ai로그 추가

HMI/Project/PUB.cs

@@ -175,7 +175,7 @@ namespace Project
         /// <summary>
         /// 시스템로그
         /// </summary>
-        public static AR.Log log, logagv, logplc, logbms, logxbee;
+        public static AR.Log log, logagv, logplc, logbms, logxbee,logdebug;
 
         public static Boolean bPlayMusic = false;
 
@@ -223,10 +223,14 @@ namespace Project
             logxbee = new AR.Log();
             logxbee.Textenc = System.Text.Encoding.UTF8;
 
+            logdebug = new Log();
+            logdebug.Textenc = System.Text.Encoding.UTF8;
+
             logagv.FileNameFormat = "{yyyyMMdd}_agv";
             logplc.FileNameFormat = "{yyyyMMdd}_plc";
             logbms.FileNameFormat = "{yyyyMMdd}_bms";
             logxbee.FileNameFormat = "{yyyyMMdd}_cal";
+            logdebug.FileNameFormat = "{yyyyMMdd}_dgb";
 
             //popupmessage
             popup = new MessageWindow();
@@ -656,6 +660,7 @@ namespace Project
             PUB.logplc.Flush();
             PUB.logbms.Flush();
             PUB.logxbee.Flush();
+            PUB.logdebug.Flush();
         }
 
         /// <summary>

HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -40,6 +40,7 @@ namespace Project
             //스텝이 변경되었다면?
             if (PUB.sm.RunStep != PUB.sm.RunStepNew)
             {
+                PUB.logdebug.Add($"[AI_TRACE] RunStep Transition: {PUB.sm.RunStep} -> {PUB.sm.RunStepNew}");
                 runStepisFirst = true;
                 PUB.sm.ApplyRunStep();
             }
@@ -72,6 +73,7 @@ namespace Project
                 var tsSpeak = DateTime.Now - LastSpeakTime;
                 if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
+                    PUB.logdebug.Add($"[AI_TRACE] Blocking: stop_by_front_detect=true (LIDAR Obstacle)");
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
                 }
@@ -84,6 +86,7 @@ namespace Project
                 var tsSpeak = DateTime.Now - LastSpeakTime;
                 if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
+                    PUB.logdebug.Add($"[AI_TRACE] Blocking: runerror_by_no_magent_line=true (Magnetic Line Lost)");
                     PUB.Speak(Lang.선로를이탈했습니다);
                     LastSpeakTime = DateTime.Now;
                 }

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -33,6 +33,7 @@ namespace Project
                 if ((DateTime.Now - _lastLidarOffTime_IN).TotalSeconds > 2)
                 {
                     PUB.log.Add($"[{funcname}] 버퍼 작업 중 라이다 강제 OFF 시도");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} LIDAR/Dist Safety Override: Sensor={PUB.AGV.PBSSensor}, Dist={PUB.AGV.data.Distance}");
                     PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
@@ -45,6 +46,9 @@ namespace Project
                 return false; // 라이다가 꺼질 때까지 진행 스톱 (명령이 적용될 때까지 대기)
             }
 
+            // [AI_TRACE] Log Step Progress
+            PUB.logdebug.Add($"[AI_TRACE] {funcname} Step {PUB.sm.RunStepSeq} execution");
+
             // [State Save] 현재 진행 단계를 저장한다
             SaveBufferStep(PUB._virtualAGV.CurrentNode, PUB.sm.RunStepSeq, PUB.NextWorkCmd);
 
@@ -453,6 +457,7 @@ namespace Project
 
             // [State Clear] 작업 완료 시 저장된 상태를 지운다
             ClearBufferStep(PUB._virtualAGV.CurrentNode);
+            PUB.logdebug.Add($"[AI_TRACE] {funcname} Completed Successfully.");
             return true;
         }
     }

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -32,6 +32,7 @@ namespace Project
                 if ((DateTime.Now - _lastLidarOffTime_OUT).TotalSeconds > 2)
                 {
                     PUB.log.Add($"[{funcname}] 버퍼 작업 중 라이다 강제 OFF 시도");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} LIDAR/Dist Safety Override: Sensor={PUB.AGV.PBSSensor}, Dist={PUB.AGV.data.Distance}");
                     PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
@@ -44,6 +45,9 @@ namespace Project
                 return false; // 라이다가 꺼질 때까지 진행 스톱 (명령이 적용될 때까지 대기)
             }
 
+            // [AI_TRACE] Log Step Progress
+            PUB.logdebug.Add($"[AI_TRACE] {funcname} Step {PUB.sm.RunStepSeq} execution");
+
             // [State Save] 현재 진행 단계를 저장한다
             SaveBufferStep(PUB._virtualAGV.CurrentNode, PUB.sm.RunStepSeq, PUB.NextWorkCmd);
 
@@ -127,6 +131,7 @@ namespace Project
                 if (PUB.AGV.signal1.mark_sensor == true && PUB._virtualAGV.Turn == AGVNavigationCore.Models.AGVTurn.L90)
                 {
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이미 마크센서 감지됨. 전진 이동을 생략합니다.");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} Smart Restart Skip Movement: MarkSensor=true, Turn=L90");
                     PUB.sm.SetStepSeq((byte)(idx + 4)); // Turn 스텝으로 직행 (현재 idx부터 4단계 뒤)
                     return false;
                 }
@@ -261,6 +266,7 @@ namespace Project
                 if (PUB.AGV.signal1.mark_sensor == false && seqtime.TotalSeconds < 1.0)
                 {
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 재시작 감지됨. 하지만 목적지(마크) 도착 불확실. 이동을 재시도합니다.");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} Resume Safety Check Failed (Mark OFF at Stop Step). Rolling back to Step 6.");
                     PUB.sm.SetStepSeq(6); // Speed Set 스텝(이동 시작 단계)으로 복귀 
                     return false;
                 }
@@ -486,6 +492,7 @@ namespace Project
 
             // [State Clear] 작업 완료 시 저장된 상태를 지운다
             ClearBufferStep(PUB._virtualAGV.CurrentNode);
+            PUB.logdebug.Add($"[AI_TRACE] {funcname} Completed Successfully.");
             return true;
         }
     }

HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs

@@ -87,6 +87,7 @@ namespace Project
             {
                 //충전시작 명령을 전송한다
                 PUB.log.Add($"충전:충전명령전송");
+                PUB.logdebug.Add($"[AI_TRACE] {funcname} Step {PUB.sm.RunStepSeq}: Sending Charge Start Command to ChargerID={PUB.setting.ChargerID}");
                 PUB.Speak(Lang.충전시작명령을전송합니다);
                 PUB.AGV.AGVCharge(PUB.setting.ChargerID, true);
                 VAR.BOOL[eVarBool.WAIT_CHARGEACK] = true;
@@ -102,6 +103,7 @@ namespace Project
                 if (PUB.AGV.ACKData.Equals("CBT"))
                 {
                     PUB.log.Add($"충전명령 회신 확인");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} Step {PUB.sm.RunStepSeq}: Charge Command ACK Received (CBT)");
                     PUB.sm.UpdateRunStepSeq();
                 }
                 else

HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -85,10 +85,12 @@ namespace Project
                 if (PUB._virtualAGV.TargetNode == null)
                 {
                     PUB.log.Add($"대상노드가 없어 이동을할 수 없습니다");
+                    PUB.logdebug.Add($"[AI_TRACE] {funcname} REJECTED: TargetNode is NULL");
                     PUB.sm.SetNewRunStep(ERunStep.READY);
                     return false;
                 }
                 PUB.log.Add($"[GOTO] Step {idx - 1}: TargetNode Checked ({PUB._virtualAGV.TargetNode.ID2})");
+                PUB.logdebug.Add($"[AI_TRACE] {funcname} TargetNode Confirmed: {PUB._virtualAGV.TargetNode.ID2} (RFID: {PUB._virtualAGV.TargetNode.RfidId})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -112,6 +114,7 @@ namespace Project
 
                 //ㅇ목적지 완료신호를 ACS에전송한다.
                 PUB.XBE.SendMoveComplete(PUB._virtualAGV.TargetNode.RfidId.ToString("0000"));
+                PUB.logdebug.Add($"[AI_TRACE] {funcname} Navigation Complete. ACS Notified. Node={PUB._virtualAGV.TargetNode.ID2}");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

HMI/Project/StateMachine/_Loop.cs

@@ -402,6 +402,7 @@ namespace Project
         void sm_StepChanged(object sender, StateMachine.StateMachine.StepChangeEventArgs e)
         {
             //상태머신의 스텝이 변경될때 발생함
+            PUB.logdebug.Add($"[AI_TRACE] Global State Change: {e.Old} -> {e.New}");
             //Pub.log.Add(string.Format("SM:Step Changed {0} to {1}",e.Old,e.New));
             VAR.BOOL[eVarBool.FLAG_AUTORUN] = e.New == eSMStep.RUN;
             VAR.BOOL[eVarBool.FLAG_SYNC] = (e.New == eSMStep.SYNC);

HMI/Project/StateMachine/_Xbee.cs

@@ -19,6 +19,7 @@ namespace Project
 
         private void XBE_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
         {
+            PUB.logdebug.Add($"[AI_TRACE] XBEE Protoc Received: Cmd={e.ReceivedPacket.Command}, ID={e.ReceivedPacket.ID}, DataLen={e.ReceivedPacket.Data.Length}");
             //TODO : 기능 처리필요 (XBee 메세지 데이터처리)
             //PUB.CheckManualChargeMode() : 수동충전확인
             //VAR.BOOL[eVarBool.FLAG_AUTORUN]  : 자동실행
@@ -87,6 +88,7 @@ namespace Project
                         {
                             Resultclear();
                             PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
+                            PUB.logdebug.Add($"[AI_TRACE] Processing WorkCommand: {cmd}");
 
                             // 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
                             var currNode = PUB._virtualAGV.CurrentNode;
@@ -167,6 +169,7 @@ namespace Project
                         {
                             Resultclear();
                             PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
+                            PUB.logdebug.Add($"[AI_TRACE] Processing Exit WorkCommand: {cmd}");
 
                             // 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
                             var currNode = PUB._virtualAGV.CurrentNode;
@@ -198,6 +201,7 @@ namespace Project
                                 case StationType.Buffer: nextStep = ERunStep.BUFFER_OUT; break;
                                 case StationType.Plating: nextStep = ERunStep.CLEANER_OUT; break;
                                 default:
+                                    PUB.logdebug.Add($"[AI_TRACE] REJECTED: Unsupported station type {StationType} for command {cmd}");
                                     PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
                                     return;
                             }
@@ -238,6 +242,7 @@ namespace Project
                         {
                             Resultclear();
                             PUB.log.AddI($"XBEE:충전명령수신");
+                            PUB.logdebug.Add($"[AI_TRACE] Processing Charger Command");
 
                             // 버퍼 작업 중일 경우 충전 명령 거부
                             if (PUB._virtualAGV.Turn != AGVTurn.None)
@@ -275,12 +280,11 @@ namespace Project
                                 //자동상태가아니라면 처리하지 않는다.
                                 if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
                                 {
+                                    PUB.logdebug.Add($"[AI_TRACE] REJECTED: Manual mode (AutoRun=false) for Goto {currTag}");
                                     SetRunStepError(ENIGProtocol.AGVErrorCode.ManualMode, $"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
                                     return;
                                 }
 
-
-
                                 //노드가 들어왔는데. 일반 노드라면.. 턴 정보를 제거한다.
                                 if (PUB._virtualAGV.CurrentNode != null &&
                                     PUB._virtualAGV.CurrentNode.StationType != StationType.Buffer &&
@@ -290,7 +294,6 @@ namespace Project
                                     PUB._virtualAGV.Turn = AGVTurn.None;
                                 }
 
-
                                 //s/w턴이 걸려있다면 이동 불가로한다.(버퍼 작업중이다)
                                 if (PUB._virtualAGV.Turn != AGVTurn.None)
                                 {
@@ -298,7 +301,6 @@ namespace Project
                                     return;
                                 }
 
-
                                 //목적지
                                 PUB._virtualAGV.TargetNode = targetNode;
                                 if (targetNode == null)