시뮬레이터에서 맵 로드시에 맵에 배경색이 있다면 적용 하게 함

Xbee Open 시에 return값 변경 return true -> return isopen
LogFlushAll 함수추가 (_step_close 에서 사용)

Cs_HMI/Project/Device/Xbee.cs

@@ -75,7 +75,7 @@ namespace Project.Device
             try
             {
                 base.Open();
-                return true;
+                return IsOpen;
             }
             catch (Exception ex)
             {

Cs_HMI/Project/Device/_DeviceManagement.cs

@@ -50,6 +50,7 @@ namespace Project
 
         /// <summary>
         /// 장치 관리 태스크 종료
+        /// File : /device/_DeviceManagement.cs
         /// </summary>
         public void StopDeviceManagementTask()
         {
@@ -173,7 +174,6 @@ namespace Project
                     break;
                 }
             }
-
             PUB.log.Add("DeviceManagementWorker", "종료");
         }
 

Cs_HMI/Project/PUB.cs

@@ -150,6 +150,7 @@ namespace Project
         public static AR.Log log, logagv, logplc, logbms, logxbee;
 
         public static Boolean bPlayMusic = false;
+    
 
         /// <summary>
         /// 사용자 인풋 감지 시간
@@ -630,6 +631,18 @@ namespace Project
             return false;
         }
 
+        /// <summary>
+        /// 모든 로그를 플러시 합니다.
+        /// </summary>
+        public static void LogFlush()
+        {
+            PUB.log.Flush();
+            PUB.logagv.Flush();
+            PUB.logplc.Flush();
+            PUB.logbms.Flush();
+            PUB.logxbee.Flush();
+        }
+
         /// <summary>
         /// AGV 방향 업데이트
         /// </summary>

Cs_HMI/Project/StateMachine/Step/_STEP_CLOSE.cs

@@ -11,28 +11,21 @@ namespace Project
     {
         /// <summary>
         /// 프로그램을 닫을때 1회 실행되는 함수
+        /// File : /Step/_Step_Close.cs
         /// </summary>
         private void _STEP_CLOSING_START(eSMStep step)
         {
             PUB.bShutdown = true;
-            //if (PUB.PLC != null) PUB.PLC.Dispose();
-
+            
             // 장치 관리 태스크 종료
             StopDeviceManagementTask();
 
             PUB.AddEEDB("프로그램 종료");
             PUB.log.Add("Program Close");
-            PUB.log.Flush();
-            PUB.logagv.Flush();
-            PUB.logplc.Flush();
-            PUB.logbms.Flush();
-            PUB.logxbee.Flush();
-          //  PUB.sm.Stop();
-
+            PUB.LogFlush();
         }
         public StepResult _STEP_CLOSING(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
         {
-         
             //############################
             //####     사용자 전용 코드
             //############################

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -221,8 +221,8 @@ namespace Project
                             {
                                 //모터방향 확인해서 UI와 AGV클래스에 적용한다
                                 var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward;
-                                PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
                                 PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, CurrentNode, MotDireciton);
+                                PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
                             }
 
                             //태그를 읽었다면 상태를 바로 전송한다

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -53,9 +53,13 @@ namespace Project
                                 PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
                                 PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
                                 return;
+                            }else
+                            {
+                                PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.NodeId}");
                             }
 
                             PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
+                            PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
                         }
                         else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
                         break;

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -119,7 +119,7 @@ namespace Project.ViewForm
                         var startNode = PUB._mapNodes.FirstOrDefault(n => n.IsNavigationNode());
                         if (startNode != null)
                         {
-                            PUB._virtualAGV = new VirtualAGV("AGV-01", startNode.Position, AgvDirection.Forward);
+                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
                             PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
 
                             // 캔버스에 AGV 리스트 설정