMilliseconds >= 1999)
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
-                            PUB.AGV.AGVMoveStop("SM_RUN_POSCHK",arDev.Narumi.eStopOpt.Stop);
+                        Bunki = arDev.Narumi.eBunki.Strate,
-                            LastCommandTime = DateTime.Now;
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();
+                    VAR.TIME.Update(eVarTime.LastRunCommandTime);
                 }
             }
-                }
+            VAR.STR[eVarString.StatusMessage] = "현재 위치를 알 수 없습니다";
-                else if (PUB.AGV.system1.agv_run == false)
-                {
-                    //전진이동한다
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds >= 1999)
-                    {
-                        if (PUB.setting.AGV_Direction_FVI_Backward)
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        else
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
             return false;
         }
-            else return true;
-        }
     }
 }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs

@@ -83,11 +83,6 @@ namespace Project
                 PUB.Result.TargetPos = ePosition.NONE;
                 PUB.Result.CurrentPos = ePosition.NONE;
                 PUB.Result.CurrentPosCW = "0";
-                ctlPos1.SetPositionDeActive();
-                ctlPos1.SetPosition(ePosition.NONE);
-                ctlPos1.SetDirection("0");
-                ctlPos1.Invalidate();
-
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs

@@ -80,7 +80,7 @@ namespace Project
                 //synlist.Add("SBN", PUB.setting.ChargerID.ToString("0000"));
 
                 synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
-
+                VAR.I32[eVarInt32.SyncItemCount] = synlist.Count;
                 
 
                 PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
@@ -101,7 +101,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //통신 확인되었으므로 스피드를 전송한다.
+                //통신 확인되었으므로 설정값들을 
                 if (synidx < synlist.Count)
                 {
                     var item = synlist.ElementAt(synidx);
@@ -111,7 +111,7 @@ namespace Project
                     // 캔버스에 동기화 상태 표시
                     if (PUB._mapCanvas != null)
                     {
-                        float progress = (float)synidx / synlist.Count;
+                        float progress = (float)synidx / VAR.I32[eVarInt32.SyncItemCount];
                         PUB._mapCanvas.SetSyncStatus("장비 설정 동기화 중...", progress, $"항목: {item.Key} ({synidx + 1}/{synlist.Count})");
                     }
                 }

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -0,0 +1,228 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+
+        bool CheckStopCondition()
+        {
+            return true;
+        }
+
+        /// <summary>
+        /// 설정된 목적지까지 이동을 완료 한 후 True를 반환합니다.
+        /// 목적지 : PUB._virtualAGV.TargetNode
+        /// 
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForMark(string sender)
+        {
+            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
+            if (_SM_RUN_POSCHK(false, new TimeSpan()) == false) return false;
+
+            //현재위치노드 오류
+            var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            if (currentNode == null)
+            {
+                PUB.log.AddE($"현재위치노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //시작노드값이 없다면 현재위치를 노드로 결정한다
+            if (PUB._virtualAGV.StartNode == null)
+                PUB._virtualAGV.StartNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+
+            //시작노드가없다면 오류
+            if (PUB._virtualAGV.StartNode == null)
+            {
+                PUB.log.AddE($"경로시작노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //대상노드가 없다면 오류
+            if (PUB._virtualAGV.TargetNode == null)
+            {
+                PUB.log.AddE($"경로종료노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //경로 생성(경로정보가 없거나 현재노드가 경로에 없는경우)
+            if (PUB._virtualAGV.CurrentPath == null ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Any() == false ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Where(t => t.NodeId.Equals(currentNode.NodeId)).Any() == false)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    PUB.log.Add($"경로 재생성으로 인해 구동을 멈춥니다");
+                    PUB.AGV.AGVMoveStop("경로재생성");
+                }
+
+                var PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode);
+                if (PathResult.result == null)
+                {
+                    PUB.log.AddE($"경로가 계산되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
+            }
+
+            //predict 를 이용하여 다음 이동을 모두 확인한다.
+            var nextAction = PUB._virtualAGV.Predict();
+
+            var message = $"[다음 행동 예측]\n\n" +
+                         $"모터: {nextAction.Motor}\n" +
+                         $"마그넷: {nextAction.Magnet}\n" +
+                         $"속도: {nextAction.Speed}\n" +
+                         $"이유: {nextAction.Message}\n\n" +
+                         $"---\n" +
+                         $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                         $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                         $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                         $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+            //모터에서 정지를 요청했다
+            if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    // 완료(Complete) 상태라면 MarkStop 전송
+                    if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop)
+                    {
+                        PUB.log.Add("다음행동예측에서 MARK STOP이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message, arDev.Narumi.eStopOpt.MarkStop);
+                    }
+                    else
+                    {
+                        PUB.log.Add("다음행동예측에서 장비 멈춤이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message);
+                    }
+                }
+
+                // 목적지 도착 여부 확인
+                // 현재 노드가 타겟 노드와 같고, 위치가 확정된 상태라면 도착으로 간주
+                // 단, AGV가 실제로 멈췄는지 확인 (agv_run == false)
+                if (PUB._virtualAGV.IsPositionConfirmed &&
+                    PUB._virtualAGV.CurrentNodeId == PUB._virtualAGV.TargetNode.NodeId)
+                {
+                    if (PUB.AGV.system1.agv_run == false)
+                    {
+                        return true;
+                    }
+                }
+
+                return false;
+            }
+            else
+            {
+                // 이동 명령 변환 (AGVNavigationCore -> arDev.Narumi)
+                var bunki = arDev.Narumi.eBunki.Strate;
+                if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.L) bunki = arDev.Narumi.eBunki.Left;
+                else if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.R) bunki = arDev.Narumi.eBunki.Right;
+
+                var dir = arDev.Narumi.eMoveDir.Forward;
+                if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Backward) dir = arDev.Narumi.eMoveDir.Backward;
+
+                var spd = arDev.Narumi.eMoveSpd.Low;
+                if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.M) spd = arDev.Narumi.eMoveSpd.Mid;
+                else if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.H) spd = arDev.Narumi.eMoveSpd.High;
+
+                // 명령 설정
+                // 현재 상태와 다를 때만 전송 (불필요한 통신 부하 방지)
+                if (PUB.AGV.data.Sts != bunki.ToString()[0] ||
+                    PUB.AGV.data.Direction != dir.ToString()[0] ||
+                    PUB.AGV.data.Speed != spd.ToString()[0])
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = bunki,
+                        Direction = dir,
+                        PBSSensor = 1,
+                        Speed = spd,
+                    });
+                    PUB.log.Add($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
+                }
+
+                // AGV가 정지 상태라면 구동 시작
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    var runOpt = (dir == arDev.Narumi.eMoveDir.Forward) ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward;
+                    PUB.AGV.AGVMoveRun(runOpt);
+                }
+
+                return false;
+            }
+
+        }
+
+        /// <summary>
+        /// 충전기검색시퀀스
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForCharger(string sender)
+        {
+            if (VAR.BOOL[eVarBool.AGVDIR_BACK] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
+            {
+                //충전기 검색은 항상 앞으로 검색한다
+                var tsCmd = DateTime.Now - tm_gocharge_command;
+                if (tsCmd.TotalMilliseconds >= 1999 &&
+                    PUB.AGV.error.Emergency == false &&
+                    PUB.AGV.system1.agv_run == false)
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = arDev.Narumi.eBunki.Strate,
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();//
+                    tm_gocharge_command = DateTime.Now;
+                }
+            }
+            else
+            {
+                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
+                if (PUB._virtualAGV.CurrentNodeId.Equals(PUB.setting.NodeMAP_RFID_Charger) &&
+                      VAR.BOOL[eVarBool.MARK_SENSOR] == true)
+                {
+                    PUB.log.AddI("충전위치 검색 완료");
+                    return true;
+                }
+                else
+                {
+                    //이동중이지 않다면 항상 이동을 해줘야한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999 &&
+                        PUB.AGV.error.Emergency == false &&
+                        PUB.AGV.system1.agv_run == false)
+                    {
+                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                //}
+            }
+
+            return false;
+        }
+
+
+
+    }//cvass
+}

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -49,82 +49,48 @@ namespace Project
                     case arDev.Narumi.DataType.STS:
                         {
                             //마크센서 확인
-                            var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
+                            var agv_err = PUB.AGV.error.Value;
-                            var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
+                            var agv_emg = PUB.AGV.error.Emergency;
-                            var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
+                            var agv_chg = PUB.AGV.system1.Battery_charging;
-                            var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
+                            var agv_stp = PUB.AGV.system1.agv_stop;
+                            var agv_run = PUB.AGV.system1.agv_run;
+                            var agv_mrk = PUB.AGV.signal.mark_sensor;
+
+
                             //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
-                            VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
+                            VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';
-                            VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
-                            VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
 
-                            ////모터방향 입력
+                            if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
-                            //if (PUB.AGV.data.Direction == 'B')
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
-                            //else
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
-
-                            ////현재 속도
-                            //if (PUB.AGV.data.Speed == 'H')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
-                            //else if (PUB.AGV.data.Speed == 'M')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
-                            //else if (PUB.AGV.data.Speed == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
-                            //else if (PUB.AGV.data.Speed == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
-
-                            ////이동방향
-                            //if (PUB.AGV.data.Sts == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
-                            //else if (PUB.AGV.data.Sts == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
-                            //else if (PUB.AGV.data.Sts == 'R')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
-
-
-                            //PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
-                            //PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
-
-                            if (PUB.AGV.signal.mark_sensor == false)
                             {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
+                                VAR.BOOL[eVarBool.AGV_ERROR] = (agv_err > 0);
-                                {
+                                PUB.logagv.Add($"new AGV_ERROR ({PUB.AGV.error.Value})");
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 설정");
                             }
-                            }
+                            if (VAR.BOOL[eVarBool.EMERGENCY] != agv_emg)
-                            else
                             {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
+                                VAR.BOOL[eVarBool.EMERGENCY] = agv_emg;
-                                {
+                                PUB.logagv.Add($"new EMERGENCY ({VAR.BOOL[eVarBool.EMERGENCY]})");
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 해제");
-                                }
                             }
 
 
                             //차징상태변경
-                            if (_charging != PUB.AGV.system1.Battery_charging)
+                            if (_charging != agv_chg)
                             {
-                                if (PUB.AGV.system1.Battery_charging)
+                                if (agv_chg)
                                 {
                                     VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
                                     PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
                                 }
-                                _charging = PUB.AGV.system1.Battery_charging;
+                                _charging = agv_chg;
                             }
 
                             //배터리충전상태
-                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
+                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != agv_chg)
                             {
-                                PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
+                                PUB.log.Add($"충전상태전환 {agv_chg}");
-                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
+                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = agv_chg;
                             }
                             //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
-                            PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
+                            PUB.BMS.AutoCharge = agv_chg;
 
                             if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                             {
@@ -135,41 +101,41 @@ namespace Project
                                 VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
                             }
 
-                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
-                            {
-                                //현재 활성화된 위치를 꺼준다
-                                if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
-                                {
-                                    var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
-                                    if (ts.TotalSeconds >= 2)
-                                    {
-                                        ctlPos1.SetPositionDeActive();
-                                        PUB.log.Add($"현재 활성위치를 해제 함");
-                                    }
-                                }
-
-                            }
-
                             //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
-                            if (PUB.AGV.system1.agv_stop)
+                            if (agv_stp)
+                            {
+                                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK])
+                                {
                                     VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
+                                    PUB.logagv.Add($"NEXTSTOP_MARK 변경({VAR.BOOL[eVarBool.NEXTSTOP_MARK]})");
+                                }
+                            }
 
+                            //마크센서 상태가 변경이 되었다면
                             if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
                             {
-                                if (PUB.AGV.signal.mark_sensor)
+                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal.mark_sensor})");
-                                {
-                                    //현재위치를 확정한다
-                                    var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                                    if (curact == false)
-                                    {
-                                        PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
-                                        ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
-                                        ctlPos1.SetDirection("");
-                                        ctlPos1.Invalidate();
-                                    }
-                                }
                                 VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
+
+                                //AGV가 멈췄고 마크센서가 ON되었다면 마지막 RFID 위치가 확정된경우이다
+                                if (agv_stp && VAR.BOOL[eVarBool.MARK_SENSOR])
+                                {
+                                    PUB.log.Add("마크스탑이 확인되어 최종위치를 PASS 처리 합니다");
+                                    var curnode = PUB._virtualAGV.SetCurrentNodeMarkStop();
+                                    if (curnode == true)
+                                    {
+                                        PUB.log.Add($"마크스탑으로 해당노드의 이동을 확정합니다");
                                     }
+                                    else PUB.log.AddAT($"마크스탑이 확인되었으나 현재 노드가없어 PASS를 설정하지 못함");
+                                }
+                            }
+                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] != VAR.BOOL[eVarBool.MARK_SENSOR])
+                            {
+                                VAR.BOOL[eVarBool.MARK_SENSOROFF] = !VAR.BOOL[eVarBool.MARK_SENSOR];
+                                VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
+                                PUB.log.Add($"MARK_SENSOROFF 변경({VAR.BOOL[eVarBool.MARK_SENSOROFF]})");
+                            }
+
                         }
                         break;
                     case arDev.Narumi.DataType.TAG:
@@ -239,8 +205,23 @@ namespace Project
                 }
 
                 //이 후 상황을 예측한다
-                var command = PUB._virtualAGV.Predict();
+                if (PUB._mapCanvas != null)
-                var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+                {
+                    var nextAction = PUB._virtualAGV.Predict();
+                    var message = $"[다음 행동 예측]\n\n" +
+                     $"모터: {nextAction.Motor}\n" +
+                     $"마그넷: {nextAction.Magnet}\n" +
+                     $"속도: {nextAction.Speed}\n" +
+                     $"이유: {nextAction.Message}\n\n" +
+                     $"---\n" +
+                     $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                     $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                     $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                     $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+                    PUB._mapCanvas.PredictMessage = message;
+                }
+
             }
             catch (Exception ex)
             {

Cs_HMI/Project/StateMachine/_Loop.cs

@@ -159,7 +159,12 @@ namespace Project
 
                         // 동기화 모드 종료 (혹시 남아있을 경우)
                         if (PUB._mapCanvas != null)
+                        {
+                            this.Invoke(new Action(() => {
                                 PUB._mapCanvas.ExitSyncMode();
+                            }));
+                        }
+                            
                     }
 
                     //자동소거기능
@@ -183,6 +188,12 @@ namespace Project
                     break;
 
                 case eSMStep.SYNC:
+                    if(e.isFirst)
+                    {
+                        // 동기화 완료 시 캔버스 모드 복귀
+                        if (PUB._mapCanvas != null)
+                            PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                    }
                     if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
                         var b1 = PUB.XBE.IsOpen;

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -241,6 +241,7 @@ namespace Project
             var bCharge =
                 (PUB.sm.RunStep == ERunStep.GOCHARGE || PUB.sm.RunStep == ERunStep.CHARGECHECK || VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true);
 
+            //가동, 목적지가 충전기라면 홈 이동이다
             var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
             //var bChargeM = PUB.flag.get(EFlag.FLAG_CHARGEONM);
             var bAuto = VAR.BOOL[eVarBool.FLAG_AUTORUN];
@@ -368,7 +369,7 @@ namespace Project
             }
 
             IOState.setTitle(inputrow, inputcol, "RUN"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.agv_run ? 1 : 0));
-            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.signal.mark_sensor ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
+            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.MARK_SENSOR] ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
             IOState.setTitle(inputrow, inputcol, "CHG"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.Battery_charging ? 1 : 0));
             IOState.setTitle(inputrow, inputcol, "ITM"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.ITEMON] ? 1 : 0));
             IOState.Invalidate();

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -160,7 +160,7 @@ namespace Project
                         var bunkidata = new arDev.Narumi.BunkiData();
 
                         //speed;
-                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Middle;
+                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Mid;
                         else if (AutSpeed == 2) bunkidata.Speed = arDev.Narumi.eMoveSpd.High;
                         else bunkidata.Speed = arDev.Narumi.eMoveSpd.Low;
 

Cs_HMI/Project/ViewForm/fManual.cs

@@ -291,7 +291,7 @@ namespace Project.ViewForm
 
             if (radspdh.Checked) p.Speed = arDev.Narumi.eMoveSpd.High;
             else if (radspdl.Checked) p.Speed = arDev.Narumi.eMoveSpd.Low;
-            else p.Speed = arDev.Narumi.eMoveSpd.Middle;
+            else p.Speed = arDev.Narumi.eMoveSpd.Mid;
 
             if (radpbs1.Checked) p.PBSSensor = 2;
             else if (radpbs2.Checked) p.PBSSensor = 2;
@@ -307,7 +307,7 @@ namespace Project.ViewForm
 
         private void btChargeOn_Click(object sender, EventArgs e)
         {
-            if (PUB.AGV.signal.mark_sensor == false)
+            if (VAR.BOOL[eVarBool.MARK_SENSOR] == false)
             {
                 UTIL.MsgE("마크센서가 확인되지 않아 충전을 시작할 수 없습니다");
                 return;

Cs_HMI/Project/fMain.Designer.cs

@@ -44,22 +44,6 @@ namespace Project
             arFrame.Control.ColorListItem colorListItem9 = new arFrame.Control.ColorListItem();
             arFrame.Control.ColorListItem colorListItem10 = new arFrame.Control.ColorListItem();
             arFrame.Control.ColorListItem colorListItem11 = new arFrame.Control.ColorListItem();
-            Project.CtlPos.item item1 = new Project.CtlPos.item();
-            Project.CtlPos.item item2 = new Project.CtlPos.item();
-            Project.CtlPos.item item3 = new Project.CtlPos.item();
-            Project.CtlPos.item item4 = new Project.CtlPos.item();
-            Project.CtlPos.item item5 = new Project.CtlPos.item();
-            Project.CtlPos.item item6 = new Project.CtlPos.item();
-            Project.CtlPos.item item7 = new Project.CtlPos.item();
-            Project.CtlPos.item item8 = new Project.CtlPos.item();
-            Project.CtlPos.item item9 = new Project.CtlPos.item();
-            Project.CtlPos.item item10 = new Project.CtlPos.item();
-            Project.CtlPos.item item11 = new Project.CtlPos.item();
-            Project.CtlPos.item item12 = new Project.CtlPos.item();
-            Project.CtlPos.item item13 = new Project.CtlPos.item();
-            Project.CtlPos.item item14 = new Project.CtlPos.item();
-            Project.CtlPos.item item15 = new Project.CtlPos.item();
-            Project.CtlPos.item item16 = new Project.CtlPos.item();
             this.tmDisplay = new System.Windows.Forms.Timer(this.components);
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.MenuLift = new System.Windows.Forms.Button();
@@ -125,7 +109,6 @@ namespace Project
             this.lbIDLE = new arCtl.arLabel();
             this.lbStStep = new arCtl.arLabel();
             this.panTopMenu = new System.Windows.Forms.Panel();
-            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.cmDebug = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.mapFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -138,12 +121,12 @@ namespace Project
             this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pandBottomDIO = new System.Windows.Forms.Panel();
             this.panel9 = new System.Windows.Forms.Panel();
-            this.IOState = new arFrame.Control.GridView();
-            this.SSInfo = new arFrame.Control.GridView();
             this.panDlg = new System.Windows.Forms.Panel();
             this.arPanel2 = new arCtl.arPanel();
             this.arPanel1 = new arCtl.arPanel();
-            this.ctlPos1 = new Project.CtlPos();
+            this.IOState = new arFrame.Control.GridView();
+            this.SSInfo = new arFrame.Control.GridView();
+            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.panRight.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel4.SuspendLayout();
@@ -299,7 +282,7 @@ namespace Project
             this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btAutoRun.GradientRepeatBG = false;
             this.btAutoRun.isButton = true;
-            this.btAutoRun.Location = new System.Drawing.Point(0, 300);
+            this.btAutoRun.Location = new System.Drawing.Point(0, 360);
             this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
             this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
             this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
@@ -320,7 +303,7 @@ namespace Project
             this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
             this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoRun.Size = new System.Drawing.Size(259, 152);
+            this.btAutoRun.Size = new System.Drawing.Size(259, 180);
             this.btAutoRun.TabIndex = 22;
             this.btAutoRun.Text = "수동";
             this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -367,7 +350,7 @@ namespace Project
             this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeA.SignColor = System.Drawing.Color.Yellow;
             this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeA.Size = new System.Drawing.Size(143, 150);
+            this.btChargeA.Size = new System.Drawing.Size(143, 180);
             this.btChargeA.TabIndex = 141;
             this.btChargeA.Text = "자동충전";
             this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -393,7 +376,7 @@ namespace Project
             this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.lbTime.GradientRepeatBG = false;
             this.lbTime.isButton = false;
-            this.lbTime.Location = new System.Drawing.Point(5, 593);
+            this.lbTime.Location = new System.Drawing.Point(5, 681);
             this.lbTime.Margin = new System.Windows.Forms.Padding(0);
             this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -979,10 +962,10 @@ namespace Project
             this.panRight.Controls.Add(this.panel3);
             this.panRight.Controls.Add(this.panel1);
             this.panRight.Dock = System.Windows.Forms.DockStyle.Right;
-            this.panRight.Location = new System.Drawing.Point(1015, 146);
+            this.panRight.Location = new System.Drawing.Point(1015, 58);
             this.panRight.Name = "panRight";
             this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
-            this.panRight.Size = new System.Drawing.Size(264, 618);
+            this.panRight.Size = new System.Drawing.Size(264, 706);
             this.panRight.TabIndex = 131;
             // 
             // tableLayoutPanel1
@@ -1001,7 +984,7 @@ namespace Project
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 452);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 540);
             this.tableLayoutPanel1.TabIndex = 0;
             // 
             // btHome
@@ -1043,7 +1026,7 @@ namespace Project
             this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btHome.SignColor = System.Drawing.Color.Yellow;
             this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btHome.Size = new System.Drawing.Size(116, 300);
+            this.btHome.Size = new System.Drawing.Size(116, 360);
             this.btHome.TabIndex = 141;
             this.btHome.Text = "홈";
             this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1068,7 +1051,7 @@ namespace Project
             this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btChargeM.GradientRepeatBG = false;
             this.btChargeM.isButton = true;
-            this.btChargeM.Location = new System.Drawing.Point(116, 150);
+            this.btChargeM.Location = new System.Drawing.Point(116, 180);
             this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
             this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
             this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1089,7 +1072,7 @@ namespace Project
             this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeM.SignColor = System.Drawing.Color.Yellow;
             this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeM.Size = new System.Drawing.Size(143, 150);
+            this.btChargeM.Size = new System.Drawing.Size(143, 180);
             this.btChargeM.TabIndex = 141;
             this.btChargeM.Text = "수동충전";
             this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1130,13 +1113,13 @@ namespace Project
             this.lbCntQA.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntQA.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntQA.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntQA.ForeColor = System.Drawing.Color.Gray;
             this.lbCntQA.GradientEnable = true;
             this.lbCntQA.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntQA.GradientRepeatBG = false;
             this.lbCntQA.isButton = false;
-            this.lbCntQA.Location = new System.Drawing.Point(161, 0);
+            this.lbCntQA.Location = new System.Drawing.Point(180, 0);
             this.lbCntQA.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntQA.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntQA.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1157,7 +1140,7 @@ namespace Project
             this.lbCntQA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntQA.SignColor = System.Drawing.Color.Yellow;
             this.lbCntQA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQA.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQA.Size = new System.Drawing.Size(78, 49);
             this.lbCntQA.TabIndex = 6;
             this.lbCntQA.Text = "0000";
             this.lbCntQA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1175,13 +1158,13 @@ namespace Project
             this.arLabel4.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel4.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel4.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel4.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel4.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
             this.arLabel4.GradientEnable = true;
             this.arLabel4.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.arLabel4.GradientRepeatBG = false;
             this.arLabel4.isButton = false;
-            this.arLabel4.Location = new System.Drawing.Point(127, 0);
+            this.arLabel4.Location = new System.Drawing.Point(129, 0);
             this.arLabel4.Margin = new System.Windows.Forms.Padding(0);
             this.arLabel4.MouseDownColor = System.Drawing.Color.Yellow;
             this.arLabel4.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1201,10 +1184,10 @@ namespace Project
             this.arLabel4.Sign = "";
             this.arLabel4.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel4.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel4.Size = new System.Drawing.Size(34, 49);
+            this.arLabel4.Size = new System.Drawing.Size(51, 49);
             this.arLabel4.TabIndex = 5;
-            this.arLabel4.Text = "QA";
+            this.arLabel4.Text = "CHARGER";
             this.arLabel4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel4.TextShadow = true;
             this.arLabel4.TextVisible = true;
@@ -1220,13 +1203,13 @@ namespace Project
             this.lbCntQC.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntQC.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntQC.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntQC.ForeColor = System.Drawing.Color.Gray;
             this.lbCntQC.GradientEnable = true;
             this.lbCntQC.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntQC.GradientRepeatBG = false;
             this.lbCntQC.isButton = false;
-            this.lbCntQC.Location = new System.Drawing.Point(34, 0);
+            this.lbCntQC.Location = new System.Drawing.Point(51, 0);
             this.lbCntQC.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntQC.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntQC.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1247,7 +1230,7 @@ namespace Project
             this.lbCntQC.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntQC.SignColor = System.Drawing.Color.Yellow;
             this.lbCntQC.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQC.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQC.Size = new System.Drawing.Size(78, 49);
             this.lbCntQC.TabIndex = 4;
             this.lbCntQC.Text = "0000";
             this.lbCntQC.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1265,7 +1248,7 @@ namespace Project
             this.arLabel9.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel9.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel9.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel9.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel9.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.arLabel9.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
             this.arLabel9.GradientEnable = true;
             this.arLabel9.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1291,10 +1274,10 @@ namespace Project
             this.arLabel9.Sign = "";
             this.arLabel9.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel9.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel9.Size = new System.Drawing.Size(34, 49);
+            this.arLabel9.Size = new System.Drawing.Size(51, 49);
             this.arLabel9.TabIndex = 4;
-            this.arLabel9.Text = "QC";
+            this.arLabel9.Text = "UNLOADER";
             this.arLabel9.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel9.TextShadow = true;
             this.arLabel9.TextVisible = true;
@@ -1323,13 +1306,13 @@ namespace Project
             this.lbCntDN.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntDN.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntDN.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntDN.ForeColor = System.Drawing.Color.Gray;
             this.lbCntDN.GradientEnable = true;
             this.lbCntDN.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntDN.GradientRepeatBG = false;
             this.lbCntDN.isButton = false;
-            this.lbCntDN.Location = new System.Drawing.Point(161, 0);
+            this.lbCntDN.Location = new System.Drawing.Point(180, 0);
             this.lbCntDN.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntDN.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntDN.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1350,7 +1333,7 @@ namespace Project
             this.lbCntDN.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntDN.SignColor = System.Drawing.Color.Yellow;
             this.lbCntDN.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntDN.Size = new System.Drawing.Size(93, 49);
+            this.lbCntDN.Size = new System.Drawing.Size(78, 49);
             this.lbCntDN.TabIndex = 4;
             this.lbCntDN.Text = "0000";
             this.lbCntDN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1369,13 +1352,13 @@ namespace Project
             this.arLabel7.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel7.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel7.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel7.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel7.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
             this.arLabel7.GradientEnable = true;
             this.arLabel7.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.arLabel7.GradientRepeatBG = false;
             this.arLabel7.isButton = false;
-            this.arLabel7.Location = new System.Drawing.Point(127, 0);
+            this.arLabel7.Location = new System.Drawing.Point(129, 0);
             this.arLabel7.Margin = new System.Windows.Forms.Padding(0);
             this.arLabel7.MouseDownColor = System.Drawing.Color.Yellow;
             this.arLabel7.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1395,10 +1378,10 @@ namespace Project
             this.arLabel7.Sign = "";
             this.arLabel7.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel7.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel7.Size = new System.Drawing.Size(34, 49);
+            this.arLabel7.Size = new System.Drawing.Size(51, 49);
             this.arLabel7.TabIndex = 4;
-            this.arLabel7.Text = "DN";
+            this.arLabel7.Text = "CLEANNER";
             this.arLabel7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel7.TextShadow = true;
             this.arLabel7.TextVisible = true;
@@ -1414,13 +1397,13 @@ namespace Project
             this.lbCNtUP.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCNtUP.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCNtUP.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCNtUP.ForeColor = System.Drawing.Color.Gray;
             this.lbCNtUP.GradientEnable = true;
             this.lbCNtUP.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCNtUP.GradientRepeatBG = false;
             this.lbCNtUP.isButton = false;
-            this.lbCNtUP.Location = new System.Drawing.Point(34, 0);
+            this.lbCNtUP.Location = new System.Drawing.Point(51, 0);
             this.lbCNtUP.Margin = new System.Windows.Forms.Padding(0);
             this.lbCNtUP.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCNtUP.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1441,7 +1424,7 @@ namespace Project
             this.lbCNtUP.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCNtUP.SignColor = System.Drawing.Color.Yellow;
             this.lbCNtUP.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCNtUP.Size = new System.Drawing.Size(93, 49);
+            this.lbCNtUP.Size = new System.Drawing.Size(78, 49);
             this.lbCNtUP.TabIndex = 4;
             this.lbCNtUP.Text = "0000";
             this.lbCNtUP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1460,7 +1443,7 @@ namespace Project
             this.arLabel8.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel8.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel8.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel8.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel8.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.arLabel8.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
             this.arLabel8.GradientEnable = true;
             this.arLabel8.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1486,10 +1469,10 @@ namespace Project
             this.arLabel8.Sign = "";
             this.arLabel8.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel8.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel8.Size = new System.Drawing.Size(34, 49);
+            this.arLabel8.Size = new System.Drawing.Size(51, 49);
             this.arLabel8.TabIndex = 4;
-            this.arLabel8.Text = "UP";
+            this.arLabel8.Text = "LOADER";
             this.arLabel8.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel8.TextShadow = true;
             this.arLabel8.TextVisible = true;
@@ -1498,7 +1481,7 @@ namespace Project
             // 
             this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
             this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.panel5.Location = new System.Drawing.Point(5, 588);
+            this.panel5.Location = new System.Drawing.Point(5, 676);
             this.panel5.Name = "panel5";
             this.panel5.Size = new System.Drawing.Size(259, 5);
             this.panel5.TabIndex = 142;
@@ -1639,26 +1622,6 @@ namespace Project
             this.panTopMenu.Size = new System.Drawing.Size(1278, 50);
             this.panTopMenu.TabIndex = 134;
             // 
-            // lbBat
-            // 
-            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
-            this.lbBat.CurA = 0F;
-            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
-            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lbBat.ForeColor = System.Drawing.Color.Gray;
-            this.lbBat.IsOpen = true;
-            this.lbBat.Location = new System.Drawing.Point(830, 0);
-            this.lbBat.MaxA = 0F;
-            this.lbBat.Name = "lbBat";
-            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
-            this.lbBat.sign = "%";
-            this.lbBat.Size = new System.Drawing.Size(48, 50);
-            this.lbBat.TabIndex = 23;
-            this.lbBat.Text = "12";
-            this.lbBat.VLevel = 50F;
-            this.lbBat.Volt = 0F;
-            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
-            // 
             // pictureBox1
             // 
             this.pictureBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
@@ -1769,6 +1732,70 @@ namespace Project
             this.panel9.Size = new System.Drawing.Size(1278, 35);
             this.panel9.TabIndex = 0;
             // 
+            // panDlg
+            // 
+            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
+            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panDlg.Location = new System.Drawing.Point(1, 58);
+            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
+            this.panDlg.Name = "panDlg";
+            this.panDlg.Size = new System.Drawing.Size(1014, 706);
+            this.panDlg.TabIndex = 146;
+            // 
+            // arPanel2
+            // 
+            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel2.GradientRepeatBG = false;
+            this.arPanel2.Location = new System.Drawing.Point(1, 55);
+            this.arPanel2.Name = "arPanel2";
+            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel2.ProgressMax = 100F;
+            this.arPanel2.ProgressMin = 0F;
+            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel2.ProgressValue = 0F;
+            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel2.ShowBorder = true;
+            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
+            this.arPanel2.TabIndex = 145;
+            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel2.TextShadow = false;
+            this.arPanel2.UseProgressBar = false;
+            // 
+            // arPanel1
+            // 
+            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel1.GradientRepeatBG = false;
+            this.arPanel1.Location = new System.Drawing.Point(1, 51);
+            this.arPanel1.Name = "arPanel1";
+            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel1.ProgressMax = 100F;
+            this.arPanel1.ProgressMin = 0F;
+            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel1.ProgressValue = 0F;
+            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel1.ShowBorder = true;
+            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
+            this.arPanel1.TabIndex = 135;
+            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel1.TextShadow = false;
+            this.arPanel1.UseProgressBar = false;
+            // 
             // IOState
             // 
             this.IOState.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(50)))), ((int)(((byte)(50)))), ((int)(((byte)(50)))));
@@ -1921,280 +1948,25 @@ namespace Project
         ((ushort)(0))};
             this.SSInfo.Click += new System.EventHandler(this.SSInfo_Click);
             // 
-            // panDlg
+            // lbBat
             // 
-            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
+            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
-            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbBat.CurA = 0F;
-            this.panDlg.Location = new System.Drawing.Point(1, 146);
+            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
-            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
+            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.panDlg.Name = "panDlg";
+            this.lbBat.ForeColor = System.Drawing.Color.Gray;
-            this.panDlg.Size = new System.Drawing.Size(1014, 618);
+            this.lbBat.IsOpen = true;
-            this.panDlg.TabIndex = 146;
+            this.lbBat.Location = new System.Drawing.Point(830, 0);
-            // 
+            this.lbBat.MaxA = 0F;
-            // arPanel2
+            this.lbBat.Name = "lbBat";
-            // 
+            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
-            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.lbBat.sign = "%";
-            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.lbBat.Size = new System.Drawing.Size(48, 50);
-            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.lbBat.TabIndex = 23;
-            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.lbBat.Text = "12";
-            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
+            this.lbBat.VLevel = 50F;
-            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.lbBat.Volt = 0F;
-            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
+            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
-            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel2.GradientRepeatBG = false;
-            this.arPanel2.Location = new System.Drawing.Point(1, 143);
-            this.arPanel2.Name = "arPanel2";
-            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel2.ProgressMax = 100F;
-            this.arPanel2.ProgressMin = 0F;
-            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel2.ProgressValue = 0F;
-            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel2.ShowBorder = true;
-            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
-            this.arPanel2.TabIndex = 145;
-            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel2.TextShadow = false;
-            this.arPanel2.UseProgressBar = false;
-            // 
-            // arPanel1
-            // 
-            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel1.GradientRepeatBG = false;
-            this.arPanel1.Location = new System.Drawing.Point(1, 51);
-            this.arPanel1.Name = "arPanel1";
-            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel1.ProgressMax = 100F;
-            this.arPanel1.ProgressMin = 0F;
-            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel1.ProgressValue = 0F;
-            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel1.ShowBorder = true;
-            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
-            this.arPanel1.TabIndex = 135;
-            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel1.TextShadow = false;
-            this.arPanel1.UseProgressBar = false;
-            // 
-            // ctlPos1
-            // 
-            this.ctlPos1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(32)))), ((int)(((byte)(32)))), ((int)(((byte)(32)))));
-            this.ctlPos1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
-            this.ctlPos1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.ctlPos1.Font = new System.Drawing.Font("맑은 고딕", 30F, System.Drawing.FontStyle.Bold);
-            this.ctlPos1.ForeColor = System.Drawing.Color.White;
-            this.ctlPos1.ItemGap = 5;
-            item1.Active = true;
-            item1.Direction = '1';
-            item1.Enable_Direction = true;
-            item1.Focus = false;
-            item1.fullrect = new System.Drawing.Rectangle(8, 8, 10, 75);
-            item1.ItemType = Project.CtlPos.itemtype.NLimit;
-            item1.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Position = Project.ePosition.NOT;
-            item1.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Target = false;
-            item1.Title = "N";
-            item2.Active = false;
-            item2.Direction = '1';
-            item2.Enable_Direction = true;
-            item2.Focus = false;
-            item2.fullrect = new System.Drawing.Rectangle(23, 8, 138, 58);
-            item2.ItemType = Project.CtlPos.itemtype.Item;
-            item2.leftrect = new System.Drawing.Rectangle(23, 70, 67, 13);
-            item2.Position = Project.ePosition.QA;
-            item2.rightrect = new System.Drawing.Rectangle(94, 70, 67, 13);
-            item2.Target = false;
-            item2.Title = "QC";
-            item3.Active = false;
-            item3.Direction = '0';
-            item3.Enable_Direction = true;
-            item3.Focus = false;
-            item3.fullrect = new System.Drawing.Rectangle(166, 8, 10, 75);
-            item3.ItemType = Project.CtlPos.itemtype.Spacer;
-            item3.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Position = Project.ePosition.QA_QC;
-            item3.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Target = false;
-            item3.Title = null;
-            item4.Active = false;
-            item4.Direction = '1';
-            item4.Enable_Direction = true;
-            item4.Focus = false;
-            item4.fullrect = new System.Drawing.Rectangle(181, 8, 138, 58);
-            item4.ItemType = Project.CtlPos.itemtype.Item;
-            item4.leftrect = new System.Drawing.Rectangle(181, 70, 67, 13);
-            item4.Position = Project.ePosition.QC;
-            item4.rightrect = new System.Drawing.Rectangle(252, 70, 67, 13);
-            item4.Target = true;
-            item4.Title = "QA";
-            item5.Active = true;
-            item5.Direction = '0';
-            item5.Enable_Direction = false;
-            item5.Focus = true;
-            item5.fullrect = new System.Drawing.Rectangle(324, 8, 138, 75);
-            item5.ItemType = Project.CtlPos.itemtype.Item;
-            item5.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Position = Project.ePosition.CHARGE;
-            item5.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Target = false;
-            item5.Title = "BAT";
-            item6.Active = false;
-            item6.Direction = '0';
-            item6.Enable_Direction = true;
-            item6.Focus = false;
-            item6.fullrect = new System.Drawing.Rectangle(467, 8, 10, 75);
-            item6.ItemType = Project.CtlPos.itemtype.Spacer;
-            item6.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Position = Project.ePosition.QC_F1;
-            item6.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Target = false;
-            item6.Title = null;
-            item7.Active = false;
-            item7.Direction = '2';
-            item7.Enable_Direction = true;
-            item7.Focus = false;
-            item7.fullrect = new System.Drawing.Rectangle(482, 8, 138, 58);
-            item7.ItemType = Project.CtlPos.itemtype.Item;
-            item7.leftrect = new System.Drawing.Rectangle(482, 70, 67, 13);
-            item7.Position = Project.ePosition.F1;
-            item7.rightrect = new System.Drawing.Rectangle(553, 70, 67, 13);
-            item7.Target = false;
-            item7.Title = "#1";
-            item8.Active = false;
-            item8.Direction = '0';
-            item8.Enable_Direction = true;
-            item8.Focus = false;
-            item8.fullrect = new System.Drawing.Rectangle(625, 8, 10, 75);
-            item8.ItemType = Project.CtlPos.itemtype.Spacer;
-            item8.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Position = Project.ePosition.F1_F2;
-            item8.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Target = false;
-            item8.Title = null;
-            item9.Active = false;
-            item9.Direction = '0';
-            item9.Enable_Direction = true;
-            item9.Focus = false;
-            item9.fullrect = new System.Drawing.Rectangle(640, 8, 138, 58);
-            item9.ItemType = Project.CtlPos.itemtype.Item;
-            item9.leftrect = new System.Drawing.Rectangle(640, 70, 67, 13);
-            item9.Position = Project.ePosition.F2;
-            item9.rightrect = new System.Drawing.Rectangle(711, 70, 67, 13);
-            item9.Target = false;
-            item9.Title = "#2";
-            item10.Active = false;
-            item10.Direction = '0';
-            item10.Enable_Direction = true;
-            item10.Focus = false;
-            item10.fullrect = new System.Drawing.Rectangle(783, 8, 10, 75);
-            item10.ItemType = Project.CtlPos.itemtype.Spacer;
-            item10.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Position = Project.ePosition.F2_F3;
-            item10.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Target = false;
-            item10.Title = null;
-            item11.Active = false;
-            item11.Direction = '1';
-            item11.Enable_Direction = true;
-            item11.Focus = false;
-            item11.fullrect = new System.Drawing.Rectangle(798, 8, 138, 58);
-            item11.ItemType = Project.CtlPos.itemtype.Item;
-            item11.leftrect = new System.Drawing.Rectangle(798, 70, 67, 13);
-            item11.Position = Project.ePosition.F3;
-            item11.rightrect = new System.Drawing.Rectangle(869, 70, 67, 13);
-            item11.Target = false;
-            item11.Title = "#3";
-            item12.Active = false;
-            item12.Direction = '0';
-            item12.Enable_Direction = true;
-            item12.Focus = false;
-            item12.fullrect = new System.Drawing.Rectangle(941, 8, 10, 75);
-            item12.ItemType = Project.CtlPos.itemtype.Spacer;
-            item12.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Position = Project.ePosition.F3_F4;
-            item12.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Target = false;
-            item12.Title = null;
-            item13.Active = false;
-            item13.Direction = '2';
-            item13.Enable_Direction = true;
-            item13.Focus = false;
-            item13.fullrect = new System.Drawing.Rectangle(956, 8, 138, 58);
-            item13.ItemType = Project.CtlPos.itemtype.Item;
-            item13.leftrect = new System.Drawing.Rectangle(956, 70, 67, 13);
-            item13.Position = Project.ePosition.F4;
-            item13.rightrect = new System.Drawing.Rectangle(1027, 70, 67, 13);
-            item13.Target = false;
-            item13.Title = "#4";
-            item14.Active = false;
-            item14.Direction = '0';
-            item14.Enable_Direction = true;
-            item14.Focus = false;
-            item14.fullrect = new System.Drawing.Rectangle(1099, 8, 10, 75);
-            item14.ItemType = Project.CtlPos.itemtype.Spacer;
-            item14.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Position = Project.ePosition.F4_F5;
-            item14.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Target = false;
-            item14.Title = null;
-            item15.Active = false;
-            item15.Direction = '2';
-            item15.Enable_Direction = true;
-            item15.Focus = false;
-            item15.fullrect = new System.Drawing.Rectangle(1114, 8, 138, 58);
-            item15.ItemType = Project.CtlPos.itemtype.Item;
-            item15.leftrect = new System.Drawing.Rectangle(1114, 70, 67, 13);
-            item15.Position = Project.ePosition.F5;
-            item15.rightrect = new System.Drawing.Rectangle(1185, 70, 67, 13);
-            item15.Target = false;
-            item15.Title = "#5";
-            item16.Active = true;
-            item16.Direction = '1';
-            item16.Enable_Direction = true;
-            item16.Focus = false;
-            item16.fullrect = new System.Drawing.Rectangle(1257, 8, 10, 75);
-            item16.ItemType = Project.CtlPos.itemtype.PLimit;
-            item16.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Position = Project.ePosition.POT;
-            item16.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Target = false;
-            item16.Title = "P";
-            this.ctlPos1.Items = new Project.CtlPos.item[] {
-        item1,
-        item2,
-        item3,
-        item4,
-        item5,
-        item6,
-        item7,
-        item8,
-        item9,
-        item10,
-        item11,
-        item12,
-        item13,
-        item14,
-        item15,
-        item16};
-            this.ctlPos1.Location = new System.Drawing.Point(1, 55);
-            this.ctlPos1.MinimumSize = new System.Drawing.Size(100, 30);
-            this.ctlPos1.msg = null;
-            this.ctlPos1.Name = "ctlPos1";
-            this.ctlPos1.Padding = new System.Windows.Forms.Padding(8);
-            this.ctlPos1.Size = new System.Drawing.Size(1278, 88);
-            this.ctlPos1.TabIndex = 0;
-            this.ctlPos1.Text = "ctlPos1";
-            this.ctlPos1.Visible = false;
             // 
             // fMain
             // 
@@ -2205,7 +1977,6 @@ namespace Project
             this.Controls.Add(this.panRight);
             this.Controls.Add(this.arPanel2);
             this.Controls.Add(this.pandBottomDIO);
-            this.Controls.Add(this.ctlPos1);
             this.Controls.Add(this.arPanel1);
             this.Controls.Add(this.panTopMenu);
             this.DoubleBuffered = true;
@@ -2297,7 +2068,6 @@ namespace Project
         private System.Windows.Forms.Button MenuAuto;
         private System.Windows.Forms.Panel panDlg;
         private System.Windows.Forms.Button MenuLog;
-        private CtlPos ctlPos1;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private arCtl.arLabel btHome;
         private arCtl.arLabel btTopMenu_Volume;

Cs_HMI/Project/fMain.cs

@@ -66,7 +66,6 @@ namespace Project
             this.panTopMenu.MouseDown += LbTitle_MouseDown;
             this.panTopMenu.DoubleClick += LbTitle_DoubleClick;
 
-            this.ctlPos1.ItemClick += CtlPos1_ItemClick;
             this.MouseMove += (s1, e1) => { if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now; };
             this.FormClosing += __Closing;
 
@@ -101,19 +100,6 @@ namespace Project
                 }
         }
 
-        /// <summary>
-        /// 상단 위치 표시기의 대상 위치값을 표시 합니다
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void Display_Position_TargetPosSet(object sender, EventArgs e)
-        {
-            //대상위치가 설정되었다x
-            this.ctlPos1.SetTargetPosition(PUB.Result.TargetPos);
-            this.ctlPos1.Invalidate();
-        }
-
-
         private void __Closing(object sender, FormClosingEventArgs e)
         {
             // 장치 관리 태스크는 _STEP_CLOSING_START에서 종료됨
@@ -176,50 +162,31 @@ namespace Project
         private void __Load(object sender, EventArgs e)
         {
             this.Text = Application.ProductName + " ver " + Application.ProductVersion;
-            //this.lbTitle.Text = this.Text;
+            PUB.init();
-            PUB.init(); //public initialize
+            if (PUB.setting.FullScreen)
-            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
+            {
-            //  PUB.log.RaiseMsg += log_RaiseMsg;
+                this.FormBorderStyle = FormBorderStyle.None;
+                this.WindowState = FormWindowState.Maximized;
+            }
             this.Show();
-
-            PUB.Result.TargetPosSet += Display_Position_TargetPosSet;
-
-            this.ctlPos1.ClearData();
-            this.ctlPos1.Invalidate();
-
-            //lbDM1.Text = "";
-            //sbBatteryLv.Text = "";
-            btHome.Text = "홈";
-            btChargeA.Text = "자동충전";
-            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
             Application.DoEvents();
 
-            //setting dio events
+            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
+
+            //SETTING H/W
             this.IOState.ItemClick += gridView2_ItemClick;
-            //PUB.flag.ValueChanged += Flag_ValueChagned;
             VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;
 
-
-            /////모터용 pLC
-            //PUB.PLC = new arDev.FakePLC();
-            //PUB.PLC.ValueChanged += PLC_DioChanged;
-            //PUB.PLC.FlagChanged += PLC_FlagChanged;
-            //PUB.PLC.Message += PLC_Message;
-
             //지그비통신
             PUB.XBE = new Device.Xbee();
             PUB.XBE.MessageReceived += XBE_MessageReceived;
             PUB.XBE.ProtocReceived += XBE_ProtocReceived;
 
-            //HWState.setTitle(1, 3, Pub.setting.Port_Xbee);
-            //HWState.setTitle(1, 0, Pub.setting.Address_RFID);
-
             //AGV
             PUB.AGV = new arDev.Narumi();
             PUB.AGV.Message += AGV_Message;
             PUB.AGV.DataReceive += AGV_DataReceive;
 
-
             //배터리관리시스템
             PUB.BMS = new arDev.BMS();
             PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
@@ -266,19 +233,11 @@ namespace Project
             }
 
             PUB.sm.StepChanged += sm_StepChanged;
-            PUB.log.Add("StateMachine", "StepChanged 이벤트 등록 완료");
-
             PUB.sm.Message += sm_Message;
-            PUB.log.Add("StateMachine", "Message 이벤트 등록 완료");
-
             PUB.sm.Running += sm_Running;
-            PUB.log.Add("StateMachine", "Running 이벤트 등록 완료");
-
             PUB.sm.SPS += sm_SPS;
-            PUB.log.Add("StateMachine", "SPS 이벤트 등록 완료");
-
             PUB.sm.Start();
-            PUB.log.Add("StateMachine", $"Start() 호출 완료 - IsThreadRun:{PUB.sm.IsThreadRun}");
+            PUB.log.Add("StateMachine", "SM 이벤트 등록 완료");
 
             // 스레드 시작 대기 (최대 3초)
             for (int i = 0; i < 30; i++)
@@ -307,10 +266,8 @@ namespace Project
             PUB.log.Add("Display", "Display Timer 시작 완료");
 
             this.btDebug.Visible = System.Diagnostics.Debugger.IsAttached || PUB.setting.UseDebugMode;
-
             PUB.log.Add("Program Start");
 
-
             //수량표시
             PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
             Update_Count();
@@ -322,11 +279,8 @@ namespace Project
                 MenuLog.PerformClick();
 
             PUB.AddEEDB("프로그램 시작");
-
         }
 
-
-
         #region "Mouse Form Move"
 
         private Boolean fMove = false;
@@ -417,12 +371,12 @@ namespace Project
 
         void func_sw_start(bool Prompt = false)
         {
-            if (PUB.sm.Step < eSMStep.IDLE)
+            if (PUB.sm.Step == eSMStep.SYNC)
             {
                 UTIL.MsgE("초기화 중에는 사용할 수 없습니다\n초기화가 완료 된 후 시도하세요");
                 return;
             }
-            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false || PUB.sm.Step != eSMStep.RUN)    //자동상태가 아니라면
+            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)    //자동상태가 아니라면
             {
                 PUB.AGV.AGVErrorReset();
                 if (Prompt)
@@ -433,9 +387,13 @@ namespace Project
                 //충전상태확인
                 if (PUB.CheckManualChargeMode() == false) return;
                 PUB.popup.needClose = true;
-                PUB.sm.bPause = false;
+                //PUB.sm.bPause = false;
+                //PUB.sm.ClearRunStep();
+                //PUB.sm.SetNewRunStep(ERunStep.READY);
                 PUB.sm.SetNewStep(eSMStep.RUN);
-                PUB.Speak(Lang.자동전환);
+                PUB.Speak(Lang.자동전환, addlog: false);
+
+                PUB.log.Add($"자동전환 이전스텝:{PUB.sm.RunStep},IDX:{PUB.sm.RunStepSeq}]");
             }
             else
             {
@@ -489,31 +447,6 @@ namespace Project
         }
 
 
-        private void CtlPos1_ItemClick(object sender, CtlPos.ItemClickEventArgs e)
-        {
-            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
-            {
-                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
-                return;
-            }
-            if (VAR.BOOL[eVarBool.EMERGENCY] == true)
-            {
-                var dlgE = UTIL.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
-                if (dlgE == DialogResult.Yes) PUB.AGV.AGVErrorReset();
-                else return;
-            }
-            //위치표시 컨트롤에서 아이템을 클릭했다
-            var dlg = new Dialog.fJobSelect();
-            PUB.log.Add("사용자 임의 위치 클릭 : " + e.Item.Title);
-            switch (e.Item.Position)
-            {
-
-
-
-            }
-            if (dlg != null) dlg.Dispose();
-        }
-
         private void demoRunToolStripMenuItem_Click(object sender, EventArgs e)
         {
             PUB.Result.JobEndTime = DateTime.Now;
@@ -577,6 +510,7 @@ namespace Project
                 }
 
             VAR.BOOL[eVarBool.FLAG_SETUP] = false;// VAR.BOOL[eVarBool.FLAG_SETUP] = false;//VAR.BOOL[eVarBool.FLAG_SETUP] = false;
+
             if (popmsg) PUB.popup.Visible = true;
         }
 
@@ -681,7 +615,10 @@ namespace Project
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
+                    //대상노드를 충전기로하고 
+                    PUB._virtualAGV.StartNode = null;
+                    PUB._virtualAGV.TargetNode = null;
+                    PUB.sm.SetNewRunStep(ERunStep.GOTO);
                     PUB.sm.SetNewStep(eSMStep.RUN);
                     PUB.log.Add("사용자 충전 해제");
                 }
@@ -720,26 +657,23 @@ namespace Project
         }
         private void brHome_Click(object sender, EventArgs e)
         {
-            var bCharge = PUB.sm.Step == eSMStep.RUN &&
-              (PUB.sm.RunStep == ERunStep.GOHOME);
-
             if (PUB.CheckManualChargeMode() == false) return;
 
-            if (bCharge == true)
+            var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
+            if (bHome == true)
             {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 취소 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 취소 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
                     PUB.sm.SetNewStep(eSMStep.IDLE);
                     PUB.AGV.AGVMoveStop("user home cancle", arDev.Narumi.eStopOpt.Stop);
-                    //PUB.AGV.AddCommand(arDev.Narumi.eAgvCmd.MoveStop);//.Move(Device.PLC.Rundirection.Stop, "사용자 홈 이동 취소");
                     PUB.log.Add("사용자 홈 이동 취소");
                 }
             }
             else
             {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 실행 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 실행 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -748,7 +682,6 @@ namespace Project
                     PUB.log.Add("사용자 홈 이동 실행");
                 }
             }
-
         }
 
 
@@ -869,6 +802,7 @@ namespace Project
             {
                 var _mapCanvas = PUB._mapCanvas;
                 PUB._mapNodes = result.Nodes;
+                PUB.log.Add($"Set _mapNodes");
 
                 // 맵 캔버스에 데이터 설정
                 _mapCanvas.Nodes = result.Nodes;

Cs_HMI/Project/fSetup.Designer.cs

@@ -175,7 +175,6 @@
             this.tbMCID = new System.Windows.Forms.TextBox();
             this.label4 = new System.Windows.Forms.Label();
             this.chkDetectManualCharge = new System.Windows.Forms.CheckBox();
-            this.chkAGVDirBack = new System.Windows.Forms.CheckBox();
             this.chkFullScreen = new System.Windows.Forms.CheckBox();
             this.nudMusicVol = new System.Windows.Forms.NumericUpDown();
             this.label22 = new System.Windows.Forms.Label();
@@ -251,7 +250,7 @@
             this.tabControl1.Multiline = true;
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1270, 598);
+            this.tabControl1.Size = new System.Drawing.Size(1270, 578);
             this.tabControl1.TabIndex = 14;
             // 
             // tabPage6
@@ -259,7 +258,7 @@
             this.tabPage6.Controls.Add(this.panel1);
             this.tabPage6.Location = new System.Drawing.Point(4, 4);
             this.tabPage6.Name = "tabPage6";
-            this.tabPage6.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage6.Size = new System.Drawing.Size(1244, 570);
             this.tabPage6.TabIndex = 6;
             this.tabPage6.Text = "일반";
             this.tabPage6.UseVisualStyleBackColor = true;
@@ -276,19 +275,21 @@
             // 
             // tableLayoutPanel1
             // 
+            this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
             this.tableLayoutPanel1.ColumnCount = 2;
             this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
             this.tableLayoutPanel1.Controls.Add(this.btAutoCharge, 1, 0);
             this.tableLayoutPanel1.Controls.Add(this.btSpeaker, 0, 0);
-            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 0);
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(17, 17);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
             this.tableLayoutPanel1.RowCount = 2;
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(1238, 648);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1227, 550);
             this.tableLayoutPanel1.TabIndex = 24;
             // 
             // btMusic
@@ -308,7 +309,7 @@
             this.btMusic.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.btMusic.GradientRepeatBG = false;
             this.btMusic.isButton = true;
-            this.btMusic.Location = new System.Drawing.Point(3, 327);
+            this.btMusic.Location = new System.Drawing.Point(3, 278);
             this.btMusic.MouseDownColor = System.Drawing.Color.Yellow;
             this.btMusic.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btMusic.msg = null;
@@ -328,7 +329,7 @@
             this.btMusic.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btMusic.SignColor = System.Drawing.Color.Yellow;
             this.btMusic.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btMusic.Size = new System.Drawing.Size(613, 318);
+            this.btMusic.Size = new System.Drawing.Size(607, 269);
             this.btMusic.TabIndex = 23;
             this.btMusic.Tag = "2";
             this.btMusic.Text = "배경음악";
@@ -354,7 +355,7 @@
             this.btAutoCharge.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.btAutoCharge.GradientRepeatBG = false;
             this.btAutoCharge.isButton = true;
-            this.btAutoCharge.Location = new System.Drawing.Point(622, 3);
+            this.btAutoCharge.Location = new System.Drawing.Point(616, 3);
             this.btAutoCharge.MouseDownColor = System.Drawing.Color.Yellow;
             this.btAutoCharge.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btAutoCharge.msg = null;
@@ -374,7 +375,7 @@
             this.btAutoCharge.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btAutoCharge.SignColor = System.Drawing.Color.Yellow;
             this.btAutoCharge.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoCharge.Size = new System.Drawing.Size(613, 318);
+            this.btAutoCharge.Size = new System.Drawing.Size(608, 269);
             this.btAutoCharge.TabIndex = 20;
             this.btAutoCharge.Tag = "1";
             this.btAutoCharge.Text = "자동충전";
@@ -420,7 +421,7 @@
             this.btSpeaker.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btSpeaker.SignColor = System.Drawing.Color.Yellow;
             this.btSpeaker.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSpeaker.Size = new System.Drawing.Size(613, 318);
+            this.btSpeaker.Size = new System.Drawing.Size(607, 269);
             this.btSpeaker.TabIndex = 11;
             this.btSpeaker.Tag = "0";
             this.btSpeaker.Text = "음성지원";
@@ -481,7 +482,7 @@
             this.tabPage1.Location = new System.Drawing.Point(4, 4);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage1.Size = new System.Drawing.Size(1244, 570);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "AGV";
             // 
@@ -1640,7 +1641,7 @@
             this.label44.AutoSize = true;
             this.label44.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label44.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.label44.Location = new System.Drawing.Point(473, 546);
+            this.label44.Location = new System.Drawing.Point(1152, 201);
             this.label44.Name = "label44";
             this.label44.Size = new System.Drawing.Size(49, 24);
             this.label44.TabIndex = 64;
@@ -1651,7 +1652,7 @@
             this.label29.AutoSize = true;
             this.label29.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label29.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label29.Location = new System.Drawing.Point(51, 546);
+            this.label29.Location = new System.Drawing.Point(730, 201);
             this.label29.Name = "label29";
             this.label29.Size = new System.Drawing.Size(211, 24);
             this.label29.TabIndex = 62;
@@ -1706,7 +1707,7 @@
             this.label28.AutoSize = true;
             this.label28.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label28.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label28.Location = new System.Drawing.Point(138, 503);
+            this.label28.Location = new System.Drawing.Point(817, 158);
             this.label28.Name = "label28";
             this.label28.Size = new System.Drawing.Size(124, 24);
             this.label28.TabIndex = 29;
@@ -1913,7 +1914,7 @@
             this.vcChargeWaitSec.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.vcChargeWaitSec.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.vcChargeWaitSec.ForeColorButton = System.Drawing.Color.Black;
-            this.vcChargeWaitSec.Location = new System.Drawing.Point(270, 540);
+            this.vcChargeWaitSec.Location = new System.Drawing.Point(949, 195);
             this.vcChargeWaitSec.MaxValue = 999999D;
             this.vcChargeWaitSec.MinValue = 0D;
             this.vcChargeWaitSec.Name = "vcChargeWaitSec";
@@ -1937,7 +1938,7 @@
             this.tbChargerID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.tbChargerID.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.tbChargerID.ForeColorButton = System.Drawing.Color.Black;
-            this.tbChargerID.Location = new System.Drawing.Point(270, 497);
+            this.tbChargerID.Location = new System.Drawing.Point(949, 152);
             this.tbChargerID.MaxValue = 999999D;
             this.tbChargerID.MinValue = 0D;
             this.tbChargerID.Name = "tbChargerID";
@@ -2729,7 +2730,6 @@
             this.groupBox3.Controls.Add(this.propertyGrid1);
             this.groupBox3.Controls.Add(this.groupBox1);
             this.groupBox3.Controls.Add(this.chkDetectManualCharge);
-            this.groupBox3.Controls.Add(this.chkAGVDirBack);
             this.groupBox3.Controls.Add(this.chkFullScreen);
             this.groupBox3.Controls.Add(this.nudMusicVol);
             this.groupBox3.Controls.Add(this.label22);
@@ -2765,7 +2765,7 @@
             this.propertyGrid1.Font = new System.Drawing.Font("맑은 고딕", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.propertyGrid1.Location = new System.Drawing.Point(678, 109);
             this.propertyGrid1.Name = "propertyGrid1";
-            this.propertyGrid1.Size = new System.Drawing.Size(538, 448);
+            this.propertyGrid1.Size = new System.Drawing.Size(538, 426);
             this.propertyGrid1.TabIndex = 11;
             // 
             // groupBox1
@@ -2806,18 +2806,6 @@
             this.chkDetectManualCharge.Text = "수동 충전 감지";
             this.chkDetectManualCharge.UseVisualStyleBackColor = true;
             // 
-            // chkAGVDirBack
-            // 
-            this.chkAGVDirBack.AutoSize = true;
-            this.chkAGVDirBack.Font = new System.Drawing.Font("궁서체", 20F, System.Drawing.FontStyle.Bold);
-            this.chkAGVDirBack.ForeColor = System.Drawing.Color.Red;
-            this.chkAGVDirBack.Location = new System.Drawing.Point(27, 72);
-            this.chkAGVDirBack.Name = "chkAGVDirBack";
-            this.chkAGVDirBack.Size = new System.Drawing.Size(619, 31);
-            this.chkAGVDirBack.TabIndex = 8;
-            this.chkAGVDirBack.Text = "FVI 이동시 Backward 방향으로 이동 합니다";
-            this.chkAGVDirBack.UseVisualStyleBackColor = true;
-            // 
             // chkFullScreen
             // 
             this.chkFullScreen.AutoSize = true;
@@ -3374,13 +3362,13 @@
             this.btSave.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.btSave.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btSave.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.btSave.Font = new System.Drawing.Font("궁서체", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.btSave.Font = new System.Drawing.Font("궁서체", 30F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btSave.ForeColor = System.Drawing.Color.White;
             this.btSave.GradientEnable = true;
             this.btSave.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btSave.GradientRepeatBG = false;
             this.btSave.isButton = true;
-            this.btSave.Location = new System.Drawing.Point(5, 740);
+            this.btSave.Location = new System.Drawing.Point(5, 720);
             this.btSave.MouseDownColor = System.Drawing.Color.Yellow;
             this.btSave.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btSave.msg = null;
@@ -3400,7 +3388,7 @@
             this.btSave.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btSave.SignColor = System.Drawing.Color.Yellow;
             this.btSave.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSave.Size = new System.Drawing.Size(1270, 55);
+            this.btSave.Size = new System.Drawing.Size(1270, 75);
             this.btSave.TabIndex = 8;
             this.btSave.Text = "저장";
             this.btSave.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -3569,7 +3557,6 @@
         private AGVControl.ValueSelect vcChargeStartLevel;
         private AGVControl.ValueSelect vcChargeMaxLevel;
         private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.CheckBox chkAGVDirBack;
         private System.Windows.Forms.CheckBox chkFullScreen;
         private System.Windows.Forms.NumericUpDown nudMusicVol;
         private System.Windows.Forms.Label label22;

Cs_HMI/Project/fSetup.cs

@@ -116,10 +116,7 @@ namespace Project
             SetColorValue(btSpeaker, PUB.setting.Enable_Speak);
             SetColorValue(btAutoCharge, PUB.setting.Enable_AutoCharge);
             SetColorValue(btMusic, PUB.setting.Enable_Music);
-
+            nudDoorSoundTerm.Value = PUB.setting.alarmSoundTerm;
-            nudDoorSoundTerm.Value = PUB.setting.doorSoundTerm;
-            chkAGVDirBack.Checked = PUB.setting.AGV_Direction_FVI_Backward;
-
             chkClear1.Checked = PUB.setting.datetime_Check_1;
             chkClear2.Checked = PUB.setting.datetime_Check_2;
             cleartime1.Value = DateTime.Parse("1982-11-23 " + PUB.setting.datetime_Reset_1 + ":00");
@@ -299,7 +296,6 @@ namespace Project
             PUB.setting.ChargeMaxTime = (int)vcChargeMaxTime.Value;
             //Pub.setting.ChargeIdleInterval = (int)nudChargeIdleInterval.Value;
             PUB.setting.ChargeRetryTerm = (int)vcChargeRetryTerm.Value;
-            PUB.setting.AGV_Direction_FVI_Backward = chkAGVDirBack.Checked;
 
             //초기화시간
             PUB.setting.datetime_Check_1 = chkClear1.Checked;
@@ -340,8 +336,8 @@ namespace Project
             PUB.SetVolume((int)nudMusicVol.Value);
             PUB.setting.ChargeSearchTime = (int)vcChargeSearchTime.Value;
 
-            PUB.setting.doorSoundTerm = (int)nudDoorSoundTerm.Value;
+            PUB.setting.alarmSoundTerm = (int)nudDoorSoundTerm.Value;
-            if (PUB.setting.doorSoundTerm < 1) PUB.setting.doorSoundTerm = 15; //기본값 15초
+            if (PUB.setting.alarmSoundTerm < 1) PUB.setting.alarmSoundTerm = 15; //기본값 15초
 
             ////핀설정
             //var baL = new System.Collections.BitArray(new byte[] { PUB.setting.PinReverse_DI_Low });

Cs_HMI/README.md

@@ -1,4 +1,74 @@
-# CLAUDE.md
+# ENIG AGV Control System Documentation
+
+## 개요
+이 문서는 ENIG AGV (Automated Guided Vehicle) 제어 소프트웨어의 동작 및 기능에 대한 기술 문서입니다. 본 시스템은 C# 기반의 상태 머신(State Machine) 아키텍처를 사용하여 AGV의 주행, 충전, 자재 이송 등의 작업을 제어합니다.
+
+> **참고**: 현재 기능 개발이 진행 중이며, 일부 시퀀스는 변경될 수 있습니다.
+
+## 핵심 기능 (Core Functionality)
+
+### 1. 대기 및 준비 (IDLE / READY)
+- **상태 파일**: `_SM_RUN_READY.cs`
+- **기능**:
+  - AGV가 작업을 수행하지 않을 때의 기본 상태입니다.
+  - **자동 충전 모니터링**: 배터리 레벨을 지속적으로 확인하여 설정된 임계값 이하로 떨어지거나, 유휴 시간이 길어지면 자동으로 충전 시퀀스로 전환합니다.
+  - **충전 완료 체크**: 충전 중일 경우 최대 충전 시간 또는 목표 전압에 도달하면 충전을 중단하고 대기 상태로 복귀합니다.
+  - **정차 유지**: 대기 모드에서 AGV가 움직이지 않도록 지속적으로 정지 명령을 수행합니다.
+
+### 2. 목적지 이동 (GOTO)
+- **상태 파일**: `_SM_RUN_GOTO.cs`
+- **기능**:
+  - 지정된 RFID 태그(노드)로 이동하는 주행 로직입니다.
+  - **경로 예측 (Prediction)**: 현재 위치에서 목적지까지의 경로를 계산하고, 필요한 회전(Turn)이나 분기 동작을 결정합니다.
+  - **속도 제어**: 직선 구간, 코너, 정지 전 감속 등 상황에 맞춰 속도(High, Mid, Low)를 조절합니다.
+  - **장애물 감지**: 주행 중 전방 장애물이 감지되면 즉시 정지하거나 감속합니다.
+
+### 3. 충전 시퀀스 (CHARGE)
+- **상태 파일**: `_SM_RUN_GOCHARGE.cs`, `_SM_RUN_GOCHARGECHECK.cs`
+- **기능**:
+  - **충전기 이동**: 충전 스테이션의 RFID 위치를 찾아 이동합니다.
+  - **정밀 도킹**: 충전기 앞에서 정밀하게 위치를 조정하여 도킹합니다.
+  - **충전 시작/종료**: BMS(Battery Management System)와 통신하여 충전을 시작하고 상태를 모니터링합니다.
+
+## 특수 시퀀스 (Special Sequences)
+
+버퍼(Buffer) 스테이션에서의 자재 로딩/언로딩을 위한 특수 동작 시퀀스입니다.
+
+### 1. 버퍼 진입 (BUFFER IN)
+- **상태 파일**: `_SM_RUN_BUFFER_IN.cs`
+- **동작 순서**:
+  1. **진입 전 확인**: 하드웨어 상태 및 위치 확인.
+  2. **회전 (Turn)**: 버퍼 진입을 위해 필요한 각도로 회전 (주로 180도 턴).
+  3. **리프트 다운 (Lift Down)**: 자재 적재를 위해 리프트를 하강 (코드상 확인 필요).
+  4. **후진 진입**: 저속으로 후진하여 버퍼 스테이션에 진입.
+  5. **마크 감지 정지**: 정지 마크를 감지하여 정확한 위치에 정차.
+
+### 2. 버퍼 이탈 (BUFFER OUT)
+- **상태 파일**: `_SM_RUN_BUFFER_OUT.cs`
+- **동작 순서**:
+  1. **전진 이동**: 저속으로 전진하여 버퍼 스테이션을 빠져나옵니다.
+  2. **마크 스톱**: 이탈 완료 지점의 마크를 감지하여 정지합니다.
+  3. **회전 (Turn)**: 주행 방향으로 복귀하기 위해 우측 180도 회전을 수행합니다.
+
+### 3. 동기화 (SYNC)
+- **상태 파일**: `_SM_RUN_SYNC.cs`
+- **기능**:
+  - 프로그램 시작 시 또는 연결 복구 시 AGV 하드웨어와 소프트웨어 간의 설정을 동기화합니다.
+  - 속도 PID 제어값, 주행 파라미터 등을 장비로 전송하고 확인(ACK) 받습니다.
+  - **UI 표시**: 동기화 진행률을 화면에 표시하여 사용자가 상태를 알 수 있게 합니다.
+
+## 안전 기능 (Safety Features)
+- **장애물 감지**: LiDAR 또는 센서를 통해 전방 물체 감지 시 음성 안내("전방에 물체가 감지되었습니다")와 함께 정지.
+- **통신 타임아웃**: 하드웨어(AGV, BMS, XBee)와의 통신이 끊기면 에러 상태로 전환하거나 재연결을 시도.
+- **비상 정지**: 소프트웨어적 비상 정지 및 하드웨어 E-Stop 상태 감지.
+
+## 개발 상태
+- 현재 기본 주행 및 충전 기능은 구현되어 있으나, 버퍼 시퀀스 및 예외 처리에 대한 고도화 작업이 진행 중입니다.
+- 맵 에디터(`UnifiedAGVCanvas`)와 연동하여 실시간 모니터링 및 시뮬레이션 기능을 강화하고 있습니다.
+
+---
+
+# 기존 CLAUDE.md 내용 (참고용)
 
 이 파일은 이 저장소의 코드로 작업할 때 Claude Code (claude.ai/code)를 위한 지침을 제공합니다.
 맵데이터는 C:\Data\Source\(5613#) ENIG AGV\Source\Cs_HMI\Data\NewMap.agvmap 파일을 기준으로 사용

Cs_HMI/StateMachine/EnumStruct.cs

@@ -45,15 +45,11 @@ namespace Project.StateMachine
     /// </summary>
     public enum ERunStep : byte
     {
-
         /// <summary>
         /// 자동모드 대기상태
         /// </summary>
         READY = 0,
 
-        /// <summary>
-        /// 홈(QC)로 이동합니다
-        /// </summary>
         GOHOME,
        
         /// <summary>
@@ -66,7 +62,6 @@ namespace Project.StateMachine
         /// </summary>
         GOCHARGE,
 
-
         /// <summary>
         /// 충전중
         /// </summary>

Cs_HMI/SubProject/AGV/EnumData.cs

@@ -15,7 +15,7 @@ namespace arDev
         public enum eMoveSpd
         {
             High,
-            Middle,
+            Mid,
             Low,
         }
         public enum eSetPIDSpeed
@@ -73,12 +73,12 @@ namespace arDev
                 else if (bunki == 'R') Bunki = eBunki.Right;
 
                 if (speed == 'H') this.Speed = eMoveSpd.High;
-                else if (speed == 'M') this.Speed = eMoveSpd.Middle;
+                else if (speed == 'M') this.Speed = eMoveSpd.Mid;
                 else if (speed == 'L') this.Speed = eMoveSpd.Low;
             }
             public eMoveDir Direction { get; set; } = eMoveDir.Forward;
             public eBunki Bunki { get; set; } = eBunki.Strate;
-            public eMoveSpd Speed { get; set; } = eMoveSpd.Middle;
+            public eMoveSpd Speed { get; set; } = eMoveSpd.Mid;
             public int PBSSensor { get; set; } = 1;
             public override string ToString()
             {

Cs_HMI/SubProject/CommData/Enum.cs

@@ -12,7 +12,7 @@ namespace COMM
 		LPickOnCount,
         SumQty,
         ChargeWaitSec,
-		
+		SyncItemCount,
 	}
 	public enum eVarUInt32
 	{
@@ -68,7 +68,7 @@ namespace COMM
         /// <summary>
         /// AGV 진행방향(UP = backward, DOWN = forward)
         /// </summary>
-        AGVDIR_UP,
+        AGVDIR_BACK,
 
         /// <summary>
         /// 마크센서가  감지되면  활성화됨
@@ -113,9 +113,6 @@ namespace COMM
         /// </summary>
         WAIT_CHARGEACK,
       
-        MARKSTOP_ON,
-
-
         //agv area start ( 64 ~ 95)
 
 
@@ -177,6 +174,7 @@ namespace COMM
         /// </summary>
         ReadyStart,
 
+        MarkSensorOn,
         MarkSensorOff,
 
         /// <summary>
@@ -209,5 +207,10 @@ namespace COMM
         /// 마지막으로 턴 명령을 전송한 시간
         /// </summary>
         LastTurnCommandTime,
+
+        /// <summary>
+        /// 마지막을 실행 명령을 전송한 시간
+        /// </summary>
+        LastRunCommandTime,
     }
 }

Cs_HMI/docs/GOHOME_Analysis.md

@@ -0,0 +1,63 @@
+# GOHOME 상태 머신 분석
+
+## 개요
+`GOHOME` 상태 머신(`_SM_RUN_GOHOME`)은 AGV를 현재 위치에서 미리 정의된 "Home" 노드로 이동시키는 역할을 합니다. 이 과정은 `_Util.cs`와 `VirtualAGV.cs`에 정의된 공유 경로 탐색 및 이동 로직을 활용합니다.
+
+## 로직 흐름
+
+### 1. 초기화 및 안전 점검
+- **하드웨어 확인:** `PUB.AGV.IsOpen`을 확인합니다. 연결이 끊겨 있으면 에러 상태로 설정합니다.
+- **충전 해제:** `_SM_RUN_CHGOFF`를 호출하여 AGV가 물리적으로 충전기에 연결되어 있지 않은지 확인합니다.
+  - *잠재적 문제:* 충전 센서가 고착(stuck)된 경우, 이 단계에서 무한 대기할 수 있습니다.
+- **Lidar 안전:** `PUB.AGV.system1.stop_by_front_detect`를 확인합니다. 장애물이 감지되면 제거될 때까지 실행을 일시 중지(false 반환)합니다.
+
+### 2. 1단계: 목적지 설정
+- **홈 위치 조회:** `PUB.setting.NodeMAP_RFID_Home`에서 홈 노드 ID를 가져옵니다.
+- **유효성 검사:** 맵에서 홈 노드를 찾을 수 없는 경우, 에러를 기록하고 `READY` 상태로 초기화합니다.
+- **타겟 할당:** `PUB._virtualAGV.TargetNode`를 홈 노드로 설정합니다.
+
+### 3. 2단계: 이동 실행
+- **위임:** `_Util.cs`의 `UpdateMotionPositionForMark("_SM_RUN_GOHOME")`를 호출합니다.
+- **경로 탐색:**
+  - 경로가 없거나 현재 경로가 유효하지 않은 경우, `_Util.cs`가 `CurrentNode`에서 `TargetNode`까지의 새로운 경로를 계산합니다.
+- **예측 및 제어:**
+  - `VirtualAGV.Predict()`가 현재 노드와 경로를 기반으로 다음 행동을 결정합니다.
+  - **정지 조건:** `Predict()`가 `Stop`을 반환하는 경우:
+    - `IsPositionConfirmed`가 true인지 확인합니다.
+    - `CurrentNodeId`가 `TargetNode.NodeId`와 일치하는지 확인합니다.
+    - 둘 다 true이면 `true`(도착)를 반환합니다.
+  - **이동 조건:** `Predict()`가 이동 명령을 반환하는 경우:
+    - 논리적 명령(좌/우/직진, 전진/후진, 속도)을 하드웨어 명령(`AGVMoveSet`)으로 변환합니다.
+    - **최적화:** 상태가 변경된 경우에만 명령을 전송합니다 (최근 `_Util.cs` 업데이트에 구현됨).
+    - AGV가 구동 중인지 확인합니다 (`AGVMoveRun`).
+
+### 4. 3단계: 완료
+- **알림:** "홈 검색 완료" 음성을 출력합니다.
+- **로깅:** 데이터베이스에 기록을 추가합니다.
+- **전환:** 시퀀스를 업데이트하여 `GOHOME` 상태를 사실상 종료합니다.
+
+## 잠재적 문제 및 위험 요소
+
+### 1. 충전 센서에 의한 무한 대기
+- **위험:** 충전 신호가 활성화되어 있는 한 `_SM_RUN_CHGOFF` 호출은 계속 `false`를 반환합니다.
+- **시나리오:** 센서가 고장 나거나 시스템이 모르는 사이에 AGV가 수동으로 충전기에 밀려 올라간 경우, 여기서 멈출 수 있습니다.
+- **완화:** `_SM_RUN_CHGOFF` 확인에 타임아웃이나 수동 오버라이드 기능을 추가해야 합니다 (현재 스니펫에서는 보이지 않음).
+
+### 2. 위치 상실 복구
+- **위험:** `_SM_RUN_POSCHK`(`UpdateMotionPositionForMark`에서 호출됨)가 태그를 찾지 못하면, AGV가 무한히 기어갈(crawl) 수 있거나 멈출 수 있습니다.
+- **메커니즘:** `_SM_RUN_POSCHK`는 태그를 찾기 위해 저속 전진 명령을 내립니다.
+- **시나리오:** AGV가 경로를 벗어났거나 데드존에 있는 경우, Lidar가 감지하지 못하면 충돌하거나 배회할 수 있습니다.
+
+### 3. 경로 재계산 루프 (확인됨: 안전함)
+- **분석:** `_Util.cs` 코드를 확인한 결과, `CalcPath`가 실패하여 경로가 생성되지 않으면(`PathResult.result == null`) 즉시 `PUB.sm.SetNewRunStep(ERunStep.READY)`를 호출합니다.
+- **결론:** 경로 계산 실패 시 상태 머신이 `READY` 상태로 전환되므로, 무한 루프나 반복적인 재계산 시도는 발생하지 않습니다. 안전하게 정지합니다.
+
+### 4. 통신 폭주 (해결됨)
+- **이전 위험:** 동일한 이동 명령의 지속적인 전송.
+- **해결:** 최근 `_Util.cs` 업데이트에서 `PUB.AGV.data`를 새 명령과 비교하여 변경 시에만 전송하도록 수정되었습니다.
+
+## 권장 사항
+1.  **충전 해제 타임아웃:** 센서 고장 시 무한 대기를 방지하기 위해 `_SM_RUN_CHGOFF` 확인에 타임아웃을 추가하십시오.
+2.  **경로 실패 처리:** `CalcPath`가 null/empty를 반환하는지 명시적으로 확인하고, 무한 재시도 대신 에러와 함께 `GOHOME` 시퀀스를 중단하십시오.
+3.  **도착 확인:** `_Util.cs`의 "도착" 확인이 "거의 도착" 시나리오(예: 태그 약간 앞에서 정지)에 대해 견고한지 확인하십시오. 현재 로직은 `CurrentNodeId` 업데이트에 의존하며, 이는 양호해 보입니다.
+