..

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -28,7 +28,7 @@ namespace Project
             }
 
             //가동불가 조건 확인
-            if (CheckStopCondition() == false)   return;
+            if (CheckStopCondition() == false) return;
 
             //중단기능이 동작이라면 처리하지 않는다.
             if (PUB.sm.bPause)
@@ -109,10 +109,17 @@ namespace Project
                         var target = PUB._virtualAGV.TargetNode;
                         PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
 
-                        switch(target.StationType)
+                        switch (target.StationType)
                         {
                             case AGVNavigationCore.Models.StationType.Buffer:
                                 //현재위치가 마지막경로의 NODEID와 일치해야한다
+                                if (PUB._virtualAGV.CurrentPath == null)
+                                {
+                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
+                                    PUB.XBE.BufferInComplete = false;
+                                    PUB.XBE.BufferOutComplete = false;
+                                    break;
+                                }
                                 var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
                                 if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
                                 {
@@ -131,7 +138,7 @@ namespace Project
                                 PUB.XBE.BufferOutComplete = false;
                                 break;
                         }
-                       
+
                         PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
                         PUB.sm.SetNewRunStep(ERunStep.READY);
                     }