...

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -815,6 +815,9 @@ namespace AGVNavigationCore.Controls
                     case StationType.Charger:
                         DrawTriangleNodeShape(g, node, brush);
                         break;
+                    case StationType.Limit:
+                        DrawRectangleNodeShape(g, node, brush);
+                        break;
                     default:
                         DrawCircleNodeShape(g, node, brush);
                         break;
@@ -823,6 +826,83 @@ namespace AGVNavigationCore.Controls
         }
 
 
+        private void DrawRectangleNodeShape(Graphics g, MapNode node, Brush brush)
+        {
+            // 드래그 중인 노드는 약간 크게 그리기
+            bool isDraggingThisNode = _isDragging && node == _selectedNode;
+            int sizeAdjustment = isDraggingThisNode ? 4 : 0;
+
+            var rect = new Rectangle(
+                node.Position.X - NODE_RADIUS - sizeAdjustment,
+                node.Position.Y - NODE_RADIUS - sizeAdjustment,
+                NODE_SIZE + sizeAdjustment * 2,
+                NODE_SIZE + sizeAdjustment * 2
+            );
+
+            // 드래그 중인 노드의 그림자 효과
+            if (isDraggingThisNode)
+            {
+                var shadowRect = new Rectangle(rect.X + 3, rect.Y + 3, rect.Width, rect.Height);
+                using (var shadowBrush = new SolidBrush(Color.FromArgb(100, 0, 0, 0)))
+                {
+                    g.FillRectangle(shadowBrush, shadowRect);
+                }
+            }
+
+            // 노드 그리기
+            g.FillRectangle(brush, rect);
+            g.DrawRectangle(Pens.Black, rect);
+
+            // 드래그 중인 노드 강조 (가장 강력한 효과)
+            if (isDraggingThisNode)
+            {
+                // 청록색 두꺼운 테두리
+                g.DrawRectangle(new Pen(Color.Cyan, 3), rect);
+                // 펄스 효과
+                var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8);
+                g.DrawRectangle(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+            // 선택된 노드 강조 (단일 또는 다중)
+            else if (node == _selectedNode || (_selectedNodes != null && _selectedNodes.Contains(node)))
+            {
+                g.DrawRectangle(_selectedNodePen, rect);
+            }
+
+            // 목적지 노드 강조
+            if (node == _destinationNode)
+            {
+                // 금색 테두리로 목적지 강조
+                g.DrawRectangle(_destinationNodePen, rect);
+
+                // 펄싱 효과를 위한 추가 원 그리기
+                var pulseRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.Gold, 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+
+            // 호버된 노드 강조 (드래그 중이 아닐 때만)
+            if (node == _hoveredNode && !isDraggingThisNode)
+            {
+                var hoverRect = new Rectangle(rect.X - 2, rect.Y - 2, rect.Width + 4, rect.Height + 4);
+                g.DrawRectangle(new Pen(Color.Orange, 2), hoverRect);
+            }
+
+            // RFID 중복 노드 표시 (빨간 X자)
+            if (_duplicateRfidNodes.Contains(node.Id))
+            {
+                DrawDuplicateRfidMarker(g, node);
+            }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross == true)
+            {
+                var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.DeepSkyBlue, 3), crossRect);
+            }
+
+            g.DrawLine(Pens.Black, rect.X, rect.Y, rect.Right, rect.Bottom);
+            g.DrawLine(Pens.Black, rect.Right, rect.Top, rect.X, rect.Bottom);
+
+        }
         private void DrawCircleNodeShape(Graphics g, MapNode node, Brush brush)
         {
             // 드래그 중인 노드는 약간 크게 그리기
@@ -1475,6 +1555,7 @@ namespace AGVNavigationCore.Controls
                 case StationType.UnLoader: bgColor = Color.Gold; break;
                 case StationType.Clearner: bgColor = Color.DeepSkyBlue; break;
                 case StationType.Buffer: bgColor = Color.WhiteSmoke; break;
+                case StationType.Limit: bgColor = Color.Red; break;
                 default: bgColor = Color.White; break;
             }
 

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -73,7 +73,13 @@ namespace AGVNavigationCore.Models
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기</summary>
-        Charger
+        Charger,
+
+        /// <summary>
+        /// 끝점(더이상 이동불가)
+        /// </summary>
+        Limit,
+
     }
 
     /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -149,7 +149,7 @@ namespace AGVNavigationCore.Models
 
         public override string ToString()
         {
-            return $"{RfidId}({Id}): {AliasName} ({Type}) at ({Position.X}, {Position.Y})";
+            return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
         public bool IsNavigationNode()

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -464,6 +464,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                     {
                         nodeInfo.Speed = mapNode.SpeedLimit;
                     }
+
+                    detailedPath1.Add(nodeInfo);
                 }
 
                 // path1에 상세 경로 정보 설정

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs

@@ -108,7 +108,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public override string ToString()
         {
-            var result = $"{RfidId}[{NodeId}]:{MotorDirection}";
+            var result = $"R{RfidId}[N{NodeId}]:{MotorDirection}";
 
             // 마그넷 방향이 직진이 아닌 경우 표시
             if (MagnetDirection != MagnetDirection.Straight)

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)";