...

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -117,6 +117,11 @@ namespace Project
                     PUB.sm.SetNewRunStep(ERunStep.READY);
                     return false;
                 }
+                else
+                {
+                    PUB._mapCanvas.CurrentPath = PathResult.result;
+                    PUB._virtualAGV.SetPath(PathResult.result);
+                }
 
                 PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
             }
@@ -133,8 +138,16 @@ namespace Project
                 return false;
             }
 
+       
+
             //predict 를 이용하여 다음 이동을 모두 확인한다.
             var nextAction = PUB._virtualAGV.Predict();
+            if(nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
+            {
+                //경로이탈
+                PUB._virtualAGV.CurrentPath.DetailedPath.Clear();
+                return false;
+            }
 
             var message = $"[다음 행동 예측]\n\n" +
                          $"모터: {nextAction.Motor}\n" +

Cs_HMI/Project/StateMachine/_SPS.cs

@@ -72,7 +72,7 @@ namespace Project
                     else if (PUB.BMS.IsValid == false)
                     {
                         var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
-                        if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
+                        if (ts.TotalSeconds > ( Math.Max(10,PUB.setting.interval_bms) * 2.5))
                         {
                             this.BeginInvoke(new Action(() =>
                             {

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -113,7 +113,7 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.GotoAlias:
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
-                        var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 1 : 4;
+                        var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
                         if (data.Length > datalength)
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
@@ -255,7 +255,7 @@ namespace Project
                         break;
             
                     default:
-                        PUB.logagv.AddE($"Unknown Command : {cmd}");
+                        PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
                         PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
                         break;
                 }
@@ -301,6 +301,19 @@ namespace Project
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
 
+                //마지막대상이 버퍼라면 시퀀스처리를 해야한다
+                if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
+                {
+                    var lastDetailPath = advancedResult.DetailedPath.Last();
+                    if (lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
+                    {
+                        //버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
+                        advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
+                        Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
+                    }
+                }
+
+
                 _simulatorCanvas.CurrentPath = advancedResult;
                 //_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 //_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";