파일정리

2026-01-29 14:03:17 +09:00
parent 00cc0ef5b7
commit 58ca67150d
440 changed files with 47236 additions and 99165 deletions
--- a/AGVLogic/EnigProtocol/enigprotocol/.gitignore
+++ b/AGVLogic/EnigProtocol/enigprotocol/.gitignore
@@ -0,0 +1,8 @@
+################################################################################
+# 이 .gitignore 파일은 Microsoft(R) Visual Studio에서 자동으로 만들어졌습니다.
+################################################################################
+
+/obj
+/bin
+/.vs
+/.git
--- a/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
@@ -0,0 +1,111 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace ENIGProtocol
+{
+    /// <summary>
+    /// host -> eq
+    /// </summary>
+    public enum AGVCommandHE : byte
+    {
+        Goto = 100,
+        Stop = 101,
+        Reset = 102,
+        SetCurrent = 103,
+        Manual = 104,
+        MarkStop = 105,
+        LiftControl = 106,
+        GotoAlias = 107,
+        AutoMove = 108,
+        ChargeControl = 109,
+        Charger = 112,
+        LTurn = 113,
+        RTurn = 114,
+        LTurn180 = 115,
+        RTurn180 = 116,
+        PickOnEnter = 117,
+        PickOffEnter = 118,
+        PickOnExit = 119,
+        PickOffExit = 120,
+    }
+
+    /// <summary>
+    /// eq -> host
+    /// </summary>
+    public enum AGVCommandEH : byte
+    {
+        Error = 1,
+        Arrived = 2,
+        ReadRFID = 3,
+        Status = 9,
+    }
+
+    public enum AGVErrorCode : byte
+    {
+        None = 0,
+        PredictFix,
+        TurnTimeout,
+        TurnError,
+        EmptyNode,
+        Goto,
+        ManualMode,
+        UnknownCommand,
+        UnknownAlias,
+
+        // Operational Errors
+        CART_EXIST,
+        MARK_TIMEOUT,
+        MARK_SENSOR_FAIL,
+        LIFT_ERROR,
+        AGV_SPEED_SET_FAIL,
+        AGV_RUN_FAIL,
+        AGV_STOP_FAIL,
+        PATH_INTEGRITY_FAIL,
+        TURN_FAIL,
+        NO_CHARGEPOINT,
+        NOTSET_CHARGEPOINT,
+        ALREADY_CHARGE,
+        CHARGE_RETRY_OVER,
+    }
+
+    public static class AGVUtility
+    {
+        /// <summary>
+        /// 에러코드에 해당하는 오류메세지를 반환 합니다
+        /// </summary>
+        /// <param name="ecode"></param>
+        /// <returns></returns>
+        public static string GetAGVErrorMessage(AGVErrorCode ecode)
+        {
+            switch (ecode)
+            {
+                case AGVErrorCode.None: return "No Error";
+                case AGVErrorCode.PredictFix: return "이동 예측이 동작하지 않습니다";
+                case AGVErrorCode.TurnTimeout: return "회전작업 시간초과";
+                case AGVErrorCode.TurnError: return "회전작업이 완료되지 않았습니다";
+                case AGVErrorCode.EmptyNode: return "노드정보를 찾을 수 없습니다";
+                case AGVErrorCode.Goto: return "이동 명령 오류";
+                case AGVErrorCode.ManualMode: return "자동운전 상태가 아닙니다";
+                case AGVErrorCode.UnknownCommand: return "알수 없는 명령입니다";
+                case AGVErrorCode.UnknownAlias: return "알수 없는 별칭 입니다";
+
+                case AGVErrorCode.CART_EXIST: return "카트 감지 센서 오류";
+                case AGVErrorCode.MARK_TIMEOUT: return "마크 정지 신호 시간초과";
+                case AGVErrorCode.MARK_SENSOR_FAIL: return "마크 센서 미감지";
+                case AGVErrorCode.LIFT_ERROR: return "리프트 동작 오류";
+                case AGVErrorCode.AGV_SPEED_SET_FAIL: return "AGV 속도 설정 실패";
+                case AGVErrorCode.AGV_RUN_FAIL: return "AGV 구동 실패";
+                case AGVErrorCode.AGV_STOP_FAIL: return "AGV 정지 실패";
+                case AGVErrorCode.PATH_INTEGRITY_FAIL: return "경로 무결성 검증 실패";
+                case AGVErrorCode.TURN_FAIL: return "턴 동작 실패";
+                case AGVErrorCode.NO_CHARGEPOINT: return "충전 위치 아님";
+                case AGVErrorCode.NOTSET_CHARGEPOINT: return "충전기 노드 미설정";
+                case AGVErrorCode.ALREADY_CHARGE: return "이미 충전 중 상태임";
+                case AGVErrorCode.CHARGE_RETRY_OVER: return $"충전명령 재전송 횟수 초과";
+                default: return ecode.ToString();
+            }
+        }
+    }
+
+}
--- a/AGVLogic/EnigProtocol/enigprotocol/EEProtocol.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/EEProtocol.cs
@@ -0,0 +1,235 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ENIG
+{
+    // 장비 타입 정의
+    public enum DeviceType
+    {
+        ACS = 0,
+        AGV1 = 10,
+        AGV2 = 11,
+        BUFFER1 = 20,
+        BUFFER2 = 21,
+        BUFFER3 = 22,
+        BUFFER4 = 23,
+        BUFFER5 = 24,
+        DOOR = 30,
+    }
+
+    public partial class EEProtocol
+    {
+        // 패킷 수신 이벤트 정의
+        // 데이터 수신 이벤트 정의
+        public event EventHandler<DataEventArgs> OnDataReceived;
+        public event EventHandler<MessageEventArgs> OnMessage;
+
+        // CRC16 계산을 위한 테이블
+        private static readonly ushort[] CRC16_TABLE = new ushort[256];
+
+        // CRC16 테이블 초기화
+        public EEProtocol()
+        {
+            const ushort polynomial = 0x7979;
+            for (ushort i = 0; i < CRC16_TABLE.Length; i++)
+            {
+                ushort value = 0;
+                ushort temp = i;
+                for (byte j = 0; j < 8; j++)
+                {
+                    if (((value ^ temp) & 0x0001) != 0)
+                    {
+                        value = (ushort)((value >> 1) ^ polynomial);
+                    }
+                    else
+                    {
+                        value >>= 1;
+                    }
+                    temp >>= 1;
+                }
+                CRC16_TABLE[i] = value;
+            }
+
+            //// CRC 테이블 출력
+            //Console.WriteLine("CRC16 테이블 값:");
+            //for (int i = 0; i < CRC16_TABLE.Length; i++)
+            //{
+            //    if (i % 8 == 0)
+            //    {
+            //        Console.WriteLine();
+            //    }
+            //    Console.Write($"0x{CRC16_TABLE[i]:X4}, ");
+            //}
+            //Console.WriteLine();
+
+
+        }
+
+        // CRC16 계산 메서드
+        public ushort CalculateCRC16(byte[] data)
+        {
+            ushort crc = 0xFFFF;
+            for (int i = 0; i < data.Length; i++)
+            {
+                byte index = (byte)(crc ^ data[i]);
+                crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]);
+            }
+            return crc;
+        }
+
+        // 패킷 생성 메서드
+        public byte[] CreatePacket(byte id, byte command, byte[] data)
+        {
+            var packet = new Packet
+            {
+                ID = id,
+                Command = command,
+                Data = data ?? new byte[0],
+                Length = (byte)(1 + 1 + (data?.Length ?? 0)) // ID + Command + Data 길이
+            };
+
+            // 패킷 조립
+            List<byte> packetData = new List<byte>();
+            packetData.Add(Packet.STX);
+            packetData.Add(packet.Length);
+            packetData.Add(packet.ID);
+            packetData.Add(packet.Command);
+            if (packet.Data != null)
+                packetData.AddRange(packet.Data);
+
+            // CRC16 계산
+            packet.CRC16 = CalculateCRC16(packetData.Skip(1).ToArray()); // STX 제외하고 계산
+            packetData.AddRange(BitConverter.GetBytes(packet.CRC16));
+            packetData.Add(Packet.ETX);
+
+            return packetData.ToArray();
+        }
+
+        //패킷테스트
+        public void PacketTest(byte[] rawData)
+        {
+            var hexstr = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+            RaiseMessage( $"TestPacket : {hexstr}");
+            ParsePacket(rawData);
+        }
+
+        //메세지 발생
+        public void RaiseMessage(string message, bool isError = false)
+        {
+            OnMessage?.Invoke(this, new MessageEventArgs { IsError = isError, Message = message });
+        }
+
+        // 패킷 파싱 메서드
+        public bool ParsePacket(byte[] rawData)
+        {
+            try
+            {
+                if (rawData.Length < 7) // 최소 패킷 크기
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"Too Short Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                if (rawData[0] != Packet.STX || rawData[rawData.Length - 1] != Packet.ETX)
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"STX/ETX Error Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                byte length = rawData[1];
+                if (length + 5 != rawData.Length) // STX + Length + CRC16(2) + ETX = 5
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"Length Error ({length+5} != {rawData.Length}) Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                // CRC16 검증
+                byte[] dataForCrc = rawData.Skip(1).Take(length + 1).ToArray();
+                ushort calculatedCrc = CalculateCRC16(dataForCrc);
+                ushort receivedCrc = BitConverter.ToUInt16(rawData, rawData.Length - 3);
+
+                if (receivedCrc != 0xFFFF && calculatedCrc != receivedCrc)    //FF 무시
+                {
+                    RaiseMessage($"CRC Error ID:{rawData[2]:X2},CMD:{rawData[3]:X2}", true);
+                    return false;
+                }
+                    
+
+                // 패킷 생성
+                var packet = new Packet
+                {
+                    Length = length,
+                    ID = rawData[2],
+                    Command = rawData[3],
+                    Data = rawData.Skip(4).Take(length - 2).ToArray(), // ID와 Command 길이(2) 제외
+                    CRC16 = receivedCrc,
+                    RawData = rawData,
+                };
+
+                // 이벤트 발생
+                OnDataReceived?.Invoke(this, new DataEventArgs { ReceivedPacket = packet });
+                return true;
+            }
+            catch(Exception ex)
+            {
+                RaiseMessage(ex.Message, true);
+                return false;
+            }
+        }
+
+        // 데이터 수신 처리 메서드 (시리얼 포트에서 데이터를 받았을 때 호출)
+        private List<byte> buffer = new List<byte>();
+        private int ProtocolParseError = 0;
+        public void ProcessReceivedData(byte[] data)
+        {
+            buffer.AddRange(data);
+
+            while (buffer.Count > 0)
+            {
+                // STX 찾기
+                int stxIndex = buffer.FindIndex(b => b == Packet.STX);
+                if (stxIndex == -1)
+                {
+                    buffer.Clear();
+                    break;
+                }
+
+                // 불필요한 데이터 제거
+                if (stxIndex > 0)
+                    buffer.RemoveRange(0, stxIndex);
+
+                // 패킷 길이 확인을 위한 최소 데이터 확인
+                if (buffer.Count < 2)
+                    break;
+
+                int expectedLength = buffer[1] + 5; // 전체 패킷 길이
+                if (buffer.Count < expectedLength)
+                    break;
+
+                // 패킷 추출 및 처리
+                byte[] packetData = buffer.Take(expectedLength).ToArray();
+                buffer.RemoveRange(0, expectedLength);
+
+                var parseOK = ParsePacket(packetData);
+                if(parseOK==false)  //분석이 실패되었다면 해당 데이터는 삭제한다.
+                {
+                    ProtocolParseError += 1;
+                    if (ProtocolParseError > 3) buffer.Clear();
+                } else ProtocolParseError = 0;
+
+                if(buffer.Any())
+                {
+                    System.Threading.Thread.Sleep(1);
+                }
+            }
+        }
+    }
+}
--- a/AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj
+++ b/AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{9365803B-933D-4237-93C7-B502C855A71C}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>enigprotocol</RootNamespace>
+    <AssemblyName>enigprotocol</AssemblyName>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Commands.cs" />
+    <Compile Include="EEProtocol.cs" />
+    <Compile Include="EventArgs.cs" />
+    <Compile Include="Packet.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include=".gitignore" />
+    <None Include="ReadMe.MD" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
--- a/AGVLogic/EnigProtocol/enigprotocol/EventArgs.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/EventArgs.cs
@@ -0,0 +1,18 @@
+using System;
+
+namespace ENIG
+{
+
+    public partial class EEProtocol
+    {
+        public class MessageEventArgs : EventArgs
+        {
+            public string Message { get; set; }
+            public bool IsError { get; set; }
+        }
+        public class DataEventArgs : EventArgs
+        {
+            public Packet ReceivedPacket { get; set; }
+        }
+    }
+}
--- a/AGVLogic/EnigProtocol/enigprotocol/Packet.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/Packet.cs
@@ -0,0 +1,20 @@
+namespace ENIG
+{
+    // 패킷 구조체
+    public class Packet
+    {
+        public const byte STX = 0x02;
+        public const byte ETX = 0x03;
+        public byte Length { get; set; }
+        public byte ID { get; set; }
+        public byte Command { get; set; }
+        public byte[] Data { get; set; }
+        public ushort CRC16 { get; set; }
+
+        public byte[] RawData { get; set; }
+        public Packet()
+        {
+            Data = new byte[0];
+        }
+    }
+}
--- a/AGVLogic/EnigProtocol/enigprotocol/Properties/AssemblyInfo.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
+// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
+// 이러한 특성 값을 변경하세요.
+[assembly: AssemblyTitle("enigprotocol")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("enigprotocol")]
+[assembly: AssemblyCopyright("Copyright ©  2025")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
+// 표시되지 않습니다. COM에서 이 어셈블리의 형식에 액세스하려면
+// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+[assembly: ComVisible(false)]
+
+// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
+[assembly: Guid("9365803b-933d-4237-93c7-b502c855a71c")]
+
+// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+//
+//      주 버전
+//      부 버전 
+//      빌드 번호
+//      수정 버전
+//
+// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호를
+// 기본값으로 할 수 있습니다.
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
--- a/AGVLogic/EnigProtocol/enigprotocol/ReadMe.MD
+++ b/AGVLogic/EnigProtocol/enigprotocol/ReadMe.MD
@@ -0,0 +1,236 @@
+# ENIG Protocol
+
+ENIG 프로토콜 통신 라이브러리
+
+**Explanation of the README Content:**
+
+1.  **Title and Overview:** Clearly states the purpose of the library.
+2.  **Key Components:** Explains the main building blocks:
+    *   `DeviceType` enum: Lists the device types.
+    *   `Packet` class: Describes the packet structure.
+    *   `EEProtocol` class: Explains its role in packet handling.
+3.  **Key Features:** Details the core functionalities of the `EEProtocol` class:
+    *   Packet creation.
+    *   Packet parsing.
+    *   Data reception.
+    *   Event-driven nature.
+    *   CRC16 calculation.
+4.  **Usage:** Provides code examples for:
+    *   Creating a packet.
+    *   Parsing a packet.
+    *   Processing received data.
+5.  **Error Handling:** Explains how the library handles invalid data and incomplete packets.
+6.  **Dependencies:** Lists any required frameworks or libraries.
+7.  **License:** Placeholder for the project's license.
+
+This README provides a comprehensive overview of the `ENIGProtocol` library, making it easy for other developers to understand and use it. I hope this is helpful!
+
+
+## 개발 환경
+- Frameworks : .NET Standard 2.0
+- Visual Studio 2022 또는 Visual Studio Code
+
+## 프로젝트 구조
+
+- `EEProtocol.cs`: ENIG 프로토콜 구현
+- `EEProtocolTests.cs`: 단위 테스트 코드
+- `Sample`: C# Winform 샘플 프로젝트
+
+### Xbee Setting value
+
+- **NARMI 70 : AGV No 70
+- **NARMI 70 (LIFT) : P46A6,C17,DH:0,DL:FFFF,MY40
+- **NARMI 70 (AGV) : P46A6,C17,DH:0,DL:FFFF,MY41
+
+- **NARMI 77 : AGV No 71
+- **NARMI 71 (LIFT) : P46A6,C17,DH:0,DL:FFFF,MY30
+- **NARMI 71 (AGV) : P46A6,C17,DH:0,DL:FFFF,MY31
+
+- **충전기04 : P46A6,C17,DH:0,DL:FFFF,MY41
+- **충전기71 : P46A6,C17,DH:0,DL:FFFF,MY46
+
+- **ACS : P46A5,C17,DH:0,DL:FFFF,MY10
+
+- **BUFFER  : P46A5,C17,DH:0,DL:FFFF,MY60~65
+
+- **AGV1 : P46A5,C17,DH:0,DL:FFFF,MY50
+- **AGV2 : P46A5,C17,DH:0,DL:FFFF,MY51
+
+- **DOOR : P46A5,C17,DH:0,DL:FFFF,MY30
+
+
+## 장비 목록
+```
+public enum DeviceType : byte
+{
+    ACS = 0,
+    AGV1 = 10+1,
+    AGV2 = 10+2,
+    BUFFER1 = 20+1,
+    BUFFER2 = 20+2,
+    BUFFER3 = 20+3,
+    BUFFER4 = 20+4,
+    BUFFER5 = 20+5,
+    DOOR = 30,
+}
+```
+### 기본 패킷 구조
+```
+[STX][LEN][ID][CMD][DATA][CRC16][ETX]
+```
+- **STX (Start of Text)**: 0x02
+- **LEN (Length)**: 데이터 길이 (1바이트) = {ID+CMD+DATA}
+- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType)
+- **CMD (Command)**: 명령어 코드 (1바이트)
+- **DATA**: 명령어에 따른 데이터 (가변 길이)
+- **CRC16**: 데이터 무결성 검사 (2바이트)
+- **ETX (End of Text)**: 0x03
+
+### 통신 방향 (호스트=ACS, 장비=agv,buffer,door)
+- H -> E: 호스트에서 장비로 전송 
+- E -> H: 장비에서 호스트로 전송
+
+### 명령어 목록
+1. **ACS (AGV Control System)**
+   
+
+2. **Buffer**
+   - E -> H | cmd('S'): 상태 (............) BIT & 1BYTE 0:CART1, 1:CART2, 2:BASKET1, 3:BASKET2, 4:OPEN, 5:CLOSE 
+   - H -> E | cmd('L'): Lock
+   -          Target[1] = {DeviceType}
+   - H -> E | cmd('U'): UnLock
+   -          Target[1] = {DeviceType}
+
+3. **AGV**
+   - H -> E | Move :  cmd(100) : 대상태그까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+   - H -> E | Move :  cmd(107) : 대상별칭까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          AliasName[n] = "....."
+   - H -> E | Stop : cmd(101) : 멈춤
+   - H -> E | Reset : cmd(102) : 오류 소거
+   - H -> E | Charge On: cmd(103) : 충전실행(충전기 이동 후 자동 충전 진행)
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=Charge Off, 1=Charge On   
+   - H -> E | MoveManual : cmd(104) : 메뉴얼이동
+   -          Target[1] = {DeviceType}
+   -          Direction[1] : 0=Backward, 1=Forward, 2=TurnLeft, 3=TurnRight
+   -          Speed[1] : 0=Slow, 1=Normal, 2=Fast
+   -          Runtime[1] : 0 second
+   - H -> E | MarkStop : cmd(105) : 마크센서스톱   
+   -          Target[1] = {DeviceType}
+   
+   - H -> E | Lift Control : cmd(106) : 리프트제어
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=STOP, 1=UP, 2=DOWN
+
+   - E -> H | Move Complete : cmd(1)  : 목적지이동완료 후 전송
+   -           TagID[4] : "0000" 
+   - E -> H | TagID Received : cmd(2) : 태그값 인식시 전송
+   -           TagID[4] : "0000"
+   
+   - E -> H |  Status : cmd(3)  - 총 12바이트
+   -           Mode[1] : 0=manual, 1=auto
+   -           RunSt[1] : 0=stop, 1=run, 2=error
+               MotDirection[1] : 0:Forward, 1:Backward, 0xFF:unknown
+   -           MagDiection[1] : 0=straight, 1=left, 2=right  , 0xFF:unknown
+   -           Inposition[1] : 0=off, 1=on : 목적위치에 도달완료 시 설정 이동 이동시 OFF됨
+   -           ChargeSt[1] : 0=off, 1=on
+   -           CartSt[1] : 0=off, 1=on, 2=unknown
+   -           LiftSt[1] : 0=down , 1=up, 2=unknown
+   -           LastTag[4] : "0000" (ASCII 4바이트)
+
+4. **Door**
+   - H -> E | cmd(1): 출입문 열기
+   - H -> E | cmd(2): 출입문 닫기
+   - E -> H | cmd(3): 출입문 상태 (data len=1  : 0=닫힘, 1=열림,  2=바쁨, 3=알수없음, 255=오류)
+
+### CRC16 계산
+- CRC16 다항식 사용
+- 초기값: 0xFFFF
+- 데이터 무결성 검증에 사용
+
+
+#### CRC-16 테이블 값
+```
+0x0000, 0x408E, 0x73EF, 0x3361, 0x152D, 0x55A3, 0x66C2, 0x264C, 
+0x2A5A, 0x6AD4, 0x59B5, 0x193B, 0x3F77, 0x7FF9, 0x4C98, 0x0C16, 
+0x54B4, 0x143A, 0x275B, 0x67D5, 0x4199, 0x0117, 0x3276, 0x72F8, 
+0x7EEE, 0x3E60, 0x0D01, 0x4D8F, 0x6BC3, 0x2B4D, 0x182C, 0x58A2, 
+0x5B9B, 0x1B15, 0x2874, 0x68FA, 0x4EB6, 0x0E38, 0x3D59, 0x7DD7, 
+0x71C1, 0x314F, 0x022E, 0x42A0, 0x64EC, 0x2462, 0x1703, 0x578D, 
+0x0F2F, 0x4FA1, 0x7CC0, 0x3C4E, 0x1A02, 0x5A8C, 0x69ED, 0x2963, 
+0x2575, 0x65FB, 0x569A, 0x1614, 0x3058, 0x70D6, 0x43B7, 0x0339, 
+0x45C5, 0x054B, 0x362A, 0x76A4, 0x50E8, 0x1066, 0x2307, 0x6389, 
+0x6F9F, 0x2F11, 0x1C70, 0x5CFE, 0x7AB2, 0x3A3C, 0x095D, 0x49D3, 
+0x1171, 0x51FF, 0x629E, 0x2210, 0x045C, 0x44D2, 0x77B3, 0x373D, 
+0x3B2B, 0x7BA5, 0x48C4, 0x084A, 0x2E06, 0x6E88, 0x5DE9, 0x1D67, 
+0x1E5E, 0x5ED0, 0x6DB1, 0x2D3F, 0x0B73, 0x4BFD, 0x789C, 0x3812, 
+0x3404, 0x748A, 0x47EB, 0x0765, 0x2129, 0x61A7, 0x52C6, 0x1248, 
+0x4AEA, 0x0A64, 0x3905, 0x798B, 0x5FC7, 0x1F49, 0x2C28, 0x6CA6, 
+0x60B0, 0x203E, 0x135F, 0x53D1, 0x759D, 0x3513, 0x0672, 0x46FC, 
+0x7979, 0x39F7, 0x0A96, 0x4A18, 0x6C54, 0x2CDA, 0x1FBB, 0x5F35, 
+0x5323, 0x13AD, 0x20CC, 0x6042, 0x460E, 0x0680, 0x35E1, 0x756F, 
+0x2DCD, 0x6D43, 0x5E22, 0x1EAC, 0x38E0, 0x786E, 0x4B0F, 0x0B81, 
+0x0797, 0x4719, 0x7478, 0x34F6, 0x12BA, 0x5234, 0x6155, 0x21DB, 
+0x22E2, 0x626C, 0x510D, 0x1183, 0x37CF, 0x7741, 0x4420, 0x04AE, 
+0x08B8, 0x4836, 0x7B57, 0x3BD9, 0x1D95, 0x5D1B, 0x6E7A, 0x2EF4, 
+0x7656, 0x36D8, 0x05B9, 0x4537, 0x637B, 0x23F5, 0x1094, 0x501A, 
+0x5C0C, 0x1C82, 0x2FE3, 0x6F6D, 0x4921, 0x09AF, 0x3ACE, 0x7A40, 
+0x3CBC, 0x7C32, 0x4F53, 0x0FDD, 0x2991, 0x691F, 0x5A7E, 0x1AF0, 
+0x16E6, 0x5668, 0x6509, 0x2587, 0x03CB, 0x4345, 0x7024, 0x30AA, 
+0x6808, 0x2886, 0x1BE7, 0x5B69, 0x7D25, 0x3DAB, 0x0ECA, 0x4E44, 
+0x4252, 0x02DC, 0x31BD, 0x7133, 0x577F, 0x17F1, 0x2490, 0x641E, 
+0x6727, 0x27A9, 0x14C8, 0x5446, 0x720A, 0x3284, 0x01E5, 0x416B, 
+0x4D7D, 0x0DF3, 0x3E92, 0x7E1C, 0x5850, 0x18DE, 0x2BBF, 0x6B31, 
+0x3393, 0x731D, 0x407C, 0x00F2, 0x26BE, 0x6630, 0x5551, 0x15DF, 
+0x19C9, 0x5947, 0x6A26, 0x2AA8, 0x0CE4, 0x4C6A, 0x7F0B, 0x3F85, 
+```
+
+
+#### CRC16 계산 테이블 생성 코드
+```csharp
+const ushort polynomial = 0x7979;
+ushort[] CRC16_TABLE = new ushort[256];
+
+for (ushort i = 0; i < CRC16_TABLE.Length; i++)
+{
+    ushort value = 0;
+    ushort temp = i;
+    for (byte j = 0; j < 8; j++)
+    {
+        if (((value ^ temp) & 0x0001) != 0)
+        {
+            value = (ushort)((value >> 1) ^ polynomial);
+        }
+        else
+        {
+            value >>= 1;
+        }
+        temp >>= 1;
+    }
+    CRC16_TABLE[i] = value;
+}
+```
+
+#### CRC16 계산 예시
+```csharp
+ushort CalculateCRC16(byte[] data)
+{
+    ushort crc = 0xFFFF;
+    for (int i = 0; i < data.Length; i++)
+    {
+        byte index = (byte)(crc ^ data[i]);
+        crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]);
+    }
+    return crc;
+}
+```
+
+## 라이센스
+
+
+
+
+