..

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -39,6 +39,9 @@ namespace Project
         bool _charging = false;
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
+            if (PUB.mapctl != null)
+                PUB.mapctl.PredictNextAction();
+
             switch (e.DataType)
             {
                 case arDev.Narumi.DataType.STS:
@@ -54,7 +57,7 @@ namespace Project
                         VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
                         VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
 
-                        if (PUB.AGV.data.Direction =='B')
+                        if (PUB.AGV.data.Direction == 'B')
                             PUB.mapctl.agv.CurrentDirection = AGVControl.Models.Direction.Backward;
                         else
                             PUB.mapctl.agv.CurrentDirection = AGVControl.Models.Direction.Forward;
@@ -170,7 +173,7 @@ namespace Project
                         else
                         {
                             //위치는 찾았다 해당 위치가 내 목적지라면 mark stop기능으로 전환한다
-                            
+
                         }
 
 

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -39,7 +39,7 @@ namespace Project
                             {
                                 if (PUB.setting.XBE_ID == tID)
                                 {
-                                    if (uint.TryParse(targstr, out uint tagno))
+                                    if (ushort.TryParse(targstr, out ushort tagno))
                                     {
                                         if (PUB.mapctl.SetCurrentPosition(tagno) == true)
                                         {

Cs_HMI/Project/ViewForm/fAuto.Designer.cs

@@ -41,7 +41,6 @@ namespace Project.ViewForm
             // timer1
             // 
             timer1.Interval = 200;
-            timer1.Tick += timer1_Tick;
             // 
             // ctlAuto1
             // 

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -40,7 +40,7 @@ namespace Project.ViewForm
             //     ctlAuto1.dev_plc = PUB.PLC;
             ctlAuto1.dev_bms = PUB.BMS;
             ctlAuto1.dev_xbe = PUB.XBE;
-            this.timer1.Start();
+        
             PUB.AGV.DataReceive += AGV_DataReceive;
             
             
@@ -67,6 +67,8 @@ namespace Project.ViewForm
                     if (rlt == false) AR.UTIL.MsgE(errmsg);
                 }
             }
+
+            this.timer1.Start();
         }
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
@@ -106,40 +108,44 @@ namespace Project.ViewForm
         }
 
         bool tmrun = false;
-        private void timer1_Tick(object sender, EventArgs e)
+      
-        {
-            if (this.Visible == false) return;
-            if (tmrun == true) return;
-            tmrun = true;
-
-            this.ctlAuto1.OnUpdateMode = true;
-
-            if (this.ctlAuto1.Scean == CtlAuto.eScean.Progress)
-            {
-                ctlAuto1.ProgressVal = PUB.Result.SMSG_ProgressValue;
-                ctlAuto1.ProgressMax = PUB.Result.SMSG_ProgressMax;
-                ctlAuto1.StatusMessage = VAR.STR?.Get(eVarString.StatusMessage) ?? string.Empty;
-            }
-            this.ctlAuto1.StopMessage = string.Empty;
-
-            if (PUB.sm.Step == StateMachine.eSMStep.RUN)
-            {
-                this.ctlAuto1.runStep = PUB.sm.RunStep;
-            }
-            else
-            {
-                this.ctlAuto1.runStep = ERunStep.READY;
-            }
-            this.ctlAuto1.OnUpdateMode = false;
-            this.ctlAuto1.Invalidate();
-            tmrun = false;
-        }
-
         private void fAuto_VisibleChanged(object sender, EventArgs e)
         {
             this.timer1.Enabled = this.Visible;
             if (timer1.Enabled) timer1.Start();
             else timer1.Stop();
         }
+
+        private void timer1_Tick_1(object sender, EventArgs e)
+        {
+            //if (this.Visible == false) return;
+            //if (tmrun == true) return;
+            //tmrun = true;
+
+            //this.ctlAuto1.OnUpdateMode = true;
+
+            //if (this.ctlAuto1.Scean == CtlAuto.eScean.Progress)
+            //{
+            //    ctlAuto1.ProgressVal = PUB.Result.SMSG_ProgressValue;
+            //    ctlAuto1.ProgressMax = PUB.Result.SMSG_ProgressMax;
+            //    ctlAuto1.StatusMessage = VAR.STR?.Get(eVarString.StatusMessage) ?? string.Empty;
+            //}
+            //this.ctlAuto1.StopMessage = string.Empty;
+
+            //if (PUB.sm.Step == StateMachine.eSMStep.RUN)
+            //{
+            //    this.ctlAuto1.runStep = PUB.sm.RunStep;
+            //}
+            //else
+            //{
+            //    this.ctlAuto1.runStep = ERunStep.READY;
+            //}
+            //this.ctlAuto1.OnUpdateMode = false;
+            //this.ctlAuto1.Invalidate();
+
+            //PUB.mapctl.PredictNextAction();
+
+            //tmrun = false;
+        }
     }
 }

Cs_HMI/Project/ViewForm/fAuto.resx

@@ -1,17 +1,17 @@
 <?xml version="1.0" encoding="utf-8"?>
 <root>
-  <!--
+  <!-- 
     Microsoft ResX Schema 
-
+    
     Version 2.0
-
+    
-    The primary goals of this format is to allow a simple XML format
+    The primary goals of this format is to allow a simple XML format 
-    that is mostly human readable. The generation and parsing of the
+    that is mostly human readable. The generation and parsing of the 
-    various data types are done through the TypeConverter classes
+    various data types are done through the TypeConverter classes 
     associated with the data types.
-
+    
     Example:
-
+    
     ... ado.net/XML headers & schema ...
     <resheader name="resmimetype">text/microsoft-resx</resheader>
     <resheader name="version">2.0</resheader>
@@ -26,36 +26,36 @@
         <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
         <comment>This is a comment</comment>
     </data>
-
+                
-    There are any number of "resheader" rows that contain simple
+    There are any number of "resheader" rows that contain simple 
     name/value pairs.
-
+    
-    Each data row contains a name, and value. The row also contains a
+    Each data row contains a name, and value. The row also contains a 
-    type or mimetype. Type corresponds to a .NET class that support
+    type or mimetype. Type corresponds to a .NET class that support 
-    text/value conversion through the TypeConverter architecture.
+    text/value conversion through the TypeConverter architecture. 
-    Classes that don't support this are serialized and stored with the
+    Classes that don't support this are serialized and stored with the 
     mimetype set.
-
+    
-    The mimetype is used for serialized objects, and tells the
+    The mimetype is used for serialized objects, and tells the 
-    ResXResourceReader how to depersist the object. This is currently not
+    ResXResourceReader how to depersist the object. This is currently not 
     extensible. For a given mimetype the value must be set accordingly:
-
+    
-    Note - application/x-microsoft.net.object.binary.base64 is the format
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
-    that the ResXResourceWriter will generate, however the reader can
+    that the ResXResourceWriter will generate, however the reader can 
     read any of the formats listed below.
-
+    
     mimetype: application/x-microsoft.net.object.binary.base64
-    value   : The object must be serialized with
+    value   : The object must be serialized with 
             : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
             : and then encoded with base64 encoding.
     
     mimetype: application/x-microsoft.net.object.soap.base64
-    value   : The object must be serialized with
+    value   : The object must be serialized with 
             : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
             : and then encoded with base64 encoding.
 
     mimetype: application/x-microsoft.net.object.bytearray.base64
-    value   : The object must be serialized into a byte array
+    value   : The object must be serialized into a byte array 
             : using a System.ComponentModel.TypeConverter
             : and then encoded with base64 encoding.
     -->

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -388,7 +388,7 @@ namespace arDev
             {
                 //221123    chi 숫자로변경
                 var tagnostr = rcvdNow.Substring(3);
-                if (uint.TryParse(tagnostr, out uint tagnoint))
+                if (ushort.TryParse(tagnostr, out ushort tagnoint))
                 {
                     var Changed = !old_TagString.Equals(tagnostr);
                     data.TagString = tagnostr;

Cs_HMI/SubProject/AGV/Structure/AgvData.cs

@@ -15,7 +15,7 @@ namespace arDev
 
 
             public string TagString { get; set; } = string.Empty;
-            public uint TagNo { get; set; } = 0;
+            public ushort TagNo { get; set; } = 0;
             public string CallString { get; set; } = string.Empty;
             public int CallNo { get; set; } = -1;
             public string CCAString { get; set; } = string.Empty;

Cs_HMI/SubProject/AGVControl/MapControl.cs

@@ -1,19 +1,14 @@
 using System;
 using System.Collections.Generic;
-using System.ComponentModel.Design;
 using System.Drawing;
-using System.Drawing.Design;
 using System.Drawing.Drawing2D;
 using System.IO;
 using System.Linq;
-using System.Net.NetworkInformation;
+using System.Security.Cryptography.X509Certificates;
-using System.Security.Cryptography;
-using System.Security.Permissions;
 using System.Text.RegularExpressions;
 using System.Windows.Forms;
 using AGVControl.Models;
 using AR;
-using static System.Net.Mime.MediaTypeNames;
 
 namespace AGVControl
 {
@@ -242,7 +237,7 @@ namespace AGVControl
                             var tag = AR.UTIL.InputBox("input rfid tag value");
                             if (tag.Item1 && tag.Item2 != "" && uint.TryParse(tag.Item2, out uint val) == true)
                             {
-                                var targetRFID = SetCurrentPosition(val);
+                                var targetRFID = SetCurrentPosition((ushort)val);
                             }
                             break;
                         case "save":
@@ -285,8 +280,7 @@ namespace AGVControl
 
                                 if (od.ShowDialog() == DialogResult.OK)
                                 {
-
+                                    this.LoadFromFile(od.FileName, out string errmsg);
-                                    this.LoadFromFile(filename, out string errmsg);
                                     if (errmsg.isEmpty() == false) UTIL.MsgE(errmsg);
                                     this.Invalidate();
                                 }
@@ -409,7 +403,7 @@ namespace AGVControl
                 var selected_rfid = rfidPoints.Where(t => t.Bounds.Expand(SELECTION_DISTANCE, SELECTION_DISTANCE).Contains(mapPoint)).FirstOrDefault();
                 if (selected_rfid != null)
                 {
-                    UTIL.ShowPropertyDialog(selected_rfid); 
+                    UTIL.ShowPropertyDialog(selected_rfid);
                     this.Invalidate();
                     return;
                 }
@@ -418,7 +412,7 @@ namespace AGVControl
                 var selected_txt = mapTexts.Where(t => t.Bounds.Expand(SELECTION_DISTANCE, SELECTION_DISTANCE).Contains(mapPoint)).FirstOrDefault();
                 if (selected_txt != null)
                 {
-                    UTIL.ShowPropertyDialog(selected_txt); 
+                    UTIL.ShowPropertyDialog(selected_txt);
                     this.Invalidate();
                     return;
                 }
@@ -729,21 +723,77 @@ namespace AGVControl
             return rfidPoints.FirstOrDefault(r => r.RFIDValue == rfidValue);
         }
 
-        public bool SetCurrentPosition(uint rfidValue)
+        public bool SetCurrentPosition(UInt16 rfidValue)
         {
             var rfidPoint = FindRFIDPoint(rfidValue);
             if (rfidPoint != null)
             {
-                // 이전 위치 저장 (방향 검증용)
+                // 이동 경로에 추가 (위치 업데이트보다 먼저)
-                Point previousPosition = agv.CurrentPosition;
+                agv.AddToMovementHistory(rfidValue, rfidPoint.Location, this.agv.CurrentDirection);
-                uint previousRFID = agv.CurrentRFID;
 
                 // AGV 위치 업데이트
                 agv.CurrentPosition = rfidPoint.Location;
                 agv.CurrentRFID = rfidValue;
 
-                // 이동 경로에 추가
+                // --- 동체 방향(BodyAngle) 결정 로직 ---
-                agv.AddToMovementHistory(rfidValue, rfidPoint.Location);
+                if (!agv.BodyAngle.HasValue && agv.MovementHistory.Count >= 2)
+                {
+                    // 두 번째 RFID가 인식된 시점
+                    var history = agv.PositionHistory.Skip(Math.Max(0, agv.PositionHistory.Count - 2)).Take(2).ToList();
+                    Point firstPos = history[0];
+                    Point secondPos = history[1];
+
+                    // 두 점 사이의 각도 계산
+                    float deltaX = secondPos.X - firstPos.X;
+                    float deltaY = secondPos.Y - firstPos.Y;
+                    float baseAngle = (float)Math.Atan2(deltaY, deltaX) * 180f / (float)Math.PI;
+
+                    // 모터 방향(CurrentDirection)에 따라 최종 BodyAngle 결정
+                    if (agv.CurrentDirection == Direction.Backward)
+                    {
+                        // 후진 중이었다면, 몸체는 반대 방향을 보고 있었음
+                        agv.BodyAngle = (baseAngle + 180) % 360;
+                    }
+                    else
+                    {
+                        // 전진 또는 미정의 상태였다면, 몸체는 이동 방향을 보고 있었음
+                        agv.BodyAngle = baseAngle;
+                    }
+                }
+
+                // AGV의 모터 방향 결정
+                if (agv.MovementHistory.Count > 1)
+                {
+                    // 다음 목적지 찾기
+                    var lastP1 = agv.MovementHistory.Last();
+                    var lastP2 = agv.MovementHistory.Skip(agv.MovementHistory.Count - 2).Take(1).First();
+
+                    // 모터 각도 계산 및 업데이트
+                    var prePoint = rfidPoints.Where(t => t.RFIDValue == lastP2.rfid).FirstOrDefault();
+                    if (prePoint != null)
+                    {
+                        float deltaX;
+                        float deltaY;
+                        if (agv.CurrentDirection == Direction.Forward)
+                        {
+                            deltaX = agv.CurrentPosition.X - prePoint.Bounds.X;
+                            deltaY = agv.CurrentPosition.Y - prePoint.Bounds.Y;
+                        }
+                        else
+                        {
+                            deltaX = prePoint.Bounds.X - agv.CurrentPosition.X;
+                            deltaY = prePoint.Bounds.Y - agv.CurrentPosition.Y;
+                        }
+
+                        agv.MotorAngle = (float)Math.Atan2(deltaY, deltaX) * 180f / (float)Math.PI;
+
+                        // 회전 가능 여부를 고려하여 방향 결정
+                        //agv.TargetDirection = DetermineDirection(agv.CurrentPosition, nextPoint, agv.TargetPosition);//
+                    }
+
+                }
+
+
 
                 // 목적지가 설정되어 있고 경로가 있는 경우 검증
                 if (agv.TargetPosition != Point.Empty && agv.CurrentPath.Count > 0)
@@ -761,15 +811,7 @@ namespace AGVControl
                         }
                     }
 
-                    // AGV의 방향 결정
-                    if (agv.CurrentPath.Count > 0)
-                    {
-                        // 다음 목적지 찾기
-                        var nextPoint = agv.CurrentPath[0];
 
-                        // 회전 가능 여부를 고려하여 방향 결정
-                        agv.TargetDirection = DetermineDirection(agv.CurrentPosition, nextPoint, agv.TargetPosition);
-                    }
                 }
 
                 // 목적지 RFID에 도착했고, 해당 RFID에 고정방향이 있으면 TargetDirection을 강제 설정
@@ -782,8 +824,8 @@ namespace AGVControl
                     }
                 }
 
-                // 방향 검증 및 정정 (이전 위치가 있고 경로가 있는 경우)
+                // 방향 검증 및 정정 (세 번째 이동부터, BodyAngle이 결정된 후)
-                if (previousRFID != 0 && agv.CurrentPath.Count > 0)
+                if (agv.BodyAngle.HasValue && agv.MovementHistory.Count > 2)
                 {
                     // RFID 연결 정보 기반 예상 방향 계산
                     Direction? expectedDirection = null;
@@ -794,14 +836,14 @@ namespace AGVControl
                         var currentRFIDPoint = FindRFIDPoint(agv.CurrentRFID);
                         var nextPoint = agv.CurrentPath[currentIdx + 1];
                         var nextRFIDPoint = rfidPoints.FirstOrDefault(p => p.Location == nextPoint);
-                        
+
                         if (currentRFIDPoint != null && nextRFIDPoint != null)
                         {
                             // rfidConnections에서 연결 정보 확인
-                            var connection = rfidConnections.FirstOrDefault(c => 
+                            var connection = rfidConnections.FirstOrDefault(c =>
                                 (c.StartRFID == currentRFIDPoint.RFIDValue && c.EndRFID == nextRFIDPoint.RFIDValue) ||
                                 (c.IsBidirectional && c.StartRFID == nextRFIDPoint.RFIDValue && c.EndRFID == currentRFIDPoint.RFIDValue));
-                            
+
                             if (connection != null)
                             {
                                 // 연결된 경로이므로 방향 결정
@@ -906,37 +948,50 @@ namespace AGVControl
 
         private float Distance(Point a, Point b)
         {
-            // RFID 라인을 통한 연결 확인
+            var rfidA = rfidPoints.FirstOrDefault(p => p.Location == a);
-            var rfidLines = GetRFIDLines();
+            var rfidB = rfidPoints.FirstOrDefault(p => p.Location == b);
-            var directConnection = rfidLines.FirstOrDefault(line =>
-                (line.StartPoint == a && line.EndPoint == b) ||
-                (line.StartPoint == b && line.EndPoint == a));
 
-            if (directConnection != null)
+            if (rfidA == null || rfidB == null) return float.MaxValue;
+
+            var connection = rfidConnections.FirstOrDefault(c =>
+                (c.StartRFID == rfidA.RFIDValue && c.EndRFID == rfidB.RFIDValue) ||
+                (c.IsBidirectional && c.StartRFID == rfidB.RFIDValue && c.EndRFID == rfidA.RFIDValue));
+
+            if (connection != null)
             {
-                return directConnection.Distance;
+                return connection.Distance;
             }
 
-            // 직접 연결되지 않은 경우 매우 큰 값 반환
             return float.MaxValue;
         }
 
         private List<Point> GetNeighbors(Point point)
         {
             var neighbors = new List<Point>();
-            var rfidLines = GetRFIDLines();
+            var currentRfidPoint = rfidPoints.FirstOrDefault(p => p.Location == point);
+            if (currentRfidPoint == null) return neighbors;
 
-            // RFID 라인에서 이웃 노드 찾기
+            uint currentRfid = currentRfidPoint.RFIDValue;
-            foreach (var line in rfidLines)
+
+            foreach (var connection in rfidConnections)
             {
-                if (line.StartPoint == point)
+                uint neighborRfidVal = 0;
+                if (connection.StartRFID == currentRfid)
                 {
-                    neighbors.Add(line.EndPoint);
+                    neighborRfidVal = connection.EndRFID;
                 }
-                else if (line.EndPoint == point)
+                else if (connection.EndRFID == currentRfid && connection.IsBidirectional)
                 {
-                    // 양방향 연결인 경우에만 시작점을 이웃으로 추가
+                    neighborRfidVal = connection.StartRFID;
-                    neighbors.Add(line.StartPoint);
+                }
+
+                if (neighborRfidVal != 0)
+                {
+                    var neighborRfidPoint = rfidPoints.FirstOrDefault(p => p.RFIDValue == neighborRfidVal);
+                    if (neighborRfidPoint != null)
+                    {
+                        neighbors.Add(neighborRfidPoint.Location);
+                    }
                 }
             }
 
@@ -1227,6 +1282,7 @@ namespace AGVControl
 
             DrawPath(e.Graphics);
             DrawAGV(e.Graphics);
+            DrawAGVMotor(e.Graphics);
             DrawTargetFlag(e.Graphics);  // 목적지 깃발 그리기 추가
 
             // 선택된 개체 강조 표시
@@ -1267,6 +1323,16 @@ namespace AGVControl
             // 툴바 버튼 그리기
             foreach (var item in this.toolbarRects)
                 DrawToolbarButton(e.Graphics, item.Bounds, item.Title, item.isHovering);
+
+            //예측값디스플레잉(임시)
+
+            if (PredictResult != null)
+            {
+                var str = $"{PredictResult.ReasonCode}|{PredictResult.MoveState}|{PredictResult.Direction}|Next:{PredictResult.NextRFID}";
+                var strsize = e.Graphics.MeasureString(str, this.Font);
+                e.Graphics.DrawString(str, this.Font, Brushes.Red, this.Right - strsize.Width - 10, this.Bottom - strsize.Height - 10);
+            }
+
         }
 
         private void DrawRFIDPoints(Graphics g)
@@ -1277,7 +1343,7 @@ namespace AGVControl
                 var MarkerSize = 5;
                 var half = MarkerSize / 2f;
                 rfid.Bounds = new RectangleF(rfid.Location.X - half, rfid.Location.Y - half, MarkerSize, MarkerSize);
-                
+
                 // 종단 RFID는 특별한 색상으로 표시
                 Color pointColor;
                 if (rfid.IsTerminal)
@@ -1292,37 +1358,37 @@ namespace AGVControl
                 {
                     pointColor = Color.Green;  // 일반은 초록색
                 }
-                
+
                 using (var brush = new SolidBrush(pointColor))
                 {
                     g.FillEllipse(brush, rfid.Bounds);
                 }
-                
+
                 // 고정방향이 있으면 테두리 색상 표시
                 if (rfid.FixedDirection.HasValue)
                 {
                     Color borderColor = rfid.FixedDirection.Value == Direction.Forward ? Color.DeepSkyBlue : Color.Gold;
                     using (var pen = new Pen(borderColor, 2))
                     {
-                        g.DrawEllipse(pen, rfid.Bounds.Expand(5,5));
+                        g.DrawEllipse(pen, rfid.Bounds.Expand(5, 5));
                     }
                 }
-                
+
                 // 종단 RFID는 특별한 테두리 표시
                 if (rfid.IsTerminal)
                 {
                     using (var pen = new Pen(Color.Red, 3))
                     {
                         pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
-                        g.DrawEllipse(pen, rfid.Bounds.Expand(8,8));
+                        g.DrawEllipse(pen, rfid.Bounds.Expand(8, 8));
                     }
                 }
 
                 var str = rfid.RFIDValue.ToString();
-                g.DrawString(str, this.Font, Brushes.DarkGray, rfid.Bounds.X, rfid.Bounds.Y+5);
+                g.DrawString(str, this.Font, Brushes.DarkGray, rfid.Bounds.X, rfid.Bounds.Y + 5);
             }
 
-            
+
         }
 
         private void DrawAGV(Graphics g)
@@ -1336,84 +1402,212 @@ namespace AGVControl
                 agv.CurrentPosition.Y - halfsize,
                 agvsize, agvsize);
 
-            // AGV 몸체 회전 각도 계산
+            if (agv.BodyAngle.HasValue)
-            float bodyRotation = 0f;
-            if (agv.CurrentPath != null && agv.CurrentPath.Count > 1)
             {
-                // 현재 위치에서 다음 목적지 방향 계산
+                // --- BodyAngle이 결정된 경우: AGV를 회전시켜 그림 ---
-                int currentIdx = agv.CurrentPath.FindIndex(p => p == agv.CurrentPosition);
+                var originalTransform = g.Transform;
-                if (currentIdx >= 0 && currentIdx < agv.CurrentPath.Count - 1)
+                g.TranslateTransform(agv.CurrentPosition.X, agv.CurrentPosition.Y);
-                {
+                g.RotateTransform(agv.BodyAngle.Value + 90); // 리프트가 위쪽(0, -1)을 기본으로 하므로 90도 보정
-                    Point nextPoint = agv.CurrentPath[currentIdx + 1];
+
-                    float deltaX = nextPoint.X - agv.CurrentPosition.X;
+                // 원 그리기 (회전된 좌표계 기준)
-                    float deltaY = nextPoint.Y - agv.CurrentPosition.Y;
+                Color bgcolor = agv.BatteryLevel > 80 ? Color.Lime : (agv.BatteryLevel > 60 ? Color.Gold : Color.Tomato);
-                    bodyRotation = (float)Math.Atan2(deltaY, deltaX) * 180f / (float)Math.PI;
+                using (var circleBrush = new SolidBrush(Color.FromArgb(150, bgcolor)))
-                }
+                    g.FillEllipse(circleBrush, -halfsize, -halfsize, agvsize, agvsize);
+                using (var circlePen = new Pen(Color.Black, 2))
+                    g.DrawEllipse(circlePen, -halfsize, -halfsize, agvsize, agvsize);
+
+                // 리프트 그리기 (회전된 좌표계 기준)
+                var liftWidth = circleRect.Width;
+                var liftHeight = (int)(circleRect.Height * 0.4);
+                var liftOffset = halfsize + 1;
+                var liftRect = new Rectangle(-liftWidth / 2, -halfsize - liftOffset, liftWidth, liftHeight);
+                using (var liftBrush = new SolidBrush(Color.FromArgb(200, Color.DarkGray)))
+                    g.FillRectangle(liftBrush, liftRect);
+                using (var liftPen = new Pen(Color.Black, 1))
+                    g.DrawRectangle(liftPen, liftRect);
+                using (var connectionPen = new Pen(Color.Black, 2))
+                    g.DrawLine(connectionPen, 0, -halfsize, 0, -halfsize - liftOffset);
+
+                g.Transform = originalTransform; // 그래픽스 상태 복원
+            }
+            else
+            {
+                // --- BodyAngle이 결정되지 않은 경우: 기본 방향으로 그림 ---
+                Color bgcolor = agv.BatteryLevel > 80 ? Color.Lime : (agv.BatteryLevel > 60 ? Color.Gold : Color.Tomato);
+                using (var circleBrush = new SolidBrush(Color.FromArgb(150, bgcolor)))
+                    g.FillEllipse(circleBrush, circleRect);
+                using (var circlePen = new Pen(Color.Black, 2))
+                    g.DrawEllipse(circlePen, circleRect);
             }
 
-            // 그래픽스 상태 저장
+            // 과거 이동 경로 화살표 그리기
-            var originalTransform = g.Transform;
+            DrawMovementHistoryArrows(g);
-            
+        }
-            // AGV 위치로 이동하고 회전
+
+        private void DrawAGVMotor(Graphics g)
+        {
+            var agvsize = 30;
+            var halfsize = (int)(agvsize / 2);
+
+            // AGV의 모터 각도를 가져옴
+            float motorAngle = agv.MotorAngle;
+
+            var gState = g.Save();
             g.TranslateTransform(agv.CurrentPosition.X, agv.CurrentPosition.Y);
-            g.RotateTransform(bodyRotation);
+            g.RotateTransform(motorAngle + 90); // 삼각형이 위쪽(Y축 음수)을 향하도록 90도 보정
 
-            // 원 그리기 (회전된 상태)
+            // 삼각형 포인트 계산 (회전 중심점 0,0 기준)
-            Color bgcolor = agv.BatteryLevel > 80 ? Color.Lime : (agv.BatteryLevel > 60 ? Color.Gold : Color.Tomato);
-            using (var circleBrush = new SolidBrush(Color.FromArgb(150, bgcolor)))
-                g.FillEllipse(circleBrush, -halfsize, -halfsize, agvsize, agvsize);
-            using (var circlePen = new Pen(Color.Black, 2))
-                g.DrawEllipse(circlePen, -halfsize, -halfsize, agvsize, agvsize);
-
-            // 리프트 그리기 (회전된 상태, 항상 전진 방향쪽)
-            var liftWidth = circleRect.Width;
-            var liftHeight = (int)(circleRect.Height * 0.4);
-            var liftOffset = halfsize + 1;
-            
-            var liftRect = new Rectangle(
-                -liftWidth / 2,
-                -halfsize - liftOffset,
-                liftWidth, liftHeight);
-            
-            using (var liftBrush = new SolidBrush(Color.FromArgb(200, Color.DarkGray)))
-                g.FillRectangle(liftBrush, liftRect);
-            using (var liftPen = new Pen(Color.Black, 1))
-                g.DrawRectangle(liftPen, liftRect);
-            
-            // 리프트 연결선 그리기
-            using (var connectionPen = new Pen(Color.Black, 2))
-            {
-                g.DrawLine(connectionPen, 0, -halfsize, 0, -halfsize - liftOffset);
-            }
-
-            // 그래픽스 상태 복원
-            g.Transform = originalTransform;
-
-            // 삼각형 화살표 그리기 (현재 이동 방향, 회전하지 않음)
             Point[] trianglePoints = new Point[3];
             var arrowSize = halfsize - 5;
+            trianglePoints[0] = new Point(0, -arrowSize); // 꼭짓점
+            trianglePoints[1] = new Point(-arrowSize, arrowSize); // 왼쪽 아래
+            trianglePoints[2] = new Point(arrowSize, arrowSize); // 오른쪽 아래
 
-            // AGV의 현재 이동 방향에 따라 삼각형 포인트 계산
+            // 삼각형 그리기
-            switch (agv.CurrentDirection)
-            {
-                case Direction.Forward:
-                    trianglePoints[0] = new Point(agv.CurrentPosition.X, agv.CurrentPosition.Y - arrowSize);
-                    trianglePoints[1] = new Point(agv.CurrentPosition.X - arrowSize, agv.CurrentPosition.Y + arrowSize);
-                    trianglePoints[2] = new Point(agv.CurrentPosition.X + arrowSize, agv.CurrentPosition.Y + arrowSize);
-                    break;
-                case Direction.Backward:
-                    trianglePoints[0] = new Point(agv.CurrentPosition.X, agv.CurrentPosition.Y + arrowSize);
-                    trianglePoints[1] = new Point(agv.CurrentPosition.X - arrowSize, agv.CurrentPosition.Y - arrowSize);
-                    trianglePoints[2] = new Point(agv.CurrentPosition.X + arrowSize, agv.CurrentPosition.Y - arrowSize);
-                    break;
-            }
-
             using (var arrowBrush = new SolidBrush(Color.FromArgb(200, Color.White)))
                 g.FillPolygon(arrowBrush, trianglePoints);
             using (var arrowPen = new Pen(Color.Black, 2))
                 g.DrawPolygon(arrowPen, trianglePoints);
 
-            //g.DrawImage(Properties.Resources.ico_navi_40, circleRect);
+            g.Restore(gState);
+        }
+
+        // 과거 이동 경로를 화살표로 표시
+        private void DrawMovementHistoryArrows(Graphics g)
+        {
+            if (agv.MovementHistory.Count < 2 || agv.PositionHistory.Count < 2)
+                return;
+
+            // 최근 3개의 이동 경로 표시 (가장 오래된 것부터)
+            int startIndex = Math.Max(0, agv.MovementHistory.Count - 3);
+
+            for (int i = startIndex; i < agv.MovementHistory.Count - 1; i++)
+            {
+                var startRFID = agv.MovementHistory[i];
+                var endRFID = agv.MovementHistory[i + 1];
+                var startPos = agv.PositionHistory[i];
+                var endPos = agv.PositionHistory[i + 1];
+
+                // 시간에 따른 투명도 계산
+                int age = agv.MovementHistory.Count - 1 - i;
+                int alpha = Math.Max(50, 255 - (age * 50));
+
+                var directConnection = rfidConnections.FirstOrDefault(c =>
+                    (c.StartRFID == startRFID.rfid && c.EndRFID == endRFID.rfid) ||
+                    (c.IsBidirectional && c.StartRFID == endRFID.rfid && c.EndRFID == startRFID.rfid));
+
+                if (directConnection != null)
+                {
+                    // 직접 연결된 경우: 실선 화살표
+                    Color arrowColor = (directConnection.StartRFID == startRFID.rfid) ? Color.Green : Color.Red;
+                    arrowColor = Color.FromArgb(alpha, arrowColor);
+                    DrawArrow(g, startPos, endPos, arrowColor, 3);
+                }
+                else
+                {
+                    // 직접 연결되지 않은 경우: 경로 탐색 후 점선 화살표 체인
+                    var pathResult = CalculatePath(startRFID.rfid, endRFID.rfid);
+                    if (pathResult.Success && pathResult.Path != null && pathResult.Path.Count > 1)
+                    {
+                        // 경로의 첫 단계 방향으로 전체 색상 결정
+                        Color arrowColor = Color.Gray;
+                        var firstStepEndPoint = pathResult.Path[1];
+                        var firstStepEndRfidPoint = rfidPoints.FirstOrDefault(p => p.Location == firstStepEndPoint);
+                        if (firstStepEndRfidPoint != null)
+                        {
+                            var firstStepConnection = rfidConnections.FirstOrDefault(c =>
+                                (c.StartRFID == startRFID.rfid && c.EndRFID == firstStepEndRfidPoint.RFIDValue) ||
+                                (c.IsBidirectional && c.StartRFID == firstStepEndRfidPoint.RFIDValue && c.EndRFID == startRFID.rfid));
+
+                            if (firstStepConnection != null)
+                            {
+                                arrowColor = (firstStepConnection.StartRFID == startRFID.rfid) ? Color.Green : Color.Red;
+                            }
+                        }
+
+                        arrowColor = Color.FromArgb(alpha, arrowColor);
+
+                        // 경로의 각 세그먼트를 점선 화살표로 그리기
+                        for (int j = 0; j < pathResult.Path.Count - 1; j++)
+                        {
+                            Point segmentStart = pathResult.Path[j];
+                            Point segmentEnd = pathResult.Path[j + 1];
+                            DrawDashedArrow(g, segmentStart, segmentEnd, arrowColor, 3);
+                        }
+                    }
+                }
+            }
+        }
+
+        // 점선 화살표 그리기 헬퍼 메서드
+        private void DrawDashedArrow(Graphics g, Point start, Point end, Color color, int width)
+        {
+            using (var pen = new Pen(color, width))
+            {
+                pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
+
+                // 선 그리기
+                g.DrawLine(pen, start, end);
+
+                // 화살표 머리 그리기 (실선으로)
+                pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Solid;
+                var arrowSize = 8;
+                var angle = Math.Atan2(end.Y - start.Y, end.X - start.X);
+                var arrowAngle = Math.PI / 6; // 30도
+
+                // 화살표 끝점에서 약간 뒤로 이동
+                var arrowStart = new PointF(
+                    end.X - (float)(arrowSize * Math.Cos(angle)),
+                    end.Y - (float)(arrowSize * Math.Sin(angle))
+                );
+
+                // 화살표 날개 그리기
+                var arrow1 = new PointF(
+                    arrowStart.X - (float)(arrowSize * Math.Cos(angle - arrowAngle)),
+                    arrowStart.Y - (float)(arrowSize * Math.Sin(angle - arrowAngle))
+                );
+                var arrow2 = new PointF(
+                    arrowStart.X - (float)(arrowSize * Math.Cos(angle + arrowAngle)),
+                    arrowStart.Y - (float)(arrowSize * Math.Sin(angle + arrowAngle))
+                );
+
+                g.DrawLine(pen, arrowStart, arrow1);
+                g.DrawLine(pen, arrowStart, arrow2);
+            }
+        }
+
+        // 실선 화살표 그리기 헬퍼 메서드
+        private void DrawArrow(Graphics g, Point start, Point end, Color color, int width)
+        {
+            using (var pen = new Pen(color, width))
+            {
+                // 선 그리기
+                g.DrawLine(pen, start, end);
+
+                // 화살표 머리 그리기
+                var arrowSize = 8;
+                var angle = Math.Atan2(end.Y - start.Y, end.X - start.X);
+                var arrowAngle = Math.PI / 6; // 30도
+
+                // 화살표 끝점에서 약간 뒤로 이동
+                var arrowStart = new PointF(
+                    end.X - (float)(arrowSize * Math.Cos(angle)),
+                    end.Y - (float)(arrowSize * Math.Sin(angle))
+                );
+
+                // 화살표 날개 그리기
+                var arrow1 = new PointF(
+                    arrowStart.X - (float)(arrowSize * Math.Cos(angle - arrowAngle)),
+                    arrowStart.Y - (float)(arrowSize * Math.Sin(angle - arrowAngle))
+                );
+                var arrow2 = new PointF(
+                    arrowStart.X - (float)(arrowSize * Math.Cos(angle + arrowAngle)),
+                    arrowStart.Y - (float)(arrowSize * Math.Sin(angle + arrowAngle))
+                );
+
+                g.DrawLine(pen, arrowStart, arrow1);
+                g.DrawLine(pen, arrowStart, arrow2);
+            }
         }
 
         private void DrawCustomLines(Graphics g)
@@ -1733,13 +1927,13 @@ namespace AGVControl
                                     var newvalue =
                                     sb.AppendLine($"rfid중복{valRfid}");
                                 }
-                                
+
                                 var rfidPoint = new RFIDPoint
                                 {
                                     Location = new Point(valX, valY),
                                     RFIDValue = valRfid
                                 };
-                                
+
                                 // 추가 속성 로드 (기본값 처리)
                                 if (rfidParts.Length >= 4)
                                 {
@@ -1755,7 +1949,7 @@ namespace AGVControl
                                     bool.TryParse(rfidParts[5], out isTerminal);
                                     rfidPoint.IsTerminal = isTerminal;
                                 }
-                             
+
                                 rfidPoints.Add(rfidPoint);
                             }
                             else sb.AppendLine($"[{section}] {line}");
@@ -2016,13 +2210,14 @@ namespace AGVControl
             return agv.CurrentDirection;
         }
 
+        public AGVActionPrediction PredictResult = null;
         // AGV 행동 예측 함수
         public AGVActionPrediction PredictNextAction()
         {
             // 1. 위치를 모를 때 (CurrentRFID가 0 또는 미설정)
             if (agv.CurrentRFID == 0)
             {
-                return new AGVActionPrediction
+                PredictResult = new AGVActionPrediction
                 {
                     Direction = Direction.Backward,
                     NextRFID = null,
@@ -2030,12 +2225,13 @@ namespace AGVControl
                     ReasonCode = AGVActionReasonCode.NoPosition,
                     MoveState = AGVMoveState.Run
                 };
+                return PredictResult;
             }
 
             // 2. 경로가 없거나 현재 위치가 경로에 없음
             if (agv.CurrentPath == null || agv.CurrentPath.Count < 2 || agv.CurrentPosition == Point.Empty)
             {
-                return new AGVActionPrediction
+                PredictResult = new AGVActionPrediction
                 {
                     Direction = agv.CurrentDirection,
                     NextRFID = null,
@@ -2043,13 +2239,14 @@ namespace AGVControl
                     ReasonCode = AGVActionReasonCode.NoPath,
                     MoveState = AGVMoveState.Stop
                 };
+                return PredictResult;
             }
 
             // 3. 경로상에서 다음 RFID 예측
             int idx = agv.CurrentPath.FindIndex(p => p == agv.CurrentPosition);
             if (idx < 0)
             {
-                return new AGVActionPrediction
+                PredictResult = new AGVActionPrediction
                 {
                     Direction = agv.CurrentDirection,
                     NextRFID = null,
@@ -2057,6 +2254,7 @@ namespace AGVControl
                     ReasonCode = AGVActionReasonCode.NotOnPath,
                     MoveState = AGVMoveState.Stop
                 };
+                return PredictResult;
             }
 
             // 4. 목적지 도달 전, 방향 미리 판단 및 회전 위치 예측
@@ -2072,7 +2270,7 @@ namespace AGVControl
                     var beforeDest = agv.CurrentPath[agv.CurrentPath.Count - 2];
                     float arriveDeltaX = destPoint.X - beforeDest.X;
                     float arriveDeltaY = destPoint.Y - beforeDest.Y;
-                    Direction arriveDir = (Math.Abs(arriveDeltaX) > Math.Abs(arriveDeltaY)) ? 
+                    Direction arriveDir = (Math.Abs(arriveDeltaX) > Math.Abs(arriveDeltaY)) ?
                         (arriveDeltaX > 0 ? Direction.Forward : Direction.Backward) :
                         (arriveDeltaY > 0 ? Direction.Forward : Direction.Backward);
                     if (arriveDir != destRFID.FixedDirection.Value)
@@ -2091,7 +2289,7 @@ namespace AGVControl
                             if (idx == lastRotatableIdx)
                             {
                                 var rfid = rfidPoints.FirstOrDefault(r => r.Location == agv.CurrentPath[lastRotatableIdx]);
-                                return new AGVActionPrediction
+                                PredictResult = new AGVActionPrediction
                                 {
                                     Direction = agv.CurrentDirection,
                                     NextRFID = rfid?.RFIDValue,
@@ -2099,6 +2297,7 @@ namespace AGVControl
                                     ReasonCode = AGVActionReasonCode.NeedTurn,
                                     MoveState = AGVMoveState.Stop
                                 };
+                                return PredictResult;
                             }
                             else if (idx < lastRotatableIdx)
                             {
@@ -2106,10 +2305,10 @@ namespace AGVControl
                                 var rfid = rfidPoints.FirstOrDefault(r => r.Location == agv.CurrentPath[lastRotatableIdx]);
                                 float moveDeltaX = agv.CurrentPath[lastRotatableIdx].X - agv.CurrentPosition.X;
                                 float moveDeltaY = agv.CurrentPath[lastRotatableIdx].Y - agv.CurrentPosition.Y;
-                                Direction moveDir = (Math.Abs(moveDeltaX) > Math.Abs(moveDeltaY)) ? 
+                                Direction moveDir = (Math.Abs(moveDeltaX) > Math.Abs(moveDeltaY)) ?
                                     (moveDeltaX > 0 ? Direction.Forward : Direction.Backward) :
                                     (moveDeltaY > 0 ? Direction.Forward : Direction.Backward);
-                                return new AGVActionPrediction
+                                PredictResult = new AGVActionPrediction
                                 {
                                     Direction = moveDir,
                                     NextRFID = rfid?.RFIDValue,
@@ -2117,10 +2316,11 @@ namespace AGVControl
                                     ReasonCode = AGVActionReasonCode.Normal,
                                     MoveState = AGVMoveState.Run
                                 };
+                                return PredictResult;
                             }
                         }
                         // 회전 가능한 위치가 없음 (STOP)
-                        return new AGVActionPrediction
+                        PredictResult = new AGVActionPrediction
                         {
                             Direction = agv.CurrentDirection,
                             NextRFID = null,
@@ -2128,6 +2328,7 @@ namespace AGVControl
                             ReasonCode = AGVActionReasonCode.NoTurnPoint,
                             MoveState = AGVMoveState.Stop
                         };
+                        return PredictResult;
                     }
                 }
             }
@@ -2135,7 +2336,7 @@ namespace AGVControl
             // 5. 목적지 도달 시(방향이 맞는 경우) (STOP)
             if (idx == agv.CurrentPath.Count - 1)
             {
-                return new AGVActionPrediction
+                PredictResult = new AGVActionPrediction
                 {
                     Direction = agv.CurrentDirection,
                     NextRFID = null,
@@ -2143,20 +2344,21 @@ namespace AGVControl
                     ReasonCode = AGVActionReasonCode.Arrived,
                     MoveState = AGVMoveState.Stop
                 };
+                return PredictResult;
             }
 
             // 6. 일반 경로 주행 (RUN)
             Point nextPoint = agv.CurrentPath[idx + 1];
             var nextRFID = rfidPoints.FirstOrDefault(r => r.Location == nextPoint)?.RFIDValue;
-            
+
             // X, Y 좌표 모두 고려한 방향 판단
             float deltaX = nextPoint.X - agv.CurrentPosition.X;
             float deltaY = nextPoint.Y - agv.CurrentPosition.Y;
-            Direction nextDir = (Math.Abs(deltaX) > Math.Abs(deltaY)) ? 
+            Direction nextDir = (Math.Abs(deltaX) > Math.Abs(deltaY)) ?
                 (deltaX > 0 ? Direction.Forward : Direction.Backward) :
                 (deltaY > 0 ? Direction.Forward : Direction.Backward);
 
-            return new AGVActionPrediction
+            PredictResult = new AGVActionPrediction
             {
                 Direction = nextDir,
                 NextRFID = nextRFID,
@@ -2164,6 +2366,7 @@ namespace AGVControl
                 ReasonCode = AGVActionReasonCode.Normal,
                 MoveState = AGVMoveState.Run
             };
+            return PredictResult;
         }
         #endregion
 

Cs_HMI/SubProject/AGVControl/Models/AGV.cs

@@ -8,7 +8,19 @@ namespace AGVControl.Models
     public enum Direction
     {
         Forward = 0,
-        Backward = 1
+        Backward = 1,
+        Stop = 2
+    }
+
+    public struct movehistorydata
+    {
+        public UInt16 rfid { get; set; }
+        public Direction direction { get; set; }
+
+        public override string ToString()
+        {
+            return $"RFID:{rfid},DIR:{direction}";
+        }
     }
 
     public class AGV
@@ -24,17 +36,18 @@ namespace AGVControl.Models
         /// <summary>
         /// 현재위치가 수산되면 목적지까지의 방향값이 계산됩니다.
         /// </summary>
-        public Direction TargetDirection { get; set; }
+        public Direction TargetDirection { get; set; } = Direction.Stop;
         public bool IsMoving { get; set; }
         public List<Point> CurrentPath { get; set; } = new List<Point>();
         public List<Point> PlannedPath { get; set; }
         public List<string> PathRFIDs { get; set; }
         public Point TargetPosition { get; set; }
         public uint TargetRFID { get; set; }
-
+        public float? BodyAngle { get; set; } = null;
+        public float MotorAngle { get; set; } = 0f;
         // 이동 경로 기록을 위한 새로운 속성들
-        public List<uint> MovementHistory { get; set; } = new List<uint>();
+        public List<movehistorydata> MovementHistory { get; } = new List<movehistorydata>();
-        public List<Point> PositionHistory { get; set; } = new List<Point>();
+        public List<Point> PositionHistory { get; } = new List<Point>();
         public const int HISTORY_SIZE = 4; // 최근 4개 위치 기록
 
         public AGV()
@@ -46,6 +59,7 @@ namespace AGVControl.Models
             TargetPosition = Point.Empty;
             TargetRFID = 0;
             TargetDirection = Direction.Forward;
+            BodyAngle = null;
         }
 
         public void Move()
@@ -58,13 +72,13 @@ namespace AGVControl.Models
         }
 
         // 이동 경로에 새로운 RFID 추가
-        public void AddToMovementHistory(uint rfidValue, Point position)
+        public void AddToMovementHistory(UInt16 rfidValue, Point position, Direction direction)
         {
             // 중복 RFID가 연속으로 들어오는 경우 무시
-            if (MovementHistory.Count > 0 && MovementHistory[MovementHistory.Count - 1] == rfidValue)
+            if (MovementHistory.Count > 0 && MovementHistory.Last().rfid == rfidValue)
                 return;
 
-            MovementHistory.Add(rfidValue);
+            MovementHistory.Add(new movehistorydata { rfid = rfidValue, direction = direction }) ;
             PositionHistory.Add(position);
 
             // 기록 크기 제한
@@ -73,6 +87,14 @@ namespace AGVControl.Models
                 MovementHistory.RemoveAt(0);
                 PositionHistory.RemoveAt(0);
             }
+
+            //최초방향과 마지막 방향이 일치하지 않으면 그 이전의 데이터는 삭제한다.
+            if(MovementHistory.Count > 2 && MovementHistory.First().direction != MovementHistory.Last().direction)
+            {
+                var lastTwo = MovementHistory.Skip(MovementHistory.Count - 2).Take(2).ToArray(); // [9, 10]
+                MovementHistory.Clear();
+                MovementHistory.AddRange(lastTwo);
+            }
         }
 
         // 연결 정보 기반 실제 이동 방향 계산
@@ -82,10 +104,10 @@ namespace AGVControl.Models
                 return null;
 
             // 이전 RFID에서 현재 RFID로의 연결 확인
-            var connection = connections.FirstOrDefault(c => 
+            var connection = connections.FirstOrDefault(c =>
                 (c.StartRFID == previousRFID && c.EndRFID == currentRFID) ||
                 (c.IsBidirectional && c.StartRFID == currentRFID && c.EndRFID == previousRFID));
-            
+
             if (connection == null)
                 return null; // 연결되지 않은 경로
 
@@ -107,23 +129,30 @@ namespace AGVControl.Models
                 return true; // 검증 불가능한 경우
 
             // 최근 두 RFID 값 가져오기
-            var recentRFIDs = MovementHistory.Skip(Math.Max(0, MovementHistory.Count - 2)).Take(2).ToList();
+            var recentRFIDs = MovementHistory.Skip( MovementHistory.Count - 2).Take(2).ToList();
             if (recentRFIDs.Count < 2)
                 return true;
 
             var previousRFID = recentRFIDs[0];
             var currentRFID = recentRFIDs[1];
 
-            var actualDirection = CalculateActualDirectionByConnection(currentRFID, previousRFID, connections);
+            var actualDirection = CalculateActualDirectionByConnection(currentRFID.rfid, previousRFID.rfid, connections);
             if (!actualDirection.HasValue)
                 return true; // 연결 정보로 방향 판단 불가
 
             // 방향이 일치하지 않는 경우
             if (actualDirection.Value != expectedDirection)
             {
-                // AGV 방향을 실제 이동 방향으로 정정
+                // AGV 모터 방향을 실제 이동 방향으로 정정
                 CurrentDirection = actualDirection.Value;
                 TargetDirection = actualDirection.Value;
+
+                // 몸체 방향도 180도 회전 (결정된 경우에만)
+                if (BodyAngle.HasValue)
+                {
+                    BodyAngle = (BodyAngle.Value + 180) % 360;
+                }
+
                 return false; // 정정됨을 알림
             }
 
@@ -145,11 +174,11 @@ namespace AGVControl.Models
             var currentRFID = recentRFIDs[1];
 
             // RFID 값의 증가/감소로 방향 판단
-            if (currentRFID > prevRFID)
+            if (currentRFID.rfid > prevRFID.rfid)
             {
                 return Direction.Forward; // RFID 값이 증가하면 전진
             }
-            else if (currentRFID < prevRFID)
+            else if (currentRFID.rfid < prevRFID.rfid)
             {
                 return Direction.Backward; // RFID 값이 감소하면 후진
             }