..

Cs_HMI/SubProject/AGVControl/AGVControl.sln

@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.2.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "agvControl", "agvControl.csproj", "{EB23DC0D-9A07-407C-762D-DF1CC8B3D822}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{EB23DC0D-9A07-407C-762D-DF1CC8B3D822}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{EB23DC0D-9A07-407C-762D-DF1CC8B3D822}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{EB23DC0D-9A07-407C-762D-DF1CC8B3D822}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{EB23DC0D-9A07-407C-762D-DF1CC8B3D822}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {586342A4-FEA6-4584-82F4-39BA06630ABB}
+	EndGlobalSection
+EndGlobal

Cs_HMI/SubProject/AGVControl/MapControl.cs

@@ -24,6 +24,7 @@ namespace AGVControl
         public bool IsBidirectional { get; set; }
         public float Distance { get; set; }
         public List<uint> IntermediateRFIDs { get; set; } = new List<uint>();
+        
 
         public override bool Equals(object obj)
         {
@@ -81,7 +82,7 @@ namespace AGVControl
         private const int SELECTION_DISTANCE = 15; // 선택 가능 거리를 늘림
         private bool isDraggingText = false;
         private Point dragOffset;
-        private List<Point> currentPath;
+       // private List<Point> currentPath;
 
 
         public MapText SelectedText => selectedText;
@@ -210,6 +211,7 @@ namespace AGVControl
 
         public RFIDPoint FindRFIDPoint(uint rfidValue)
         {
+            if (rfidPoints == null || rfidPoints.Any() == false) return null;
             return rfidPoints.FirstOrDefault(r => r.RFIDValue == rfidValue);
         }
 
@@ -220,6 +222,57 @@ namespace AGVControl
             {
                 agv.CurrentPosition = rfidPoint.Location;
                 agv.CurrentRFID = rfidValue;
+
+                // 목적지가 설정되어 있고 경로가 있는 경우 검증
+                if (agv.TargetPosition != Point.Empty && agv.CurrentPath.Count > 0)
+                {
+                    // 현재 위치가 경로에 있는지 확인
+                    bool isOnPath = agv.CurrentPath.Contains(agv.CurrentPosition);
+                    
+                    if (!isOnPath)
+                    {
+                        // 경로를 벗어났으므로 새로운 경로 계산
+                        var pathResult = CalculatePath(agv.CurrentRFID, agv.TargetRFID);
+                        if (pathResult.Success)
+                        {
+                            SetCurrentPath(pathResult.Path);
+                        }
+                    }
+
+                    // 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
+                if (agv.TargetRFID == rfidValue)
+                {
+                    var destRFID = FindRFIDPoint(rfidValue);
+                    if (destRFID != null && destRFID.FixedDirection.HasValue)
+                    {
+                        agv.TargetDirection = destRFID.FixedDirection.Value;
+                    }
+                }
+
+                this.Invalidate();
+                return true;
+            }
+            return false;
+        }
+
+        public bool SetTargetPosition(uint rfidValue)
+        {
+            var rfidPoint = FindRFIDPoint(rfidValue);
+            if (rfidPoint != null)
+            {
+                agv.TargetPosition = rfidPoint.Location;
+                agv.TargetRFID = rfidValue;
                 this.Invalidate();
                 return true;
             }
@@ -566,7 +619,7 @@ namespace AGVControl
 
             if (path.Count > 0)
             {
-                DrawPath(path);
+                SetCurrentPath(path);
             }
         }
 
@@ -605,22 +658,22 @@ namespace AGVControl
                 return retval;
             }
 
-            var path = CalculatePath(startPoint.Location, endPoint.Location);
-            if (path != null && path.Count > 0)
+            retval.Path = CalculatePath(startPoint.Location, endPoint.Location);
+            if (retval.Path != null && retval.Path.Any())
             {
-                DrawPath(path);
+                //SetCurrentPath(retval.Path);
 
-                // 경로 상의 모든 RFID 값을 가져옴
-                var rfidPath = new List<uint>();
-                foreach (var point in path)
-                {
-                    var rfid = GetRFIDPoints()
-                        .FirstOrDefault(r => r.Location == point);
-                    if (rfid != null)
-                    {
-                        rfidPath.Add(rfid.RFIDValue);
-                    }
-                }
+                //// 경로 상의 모든 RFID 값을 가져옴
+                //var rfidPath = new List<uint>();
+                //foreach (var point in path)
+                //{
+                //    var rfid = GetRFIDPoints()
+                //        .FirstOrDefault(r => r.Location == point);
+                //    if (rfid != null)
+                //    {
+                //        rfidPath.Add(rfid.RFIDValue);
+                //    }
+                //}
                 retval.Success = true;
             }
             else
@@ -683,8 +736,13 @@ namespace AGVControl
                             }
                             else
                             {
+                                SetCurrentPath(rlt.Path);   //현재 경로로 설정함
                                 MessageBox.Show($"경로가 계산되었습니다.\nRFID 순서: {string.Join(" -> ", rlt.Path)}",
                                    "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                                if (SetTargetPosition(vend) == false)
+                                {
+                                    MessageBox.Show("목적지 설정 실패");
+                                }
                             }
                             break;
                         case "pos":
@@ -700,12 +758,12 @@ namespace AGVControl
                                 od.Filter = "path data|*.route";
                                 od.FilterIndex = 0;
                                 od.RestoreDirectory = true;
-                                if(filename.isEmpty()==false)
+                                if (filename.isEmpty() == false)
                                 {
                                     od.FileName = System.IO.Path.GetFileName(filename);
                                     od.InitialDirectory = System.IO.Path.GetDirectoryName(filename);
                                 }
-                                
+
                                 if (od.ShowDialog() == DialogResult.OK)
                                 {
                                     filename = od.FileName;
@@ -734,7 +792,7 @@ namespace AGVControl
 
                                 if (od.ShowDialog() == DialogResult.OK)
                                 {
-                             
+
                                     this.LoadFromFile(filename, out string errmsg);
                                     if (errmsg.isEmpty() == false) UTIL.MsgE(errmsg);
                                     this.Invalidate();
@@ -935,20 +993,21 @@ namespace AGVControl
 
             if (e.Button == MouseButtons.Left)
             {
-                // 화면 좌표를 맵 좌표로 변환
                 var mapPoint = ScreenToMap(e.Location);
 
                 //RFID 포인트 찾기
                 var selected_rfid = rfidPoints.Where(t => t.Bounds.Expand(SELECTION_DISTANCE, SELECTION_DISTANCE).Contains(mapPoint)).FirstOrDefault();
                 if (selected_rfid != null)
                 {
-                    var rlt = AR.UTIL.InputBox("rfid value", selected_rfid.RFIDValue.ToString());
-                    if (rlt.Item1 == true)
-                    {
-                        selected_rfid.RFIDValue = uint.Parse(rlt.Item2);// dialog.InputText;
-                        ProcessRFIDConnections();
-                        this.Invalidate();
-                    }
+                    // 고정방향 순환 변경: 없음→전진→후진→없음
+                    if (!selected_rfid.FixedDirection.HasValue)
+                        selected_rfid.FixedDirection = Direction.Forward;
+                    else if (selected_rfid.FixedDirection == Direction.Forward)
+                        selected_rfid.FixedDirection = Direction.Backward;
+                    else
+                        selected_rfid.FixedDirection = null;
+
+                    this.Invalidate();
                     return;
                 }
 
@@ -959,7 +1018,7 @@ namespace AGVControl
                     var rlt = AR.UTIL.InputBox("input", selected_txt.Text);
                     if (rlt.Item1 == true)
                     {
-                        selected_txt.Text = rlt.Item2;// dialog.InputText;
+                        selected_txt.Text = rlt.Item2;
                         this.Invalidate();
                     }
                     return;
@@ -1108,9 +1167,9 @@ namespace AGVControl
             }
         }
 
-        public void DrawPath(List<Point> path)
+        public void SetCurrentPath(List<Point> path)
         {
-            currentPath = path;
+            agv.CurrentPath = path;
             this.Invalidate();
         }
 
@@ -1130,6 +1189,7 @@ namespace AGVControl
 
             DrawPath(e.Graphics);
             DrawAGV(e.Graphics);
+            DrawTargetFlag(e.Graphics);  // 목적지 깃발 그리기 추가
 
             // 선택된 개체 강조 표시
             if (selectedRFID != null)
@@ -1180,51 +1240,85 @@ namespace AGVControl
                 var MarkerSize = 5;
                 var half = MarkerSize / 2f;
                 rfid.Bounds = new RectangleF(rfid.Location.X - half, rfid.Location.Y - half, MarkerSize, MarkerSize);
-                g.FillEllipse(Brushes.Green, rfid.Bounds);
-                //g.DrawString(rfid.RFIDValue, Font, Brushes.WhiteSmoke, rfid.Location.X + 5, rfid.Location.Y - 5);
+                
+                // 회전 가능 여부에 따라 다른 색상 사용
+                using (var brush = new SolidBrush(rfid.IsRotatable ? Color.Yellow : Color.Green))
+                {
+                    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));
+                    }
+                }
             }
 
-            // RFID 포인트 그리기
+            // RFID 값 표시
             foreach (var rfid in rfidPoints)
             {
-                //g.FillEllipse(Brushes.Green, rfid.Location.X - 3, rfid.Location.Y - 3, 6, 6);
                 var tagstr = $"{rfid.RFIDValue}";
                 var fsize = g.MeasureString(tagstr, Font);
                 var rect = new RectangleF(rfid.Bounds.X - (fsize.Width / 2f) + 3,
                     rfid.Bounds.Y + 6,
                     fsize.Width,
                     fsize.Height);
-                //g.DrawRectangle(Pens.Red, rect);
                 g.DrawString(tagstr, Font, Brushes.WhiteSmoke, rect, new StringFormat
                 {
                     Alignment = StringAlignment.Center,
                     LineAlignment = StringAlignment.Center,
                 });
             }
-
         }
 
         private void DrawAGV(Graphics g)
         {
             var agvsize = 30;
             var halfsize = (int)(agvsize / 2);
-            var rect = new Rectangle(agv.CurrentPosition.X - halfsize,
-                    agv.CurrentPosition.Y - halfsize,
-                    agvsize, agvsize);
 
-            var recti = new Rectangle(rect.X + 5, rect.Y + 5, rect.Width - 10, rect.Height - 10);
+            // AGV의 현재 위치를 중심으로 하는 원
+            var circleRect = new Rectangle(
+                agv.CurrentPosition.X - halfsize,
+                agv.CurrentPosition.Y - halfsize,
+                agvsize, agvsize);
 
-            using (var sb = new SolidBrush(Color.FromArgb(150, Color.Gold)))
-                g.FillEllipse(sb, rect);
+            // 삼각형 화살표를 위한 포인트 배열
+            Point[] trianglePoints = new Point[3];
+            var arrowSize = halfsize - 5; // 삼각형 크기
 
-            using (var pen = new Pen(Color.Black))
-                g.DrawEllipse(pen, rect);
+            // AGV의 방향에 따라 삼각형 포인트 계산
+            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 sb = new SolidBrush(Color.FromArgb(150, Color.White)))
-                g.FillEllipse(sb, recti);
 
-            using (var pen = new Pen(Color.Black))
-                g.DrawEllipse(pen, recti);
+
+            // 원 그리기
+            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);
+
+            // 삼각형 화살표 그리기
+            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);
         }
 
         private void DrawCustomLines(Graphics g)
@@ -1358,7 +1452,7 @@ namespace AGVControl
 
         private void DrawPath(Graphics g)
         {
-            if (currentPath == null || currentPath.Count < 2)
+            if (agv.CurrentPath == null || agv.CurrentPath.Count < 2)
                 return;
 
             Color pathColor = Color.FromArgb(100, Color.Lime);
@@ -1367,9 +1461,9 @@ namespace AGVControl
             using (Pen pathPen = new Pen(pathColor, pathWidth))
             {
                 pathPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
-                for (int i = 0; i < currentPath.Count - 1; i++)
+                for (int i = 0; i < agv.CurrentPath.Count - 1; i++)
                 {
-                    g.DrawLine(pathPen, currentPath[i], currentPath[i + 1]);
+                    g.DrawLine(pathPen, agv.CurrentPath[i], agv.CurrentPath[i + 1]);
                 }
             }
         }
@@ -1728,5 +1822,85 @@ namespace AGVControl
                 g.DrawString(text, font, Brushes.Black, rect, format);
             }
         }
+
+        private void DrawTargetFlag(Graphics g)
+        {
+            if (agv.TargetPosition == Point.Empty) return;
+
+            // 바닥에 흰색 원 그리기
+            using (var baseBrush = new SolidBrush(Color.Red))
+            using (var basePen = new Pen(Color.Black, 1))
+            {
+                var baseSize = 8;
+                g.FillEllipse(baseBrush,
+                    agv.TargetPosition.X - baseSize / 2,
+                    agv.TargetPosition.Y - baseSize / 2,
+                    baseSize, baseSize);
+                g.DrawEllipse(basePen,
+                    agv.TargetPosition.X - baseSize / 2,
+                    agv.TargetPosition.Y - baseSize / 2,
+                    baseSize, baseSize);
+            }
+
+            // 깃대 그리기 (길이를 2/3로 줄임)
+            using (var polePen = new Pen(Color.Brown, 3))
+            {
+                var poleLength = 27; // 40 * 2/3 ≈ 27
+                g.DrawLine(polePen,
+                    agv.TargetPosition.X,
+                    agv.TargetPosition.Y,
+                    agv.TargetPosition.X,
+                    agv.TargetPosition.Y - poleLength);
+            }
+
+            // 깃발 그리기
+            Point[] flagPoints = new Point[3];
+            flagPoints[0] = new Point(agv.TargetPosition.X, agv.TargetPosition.Y - 27); // 깃대 길이에 맞춤
+            flagPoints[1] = new Point(agv.TargetPosition.X + 20, agv.TargetPosition.Y - 22);
+            flagPoints[2] = new Point(agv.TargetPosition.X, agv.TargetPosition.Y - 17);
+
+            using (var flagBrush = new SolidBrush(Color.Red))
+            using (var flagPen = new Pen(Color.DarkRed, 1))
+            {
+                g.FillPolygon(flagBrush, flagPoints);
+                g.DrawPolygon(flagPen, flagPoints);
+            }
+        }
+
+        // 회전 가능 여부 토글 함수
+        public void ToggleRotatable(uint rfidValue)
+        {
+            var rfidPoint = FindRFIDPoint(rfidValue);
+            if (rfidPoint != null)
+            {
+                rfidPoint.IsRotatable = !rfidPoint.IsRotatable;
+                this.Invalidate();
+            }
+        }
+
+        // 회전 가능 여부 확인 함수
+        public bool IsPointRotatable(uint rfidValue)
+        {
+            var rfidPoint = FindRFIDPoint(rfidValue);
+            return rfidPoint?.IsRotatable ?? false;
+        }
+
+        // 경로 계산 시 회전 가능 여부를 고려하여 방향 결정
+        private Direction DetermineDirection(Point current, Point next, Point target)
+        {
+            // 현재 위치가 회전 가능한 구간인 경우
+            var currentRFID = rfidPoints.FirstOrDefault(p => p.Location == current);
+            if (currentRFID?.IsRotatable ?? false)
+            {
+                // 목적지 방향으로 직접 방향 결정
+                if (target.X > current.X) return Direction.Forward;
+                if (target.X < current.X) return Direction.Backward;
+                if (target.Y > current.Y) return Direction.Forward;
+                if (target.Y < current.Y) return Direction.Backward;
+            }
+
+            // 회전 불가능한 구간인 경우 현재 진행 방향 유지
+            return agv.CurrentDirection;
+        }
     }
 }

Cs_HMI/SubProject/AGVControl/Models/AGV.cs

@@ -8,11 +8,22 @@ namespace AGVControl.Models
     {
         public Point CurrentPosition { get; set; }
         public uint CurrentRFID { get; set; }
+        public float BatteryLevel { get; set; } = 0f;
+        /// <summary>
+        /// AGV에서 방향값이 수산됩니다.
+        /// </summary>
         public Direction CurrentDirection { get; set; }
+
+        /// <summary>
+        /// 현재위치가 수산되면 목적지까지의 방향값이 계산됩니다.
+        /// </summary>
+        public Direction TargetDirection { get; set; }
         public bool IsMoving { get; set; }
         public List<Point> CurrentPath { get; set; }
         public List<Point> PlannedPath { get; set; }
         public List<string> PathRFIDs { get; set; }
+        public Point TargetPosition { get; set; }
+        public uint TargetRFID { get; set; }
 
         public AGV()
         {
@@ -20,6 +31,9 @@ namespace AGVControl.Models
             PlannedPath = new List<Point>();
             PathRFIDs = new List<string>();
             CurrentDirection = Direction.Forward;
+            TargetPosition = Point.Empty;
+            TargetRFID = 0;
+            TargetDirection = Direction.Forward;
         }
 
         public void Move()
@@ -31,16 +45,6 @@ namespace AGVControl.Models
             }
         }
 
-        public void SetNewPath(List<Point> path)
-        {
-            CurrentPath = new List<Point>(path);
-        }
-
-        public void ClearPlannedPath()
-        {
-            PlannedPath.Clear();
-            PathRFIDs.Clear();
-        }
     }
 
     public enum Direction

Cs_HMI/SubProject/AGVControl/Models/RFIDPoint.cs

@@ -1,6 +1,6 @@
 using System.Drawing;
 using System;
-using System.Collections.Generic;
+using System.Collections.Generic;
 namespace AGVControl.Models
 {
     public class RFIDPoint
@@ -9,6 +9,15 @@ namespace AGVControl.Models
         public uint RFIDValue { get; set; }
         public string NextRFID { get; set; }  // 다음 RFID 포인트의 값
         public bool IsBidirectional { get; set; }  // 양방향 연결 여부
+        public bool IsRotatable { get; set; }  // 회전 가능 여부
+        public Direction? FixedDirection { get; set; }  // 고정 방향(없으면 null)
         public RectangleF Bounds { get; set; }
+
+        public RFIDPoint()
+        {
+            IsRotatable = false;  // 기본값은 회전 불가능
+            IsBidirectional = true;  // 기본값은 양방향
+            FixedDirection = null;
+        }
     }
 }

Cs_HMI/SubProject/AGVControl/Properties/Resources.Designer.cs

@@ -0,0 +1,73 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     이 코드는 도구를 사용하여 생성되었습니다.
+//     런타임 버전:4.0.30319.42000
+//
+//     파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
+//     이러한 변경 내용이 손실됩니다.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace AGVControl.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   지역화된 문자열 등을 찾기 위한 강력한 형식의 리소스 클래스입니다.
+    /// </summary>
+    // 이 클래스는 ResGen 또는 Visual Studio와 같은 도구를 통해 StronglyTypedResourceBuilder
+    // 클래스에서 자동으로 생성되었습니다.
+    // 멤버를 추가하거나 제거하려면 .ResX 파일을 편집한 다음 /str 옵션을 사용하여 ResGen을
+    // 다시 실행하거나 VS 프로젝트를 다시 빌드하십시오.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   이 클래스에서 사용하는 캐시된 ResourceManager 인스턴스를 반환합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AGVControl.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대해 현재 스레드의 CurrentUICulture 속성을
+        ///   재정의합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+        
+        /// <summary>
+        ///   System.Drawing.Bitmap 형식의 지역화된 리소스를 찾습니다.
+        /// </summary>
+        internal static System.Drawing.Bitmap ico_navi_40 {
+            get {
+                object obj = ResourceManager.GetObject("ico_navi_40", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+    }
+}

Cs_HMI/SubProject/AGVControl/Properties/Resources.resx

@@ -0,0 +1,124 @@
+<?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 
+    that is mostly human readable. The generation and parsing of the 
+    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>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <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 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    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 
+    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 
+            : 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 
+            : 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 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="ico_navi_40" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\ico_navi_40.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+</root>

Cs_HMI/SubProject/AGVControl/agvControl.csproj

@@ -77,6 +77,11 @@
       <DependentUpon>MyRadioButton.cs</DependentUpon>
     </Compile>
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DesignTime>True</DesignTime>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
     <Compile Include="RoundButton.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -94,6 +99,10 @@
     <EmbeddedResource Include="MapControl.resx">
       <DependentUpon>MapControl.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\CommUtil\arCommUtil.csproj">
@@ -101,5 +110,8 @@
       <Name>arCommUtil</Name>
     </ProjectReference>
   </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\ico_navi_40.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>