Implement ACS Command Handlers (PickOn, PickOff, Charge), Manual Mode Safety, and Map UI Commands

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -65,6 +65,47 @@ namespace Project
                         else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
                         break;
 
+                    case ENIGProtocol.AGVCommandHE.PickOn:  // 110
+                    case ENIGProtocol.AGVCommandHE.PickOff: // 111
+                        {
+                            PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
+                            
+                            // 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
+                            var currNode = PUB._virtualAGV.CurrentNode;
+                            if (currNode == null)
+                            {
+                                PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다 NodeID:{PUB._virtualAGV.CurrentNodeId}");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Node");
+                                return;
+                            }
+
+                            PUB.NextWorkCmd = cmd;
+                            ERunStep nextStep = ERunStep.IDLE;
+
+                            switch (currNode.Type)
+                            {
+                                case NodeType.Loader: nextStep = ERunStep.LOADER_IN; break;
+                                case NodeType.UnLoader: nextStep = ERunStep.UNLOADER_IN; break;
+                                case NodeType.Buffer: nextStep = ERunStep.BUFFER_IN; break;
+                                case NodeType.Clearner: nextStep = ERunStep.CLEANER_IN; break;
+                                default:
+                                    PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({currNode.Type})은 작업을 지원하지 않습니다.");
+                                    return;
+                            }
+
+                            PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
+                            PUB.sm.SetNewRunStep(nextStep);
+                        }
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.Charger: // 112
+                        {
+                            PUB.log.AddI($"XBEE:충전명령수신");
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Charger;
+                            PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
+                        }
+                        break;
+
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
                         if (data.Length > 4)
                         {