..

Cs_HMI/Project/StateMachine/_Loop.cs

@@ -76,7 +76,8 @@ namespace Project
             }
         }
 
-
+        string lockstep = string.Empty;
+        System.Threading.ManualResetEvent mreloop = new System.Threading.ManualResetEvent(true);
         void sm_Running(object sender, StateMachine.StateMachine.RunningEventArgs e)
         {
 
@@ -89,6 +90,11 @@ namespace Project
             }
             else PUB.sm.WaitFirstRun = false;
 
+            if (mreloop.WaitOne(1) == false) return;
+            mreloop.Reset();
+
+            lockstep = e.Step.ToString();
+
             //main loop
             switch (e.Step)
             {
@@ -186,11 +192,14 @@ namespace Project
                     break;
 
                 case eSMStep.SYNC:
-                    if(e.isFirst)
+                    if (e.isFirst)
                     {
                         // 동기화 완료 시 캔버스 모드 복귀
-                        if (PUB._mapCanvas != null)
-                            PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                        this.Invoke(new Action(() => {
+                            if (PUB._mapCanvas != null)
+                                PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                        }));
+                        
                     }
                     if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
@@ -205,7 +214,6 @@ namespace Project
                             PUB.Speak( Lang.초기화완료);
 
                         PUB.sm.SetNewStep(eSMStep.IDLE);
-                        return;
                     }
                     break;
 
@@ -269,6 +277,8 @@ namespace Project
                     }
                     break;
             }
+
+            mreloop.Set();
         }
 
         void DeleteFile(string path)