파일정리

AGVEmulator/AGVEmulator.csproj

@@ -38,14 +38,12 @@
     <ApplicationIcon>icons8-robot-80.ico</ApplicationIcon>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="arCommUtil, Version=25.11.25.2000, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\DLL\arCommUtil.dll</HintPath>
+    </Reference>
     <Reference Include="arControl.Net4">
-      <HintPath>..\Cs_HMI\DLL\arControl.Net4.dll</HintPath>
+      <HintPath>..\DLL\arControl.Net4.dll</HintPath>
-    </Reference>
-    <Reference Include="ArLog.Net4">
-      <HintPath>..\Cs_HMI\DLL\ArLog.Net4.dll</HintPath>
-    </Reference>
-    <Reference Include="ArSetting.Net4">
-      <HintPath>..\Cs_HMI\DLL\ArSetting.Net4.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
@@ -126,15 +124,11 @@
     </Compile>
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
+    <ProjectReference Include="..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
       <Project>{c5f7a8b2-8d3e-4a1b-9c6e-7f4d5e2a9b1c}</Project>
       <Name>AGVNavigationCore</Name>
     </ProjectReference>
-    <ProjectReference Include="..\Cs_HMI\SubProject\CommUtil\arCommUtil.csproj">
+    <ProjectReference Include="..\AGVLogic\ENIGProtocol\enigprotocol\ENIGProtocol.csproj">
-      <Project>{14e8c9a5-013e-49ba-b435-ffffff7dd623}</Project>
-      <Name>arCommUtil</Name>
-    </ProjectReference>
-    <ProjectReference Include="..\Cs_HMI\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
       <Project>{9365803b-933d-4237-93c7-b502c855a71c}</Project>
       <Name>ENIGProtocol</Name>
     </ProjectReference>

AGVEmulator/AGVEmulator.sln

@@ -5,11 +5,9 @@ VisualStudioVersion = 17.14.36804.6 d17.14
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVEmulator", "AGVEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\Cs_HMI\SubProject\ENIGProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\AGVLogic\ENIGProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "arCommUtil", "..\Cs_HMI\SubProject\CommUtil\arCommUtil.csproj", "{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution

AGVEmulator/DevAGV.cs

@@ -1,5 +1,4 @@
-using arCtl;
+using System;
-using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;

AGVEmulator/fMain.cs

@@ -19,7 +19,7 @@ namespace AGVEmulator
 {
     public partial class fMain : Form
     {
-        arUtil.Log logAGV, logBMS, logCAL;
+        AR.Log logAGV, logBMS, logCAL;
         DevBMS BMS;
         DevAGV AGV;
         DevXBE XBE;
@@ -47,9 +47,9 @@ namespace AGVEmulator
             InitializeComponent();
             this.Text = $"{Application.ProductName} ver.{Application.ProductVersion}";
             // logPLC = new arUtil.Log();
-            logAGV = new arUtil.Log();
+            logAGV = new AR.Log();
-            logBMS = new arUtil.Log();
+            logBMS = new AR.Log();
-            logCAL = new arUtil.Log();
+            logCAL = new AR.Log();
 
             // logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
             logAGV.FileNameFormat = "{yyyyMMdd}_AGV";

AGVLogic/AGVLogic.sln

@@ -1,6 +1,7 @@
+
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Express 15 for Windows Desktop
+# Visual Studio Version 17
-VisualStudioVersion = 15.0.36324.19
+VisualStudioVersion = 17.14.36310.24
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVMapEditor\AGVMapEditor.csproj", "{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}"
 EndProject
@@ -8,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "AGVNav
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -26,11 +29,15 @@ Global
 		{B2C3D4E5-0000-0000-0000-000000000000}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {F2C60284-CCB5-450D-BCD0-19C693529FD6}
+		SolutionGuid = {638744DA-A7C8-43E2-A98E-0DE9BDB1DA35}
 	EndGlobalSection
 EndGlobal

AGVLogic/AGVMapEditor/AGVMapEditor.csproj

@@ -17,7 +17,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\MapEditor\</OutputPath>
+    <OutputPath>bin\debug\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

AGVLogic/AGVSimulator/AGVSimulator.csproj

@@ -17,7 +17,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\Simulator\</OutputPath>
+    <OutputPath>bin\debug\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

AGVLogic/EnigProtocol/.gitignore

@@ -0,0 +1,13 @@
+obj
+bin
+*.user
+*.v12
+*.suo
+.git
+.vs
+Debug
+__vm
+*.pdb
+desktop.ini
+packages
+~*.xlsx

AGVLogic/EnigProtocol/ENIGProtocol.Tests/EEProtocolTests.cs

@@ -0,0 +1,53 @@
+using Xunit;
+using ENIG;
+
+namespace ENIGProtocol.Tests
+{
+    public class EEProtocolTests
+    {
+        [Fact]
+        public void TestCRC16Calculation()
+        {
+            // 테스트 데이터
+            byte[] testData = new byte[] { 0x02,0x00,0xFF }; //payload에는 stx, len, ... crc,etx 는 제외한다
+
+            // CRC16 계산
+            var protocol = new EEProtocol();
+            ushort crc = protocol.CalculateCRC16(testData);
+
+            // 예상 결과와 비교
+            Assert.Equal(0x1789, crc); 
+        }
+
+        [Fact]
+        public void TestPacketCreation()
+        {
+            // 패킷 생성 테스트
+            var protocol = new EEProtocol();
+            byte[] packet = protocol.CreatePacket(0x01, 0x02, new byte[] { 0x03, 0x04 });
+
+            // 패킷 구조 검증
+            Assert.Equal(0x02, packet[0]); // STX
+            Assert.Equal(0x04, packet[1]); // Length
+            Assert.Equal(0x01, packet[2]); // ID
+            Assert.Equal(0x02, packet[3]); // Command
+            Assert.Equal(0x03, packet[4]); // Data[0]
+            Assert.Equal(0x04, packet[5]); // Data[1]
+        }
+
+        [Fact]
+        public void TestPacketParsing()
+        {
+            // 패킷 파싱 테스트
+            var protocol = new EEProtocol();
+
+            //byte[] testPacket = new byte[] { 0x02, 0x04, 0x01, 0x02, 0x03, 0x04, 0x12, 0x34, 0x03 };
+            byte[] testPacket = new byte[] { 0x02, 0x02, 0x00, 0xFF, 0x89, 0x17, 0x03 };
+
+
+            bool result = protocol.ParsePacket(testPacket);
+
+            Assert.True(result);
+        }
+    }
+}

AGVLogic/EnigProtocol/ENIGProtocol.Tests/ENIGProtocol.Tests.csproj

@@ -0,0 +1,33 @@
+<Project Sdk="Microsoft.NET.Sdk" ToolsVersion="15.0">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <IsPackable>false</IsPackable>
+    <IsTestProject>true</IsTestProject>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <FileUpgradeFlags>
+    </FileUpgradeFlags>
+    <UpgradeBackupLocation>
+    </UpgradeBackupLocation>
+    <OldToolsVersion>2.0</OldToolsVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+    <PackageReference Include="xunit" Version="2.9.3" />
+    <PackageReference Include="xunit.runner.visualstudio" Version="3.0.2">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+    <PackageReference Include="coverlet.collector" Version="6.0.4">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\enigprotocol\enigprotocol.csproj" />
+  </ItemGroup>
+  <ItemGroup>
+    <Using Include="Xunit" />
+  </ItemGroup>
+</Project>

AGVLogic/EnigProtocol/ENIGProtocol.Tests/UnitTest1.cs

@@ -0,0 +1,10 @@
+namespace ENIGProtocol.Tests;
+
+public class UnitTest1
+{
+    [Fact]
+    public void Test1()
+    {
+
+    }
+}

AGVLogic/EnigProtocol/ENIGProtocol.sln

@@ -0,0 +1,43 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Express 15 for Windows Desktop
+VisualStudioVersion = 15.0.28307.1000
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루션 항목", "{0A11874A-E5C6-4170-9787-1FFF7AF0D289}"
+	ProjectSection(SolutionItems) = preProject
+		.gitignore = .gitignore
+		ReadMe.MD = ReadMe.MD
+	EndProjectSection
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SampleProject", "sample\SampleProject.csproj", "{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol.Tests", "ENIGProtocol.Tests\ENIGProtocol.Tests.csproj", "{3A677629-1F08-49B2-BC75-58282E439FD4}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "enigprotocol\ENIGProtocol.csproj", "{499D8912-4B96-41E5-A70D-CFE797883D65}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {07331835-C46C-4B93-965F-AD2714F97F88}
+	EndGlobalSection
+EndGlobal

AGVLogic/EnigProtocol/ReadMe.MD

@@ -0,0 +1,246 @@
+# 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
+
+## 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,
+}
+```
+public enum DeviceAlias : byte
+{
+    B1 = 20 + 1, //BUFFER1 ~ 5
+    B2 = 20 + 2,
+    B3 = 20 + 3,
+    B4 = 20 + 4,
+    B5 = 20 + 5,
+    C1 = 40 + 1, //충전소 1
+    C2 = 40 + 2, //충전소 2
+    C3 = 40 + 3, //충전소 3
+    C4 = 40 + 4, //충전소 4
+    E1 = 90 + 1, //장비1 (SSOTRON Loader)
+    E2 = 90 + 2, //장비2 (TOPS ENIG)
+    E3 = 90 + 3, //장비3 (SSOTRON DIVERTER)
+}
+//11번 AGV야! BUFFER1로 이동해라!
+//0x02 0x03 0x0B 0x6B 0x42 0x31 {CRC} 0x03 
+
+### 기본 패킷 구조
+```
+[STX][LEN][ID][CMD][DATA][CRC16][ETX]
+```
+- **STX (Start of Text)**: 0x02
+- **LEN (Length)**: 데이터 길이 (1바이트) = {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(3): 상태 (data len=1  :  0=카트없음, 1=카트있음, 2=바쁨, 3=알수없음, 255=오류)   
+   - H -> E | cmd(1): Lock
+   -          Target[1] = {DeviceType}
+   - H -> E | cmd(2): UnLock
+   -          Target[1] = {DeviceType}
+
+3. **AGV**
+   - H -> E | Move :  cmd(100) : 대상태그까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+
+   - H -> E | Stop : cmd(101) : 멈춤
+   - H -> E | Reset : cmd(102) : 오류 소거
+
+   - H -> E | SetCurrent : cmd(103) : 현재위치설정
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+
+   - 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
+   
+   - 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
+
+   - H -> E | Move :  cmd(107) : 대상별칭까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          AliasName[n] = ".....
+
+   - H -> E | MoveAuto : cmd(108) : 자동이동
+   -          Target[1] = {DeviceType}
+   -          MotDirection[1] : 0=Backward, 1=Forward
+   -          MagnetDirection[1] : 0=Straight,1=Left, 2=Right
+   -          Speed[1] : 0=Slow, 1=Normal, 2=Fast
+
+   - H -> E | Charge On: cmd(109) : 충전실행(충전기 이동 후 자동 충전 진행)
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=Charge Off, 1=Charge On
+
+
+   - 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)
+   -           Mode[1] : 0=manual, 1=auto
+   -           RunSt[1] : 0=stop, 1=run, 2=error
+   -           Diection[1] : 0=straight, 1=left, 2=right, 3=markstop
+   -           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"
+   -           CurrentPath[1] : Path ID , 0=미설정, 1~255(순차증가)
+
+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
+
+
+
+
+

AGVLogic/EnigProtocol/enigprotocol/.gitignore

@@ -0,0 +1,8 @@
+################################################################################
+# 이 .gitignore 파일은 Microsoft(R) Visual Studio에서 자동으로 만들어졌습니다.
+################################################################################
+
+/obj
+/bin
+/.vs
+/.git

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();
+            }
+        }
+    }
+
+}

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);
+                }
+            }
+        }
+    }
+}

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>

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; }
+        }
+    }
+}

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];
+        }
+    }
+}

AGVLogic/EnigProtocol/enigprotocol/Properties/AssemblyInfo.cs

@@ -5,11 +5,11 @@ using System.Runtime.InteropServices;
 // 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
 // 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
 // 이러한 특성 값을 변경하세요.
-[assembly: AssemblyTitle("ClassLibrary1")]
+[assembly: AssemblyTitle("enigprotocol")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("ClassLibrary1")]
+[assembly: AssemblyProduct("enigprotocol")]
 [assembly: AssemblyCopyright("Copyright ©  2025")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
@@ -20,7 +20,7 @@ using System.Runtime.InteropServices;
 [assembly: ComVisible(false)]
 
 // 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
-[assembly: Guid("19675e19-eb91-493e-88c3-32b3c094b749")]
+[assembly: Guid("9365803b-933d-4237-93c7-b502c855a71c")]
 
 // 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
 //

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
+
+
+
+
+

AGVLogic/EnigProtocol/sample/Form1.Designer.cs

@@ -0,0 +1,450 @@
+namespace SampleProject
+{
+    partial class Form1
+    {
+        /// <summary>
+        /// 필수 디자이너 변수입니다.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// 사용 중인 모든 리소스를 정리합니다.
+        /// </summary>
+        /// <param name="disposing">관리되는 리소스를 삭제해야 하면 true이고, 그렇지 않으면 false입니다.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form 디자이너에서 생성한 코드
+
+        /// <summary>
+        /// 디자이너 지원에 필요한 메서드입니다. 
+        /// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.rtRx = new System.Windows.Forms.RichTextBox();
+            this.rtTx = new System.Windows.Forms.RichTextBox();
+            this.tbmsg = new System.Windows.Forms.TextBox();
+            this.btsend = new System.Windows.Forms.Button();
+            this.cmbport = new System.Windows.Forms.ComboBox();
+            this.btconnect = new System.Windows.Forms.Button();
+            this.tbbaud = new System.Windows.Forms.ComboBox();
+            this.statusStrip1 = new System.Windows.Forms.StatusStrip();
+            this.sbPort = new System.Windows.Forms.ToolStripStatusLabel();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.cmbid = new System.Windows.Forms.ComboBox();
+            this.btsim = new System.Windows.Forms.Button();
+            this.rtMsg = new System.Windows.Forms.RichTextBox();
+            this.tbCmd = new System.Windows.Forms.TextBox();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.panel2 = new System.Windows.Forms.Panel();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label1 = new System.Windows.Forms.Label();
+            this.tabControl1 = new System.Windows.Forms.TabControl();
+            this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.btSave = new System.Windows.Forms.Button();
+            this.btload = new System.Windows.Forms.Button();
+            this.rtCmd = new System.Windows.Forms.RichTextBox();
+            this.statusStrip1.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
+            this.panel1.SuspendLayout();
+            this.panel2.SuspendLayout();
+            this.tabControl1.SuspendLayout();
+            this.tabPage1.SuspendLayout();
+            this.tabPage2.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // rtRx
+            // 
+            this.rtRx.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtRx.Font = new System.Drawing.Font("굴림", 9.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.rtRx.Location = new System.Drawing.Point(4, 5);
+            this.rtRx.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.rtRx.Name = "rtRx";
+            this.rtRx.Size = new System.Drawing.Size(462, 302);
+            this.rtRx.TabIndex = 0;
+            this.rtRx.Text = "";
+            // 
+            // rtTx
+            // 
+            this.rtTx.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtTx.Font = new System.Drawing.Font("굴림", 9.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.rtTx.Location = new System.Drawing.Point(474, 5);
+            this.rtTx.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.rtTx.Name = "rtTx";
+            this.rtTx.Size = new System.Drawing.Size(462, 302);
+            this.rtTx.TabIndex = 1;
+            this.rtTx.Text = "";
+            // 
+            // tbmsg
+            // 
+            this.tbmsg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.tbmsg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tbmsg.Font = new System.Drawing.Font("굴림", 24F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbmsg.Location = new System.Drawing.Point(436, 5);
+            this.tbmsg.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.tbmsg.Name = "tbmsg";
+            this.tbmsg.Size = new System.Drawing.Size(273, 44);
+            this.tbmsg.TabIndex = 2;
+            this.tbmsg.Text = "mesage";
+            this.tbmsg.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.tbmsg.TextChanged += new System.EventHandler(this.tbmsg_TextChanged);
+            // 
+            // btsend
+            // 
+            this.btsend.Dock = System.Windows.Forms.DockStyle.Right;
+            this.btsend.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.btsend.Location = new System.Drawing.Point(709, 5);
+            this.btsend.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.btsend.Name = "btsend";
+            this.btsend.Size = new System.Drawing.Size(120, 42);
+            this.btsend.TabIndex = 3;
+            this.btsend.Text = "Send";
+            this.btsend.UseVisualStyleBackColor = true;
+            this.btsend.Click += new System.EventHandler(this.btsend_Click);
+            // 
+            // cmbport
+            // 
+            this.cmbport.Dock = System.Windows.Forms.DockStyle.Left;
+            this.cmbport.Font = new System.Drawing.Font("굴림", 24F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.cmbport.FormattingEnabled = true;
+            this.cmbport.Location = new System.Drawing.Point(58, 3);
+            this.cmbport.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.cmbport.Name = "cmbport";
+            this.cmbport.Size = new System.Drawing.Size(218, 40);
+            this.cmbport.TabIndex = 4;
+            // 
+            // btconnect
+            // 
+            this.btconnect.Dock = System.Windows.Forms.DockStyle.Right;
+            this.btconnect.Location = new System.Drawing.Point(765, 3);
+            this.btconnect.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.btconnect.Name = "btconnect";
+            this.btconnect.Size = new System.Drawing.Size(186, 40);
+            this.btconnect.TabIndex = 5;
+            this.btconnect.Text = "connect";
+            this.btconnect.UseVisualStyleBackColor = true;
+            this.btconnect.Click += new System.EventHandler(this.btconnect_Click);
+            // 
+            // tbbaud
+            // 
+            this.tbbaud.Dock = System.Windows.Forms.DockStyle.Left;
+            this.tbbaud.Font = new System.Drawing.Font("굴림", 24F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbbaud.FormattingEnabled = true;
+            this.tbbaud.Location = new System.Drawing.Point(331, 3);
+            this.tbbaud.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.tbbaud.Name = "tbbaud";
+            this.tbbaud.Size = new System.Drawing.Size(171, 40);
+            this.tbbaud.TabIndex = 6;
+            this.tbbaud.Text = "9600";
+            // 
+            // statusStrip1
+            // 
+            this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.sbPort});
+            this.statusStrip1.Location = new System.Drawing.Point(0, 583);
+            this.statusStrip1.Name = "statusStrip1";
+            this.statusStrip1.Padding = new System.Windows.Forms.Padding(1, 0, 20, 0);
+            this.statusStrip1.Size = new System.Drawing.Size(954, 22);
+            this.statusStrip1.TabIndex = 7;
+            this.statusStrip1.Text = "statusStrip1";
+            // 
+            // sbPort
+            // 
+            this.sbPort.Name = "sbPort";
+            this.sbPort.Size = new System.Drawing.Size(121, 17);
+            this.sbPort.Text = "toolStripStatusLabel1";
+            // 
+            // timer1
+            // 
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // cmbid
+            // 
+            this.cmbid.Dock = System.Windows.Forms.DockStyle.Left;
+            this.cmbid.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbid.Font = new System.Drawing.Font("굴림", 24F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.cmbid.FormattingEnabled = true;
+            this.cmbid.Location = new System.Drawing.Point(60, 5);
+            this.cmbid.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.cmbid.Name = "cmbid";
+            this.cmbid.Size = new System.Drawing.Size(183, 40);
+            this.cmbid.TabIndex = 8;
+            // 
+            // btsim
+            // 
+            this.btsim.Dock = System.Windows.Forms.DockStyle.Right;
+            this.btsim.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.btsim.Location = new System.Drawing.Point(829, 5);
+            this.btsim.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.btsim.Name = "btsim";
+            this.btsim.Size = new System.Drawing.Size(120, 42);
+            this.btsim.TabIndex = 9;
+            this.btsim.Text = "Test";
+            this.btsim.UseVisualStyleBackColor = true;
+            this.btsim.Click += new System.EventHandler(this.btsim_Click);
+            // 
+            // rtMsg
+            // 
+            this.rtMsg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.tableLayoutPanel1.SetColumnSpan(this.rtMsg, 2);
+            this.rtMsg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtMsg.Location = new System.Drawing.Point(4, 317);
+            this.rtMsg.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.rtMsg.Name = "rtMsg";
+            this.rtMsg.Size = new System.Drawing.Size(932, 124);
+            this.rtMsg.TabIndex = 10;
+            this.rtMsg.Text = "";
+            // 
+            // tbCmd
+            // 
+            this.tbCmd.Dock = System.Windows.Forms.DockStyle.Left;
+            this.tbCmd.Font = new System.Drawing.Font("굴림", 24F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbCmd.Location = new System.Drawing.Point(298, 5);
+            this.tbCmd.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.tbCmd.Name = "tbCmd";
+            this.tbCmd.Size = new System.Drawing.Size(83, 44);
+            this.tbCmd.TabIndex = 11;
+            this.tbCmd.Text = "cmd";
+            this.tbCmd.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 2;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Controls.Add(this.rtMsg, 0, 1);
+            this.tableLayoutPanel1.Controls.Add(this.rtRx, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.rtTx, 1, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 2;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 70F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 30F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(940, 446);
+            this.tableLayoutPanel1.TabIndex = 12;
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.tbmsg);
+            this.panel1.Controls.Add(this.label5);
+            this.panel1.Controls.Add(this.tbCmd);
+            this.panel1.Controls.Add(this.label4);
+            this.panel1.Controls.Add(this.cmbid);
+            this.panel1.Controls.Add(this.label3);
+            this.panel1.Controls.Add(this.btsend);
+            this.panel1.Controls.Add(this.btsim);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.panel1.Location = new System.Drawing.Point(0, 531);
+            this.panel1.Name = "panel1";
+            this.panel1.Padding = new System.Windows.Forms.Padding(5);
+            this.panel1.Size = new System.Drawing.Size(954, 52);
+            this.panel1.TabIndex = 13;
+            // 
+            // label5
+            // 
+            this.label5.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label5.Font = new System.Drawing.Font("Arial", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label5.Location = new System.Drawing.Point(381, 5);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(55, 42);
+            this.label5.TabIndex = 14;
+            this.label5.Text = "DATA\r\n(n)";
+            this.label5.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label4
+            // 
+            this.label4.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label4.Font = new System.Drawing.Font("Arial", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label4.Location = new System.Drawing.Point(243, 5);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(55, 42);
+            this.label4.TabIndex = 13;
+            this.label4.Text = "CMD\r\n(1)";
+            this.label4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label3
+            // 
+            this.label3.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label3.Font = new System.Drawing.Font("Arial", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label3.Location = new System.Drawing.Point(5, 5);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(55, 42);
+            this.label3.TabIndex = 12;
+            this.label3.Text = "ID\r\n(1)";
+            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // panel2
+            // 
+            this.panel2.Controls.Add(this.tbbaud);
+            this.panel2.Controls.Add(this.label2);
+            this.panel2.Controls.Add(this.cmbport);
+            this.panel2.Controls.Add(this.btconnect);
+            this.panel2.Controls.Add(this.label1);
+            this.panel2.Dock = System.Windows.Forms.DockStyle.Top;
+            this.panel2.Location = new System.Drawing.Point(0, 0);
+            this.panel2.Name = "panel2";
+            this.panel2.Padding = new System.Windows.Forms.Padding(3);
+            this.panel2.Size = new System.Drawing.Size(954, 46);
+            this.panel2.TabIndex = 14;
+            // 
+            // label2
+            // 
+            this.label2.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label2.Location = new System.Drawing.Point(276, 3);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(55, 40);
+            this.label2.TabIndex = 8;
+            this.label2.Text = "baud";
+            this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label1
+            // 
+            this.label1.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label1.Location = new System.Drawing.Point(3, 3);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(55, 40);
+            this.label1.TabIndex = 7;
+            this.label1.Text = "port";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // tabControl1
+            // 
+            this.tabControl1.Controls.Add(this.tabPage1);
+            this.tabControl1.Controls.Add(this.tabPage2);
+            this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tabControl1.Location = new System.Drawing.Point(0, 46);
+            this.tabControl1.Name = "tabControl1";
+            this.tabControl1.SelectedIndex = 0;
+            this.tabControl1.Size = new System.Drawing.Size(954, 485);
+            this.tabControl1.TabIndex = 15;
+            // 
+            // tabPage1
+            // 
+            this.tabPage1.Controls.Add(this.tableLayoutPanel1);
+            this.tabPage1.Location = new System.Drawing.Point(4, 29);
+            this.tabPage1.Name = "tabPage1";
+            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage1.Size = new System.Drawing.Size(946, 452);
+            this.tabPage1.TabIndex = 0;
+            this.tabPage1.Text = "Test";
+            this.tabPage1.UseVisualStyleBackColor = true;
+            // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.btSave);
+            this.tabPage2.Controls.Add(this.btload);
+            this.tabPage2.Controls.Add(this.rtCmd);
+            this.tabPage2.Location = new System.Drawing.Point(4, 29);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage2.Size = new System.Drawing.Size(946, 452);
+            this.tabPage2.TabIndex = 1;
+            this.tabPage2.Text = "Command";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // btSave
+            // 
+            this.btSave.Location = new System.Drawing.Point(820, 50);
+            this.btSave.Name = "btSave";
+            this.btSave.Size = new System.Drawing.Size(113, 29);
+            this.btSave.TabIndex = 13;
+            this.btSave.Text = "Save";
+            this.btSave.UseVisualStyleBackColor = true;
+            this.btSave.Click += new System.EventHandler(this.btSave_Click);
+            // 
+            // btload
+            // 
+            this.btload.Location = new System.Drawing.Point(820, 15);
+            this.btload.Name = "btload";
+            this.btload.Size = new System.Drawing.Size(113, 29);
+            this.btload.TabIndex = 12;
+            this.btload.Text = "Load";
+            this.btload.UseVisualStyleBackColor = true;
+            this.btload.Click += new System.EventHandler(this.btload_Click);
+            // 
+            // rtCmd
+            // 
+            this.rtCmd.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtCmd.Location = new System.Drawing.Point(3, 3);
+            this.rtCmd.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.rtCmd.Name = "rtCmd";
+            this.rtCmd.Size = new System.Drawing.Size(940, 446);
+            this.rtCmd.TabIndex = 11;
+            this.rtCmd.Text = "";
+            // 
+            // Form1
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(10F, 19F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(954, 605);
+            this.Controls.Add(this.tabControl1);
+            this.Controls.Add(this.panel2);
+            this.Controls.Add(this.panel1);
+            this.Controls.Add(this.statusStrip1);
+            this.Font = new System.Drawing.Font("굴림", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.Name = "Form1";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "!!";
+            this.Load += new System.EventHandler(this.Form1_Load);
+            this.statusStrip1.ResumeLayout(false);
+            this.statusStrip1.PerformLayout();
+            this.tableLayoutPanel1.ResumeLayout(false);
+            this.panel1.ResumeLayout(false);
+            this.panel1.PerformLayout();
+            this.panel2.ResumeLayout(false);
+            this.tabControl1.ResumeLayout(false);
+            this.tabPage1.ResumeLayout(false);
+            this.tabPage2.ResumeLayout(false);
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.RichTextBox rtRx;
+        private System.Windows.Forms.RichTextBox rtTx;
+        private System.Windows.Forms.TextBox tbmsg;
+        private System.Windows.Forms.Button btsend;
+        private System.Windows.Forms.ComboBox cmbport;
+        private System.Windows.Forms.Button btconnect;
+        private System.Windows.Forms.ComboBox tbbaud;
+        private System.Windows.Forms.StatusStrip statusStrip1;
+        private System.Windows.Forms.ToolStripStatusLabel sbPort;
+        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.ComboBox cmbid;
+        private System.Windows.Forms.Button btsim;
+        private System.Windows.Forms.RichTextBox rtMsg;
+        private System.Windows.Forms.TextBox tbCmd;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Panel panel2;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.TabControl tabControl1;
+        private System.Windows.Forms.TabPage tabPage1;
+        private System.Windows.Forms.TabPage tabPage2;
+        private System.Windows.Forms.RichTextBox rtCmd;
+        private System.Windows.Forms.Button btSave;
+        private System.Windows.Forms.Button btload;
+    }
+}
+

AGVLogic/EnigProtocol/sample/Form1.cs

@@ -0,0 +1,225 @@
+using AR;
+using ENIG;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Security.Cryptography.X509Certificates;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace SampleProject
+{
+    enum messageType
+    {
+        rx,
+        tx,
+        normal,
+        error
+    }
+    public partial class Form1 : Form
+    {
+
+        System.IO.Ports.SerialPort dev;
+        EEProtocol proto;
+        Dictionary<string, byte> idlist;
+        public Form1()
+        {
+            InitializeComponent();
+            this.Text = $"Amkor ENIG Protocol Test (PanID:46A5, CH:17)";
+            proto = new EEProtocol();
+            proto.OnDataReceived += Proto_OnDataReceived;
+            proto.OnMessage += Proto_OnMessage;
+            dev = new System.IO.Ports.SerialPort();
+            dev.ReadTimeout = 2000;
+            dev.WriteTimeout = 1000;
+            dev.DataReceived += (s1, e1) =>
+            {
+                var buffer = new byte[dev.BytesToRead];
+                dev.Read(buffer, 0, buffer.Length);
+                proto.ProcessReceivedData(buffer);
+            };
+
+            idlist = new Dictionary<string, byte>();
+            idlist.Add("ACS", 0);
+            idlist.Add("AGV1", 10);
+            idlist.Add("AGV2", 11);
+            idlist.Add("BUFFER1", 20);
+            idlist.Add("BUFFER2", 21);
+            idlist.Add("BUFFER3", 22);
+            idlist.Add("BUFFER4", 23);
+            idlist.Add("BUFFER5", 24);
+            idlist.Add("DOOR", 30);
+
+            this.cmbid.Items.Clear();
+            foreach (var item in idlist)
+                cmbid.Items.Add($"{item.Key}");
+
+            tbCmd.Text = "FF";
+            tbmsg.Text = string.Empty;
+        }
+
+        private void Proto_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
+        {
+            var hexstrRaw = e.ReceivedPacket.RawData.HexString();
+            var hexstr = e.ReceivedPacket.Data.HexString();
+            var cmd = e.ReceivedPacket.Command.ToString("X2");
+            var id = e.ReceivedPacket.ID.ToString("X2");
+            AddMessage($"{hexstrRaw}\nID:{id},CMD:{cmd},DATA:{hexstr}", messageType.rx);
+        }
+        private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
+        {
+            AddMessage(e.Message);
+        }
+
+        void AddMessage(string msg, messageType type = messageType.normal)
+        {
+            if (this.InvokeRequired)
+            {
+                this.BeginInvoke(new Action(() => AddMessage(msg, type)));
+                return;
+            }
+
+            if (type == messageType.rx)
+            {
+                rtRx.AppendText($"<{DateTime.Now.ToString("HH:mm:ss")} RX> {msg}\r\n");
+                rtRx.ScrollToCaret();
+            }
+            else if (type == messageType.tx)
+            {
+                rtTx.AppendText($"<{DateTime.Now.ToString("HH:mm:ss")} TX> {msg}\r\n");
+                rtTx.ScrollToCaret();
+            }
+            else
+            {
+                rtMsg.AppendText($"<{DateTime.Now.ToString("HH:mm:ss")} > {msg}\r\n");
+                rtMsg.ScrollToCaret();
+            }
+        }
+
+        private void Form1_Load(object sender, EventArgs e)
+        {
+            cmbport.Items.Clear();
+            foreach (var item in System.IO.Ports.SerialPort.GetPortNames())
+            {
+                cmbport.Items.Add(item);
+            }
+            if (Pub.Setting.LastPort.isEmpty() == false) cmbport.Text = Pub.Setting.LastPort;
+            else if (cmbport.Items.Count > 0) cmbport.SelectedIndex = 0;
+
+            if (Pub.Setting.LastBaud.isEmpty() == false) tbbaud.Text = Pub.Setting.LastBaud;
+            if (cmbid.Items.Count > 0) cmbid.SelectedIndex = 0;
+            LoadCmds();
+            this.timer1.Start();
+        }
+
+        private void btconnect_Click(object sender, EventArgs e)
+        {
+            var port = cmbport.Text.Trim();
+            var baud = tbbaud.Text.toInt();
+
+            //setting save
+            Pub.Setting.LastPort = port;
+            Pub.Setting.LastBaud = baud.ToString();
+            Pub.Setting.Save();
+
+            if (dev.IsOpen)
+            {
+                dev.Close();
+                AddMessage("port closed");
+            }
+            else
+            {
+                try
+                {
+                    this.dev.PortName = port;
+                    this.dev.BaudRate = baud;
+                    dev.Open();
+                    AddMessage("port opened");
+                }
+                catch (Exception ex)
+                {
+                    AddMessage(ex.Message, messageType.error);
+                }
+            }
+
+
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            sbPort.Text = $"{dev.PortName}:{dev.BaudRate} {(dev.IsOpen ? "Open" : "Closed")}";
+        }
+
+        private void tbmsg_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void btsend_Click(object sender, EventArgs e)
+        {
+            //send to device
+            var msg = tbmsg.Text.Trim();
+            var id = this.idlist[cmbid.Text];
+            var cmdHex = this.tbCmd.Text.Trim();
+            byte cmd = Convert.ToByte(cmdHex, 16);
+            byte[] msgBytes = Encoding.ASCII.GetBytes(msg);      // 메시지를 byte 배열로 변환
+
+            var data = proto.CreatePacket(id, cmd, msgBytes);
+            SendToDevice(data);
+        }
+
+        void SendToDevice(byte[] packet)
+        {
+            if (dev.IsOpen == false)
+            {
+                AddMessage("port closed", messageType.error);
+            }
+            else
+            {
+                dev.Write(packet, 0, packet.Length);
+                var hexstring = packet.HexString();
+                AddMessage(hexstring, messageType.tx);
+            }
+
+        }
+
+        private void btsim_Click(object sender, EventArgs e)
+        {
+            //packet test
+            var msg = tbmsg.Text.Trim();
+            var id = this.idlist[cmbid.Text];
+            var cmdHex = this.tbCmd.Text.Trim();
+            byte cmd = Convert.ToByte(cmdHex, 16);     // 16진수 문자열을 byte로 변환
+            byte[] msgBytes = Encoding.ASCII.GetBytes(msg);  // 메시지를 byte 배열로 변환
+
+            var data = proto.CreatePacket(id, cmd, msgBytes);
+            this.proto.PacketTest(data);
+        }
+        string fn = "cmds.rtf";
+        private void btSave_Click(object sender, EventArgs e)
+        {
+            System.IO.File.WriteAllText("cmds.rtf", rtCmd.Rtf, System.Text.Encoding.Default);
+        }
+
+        private void btload_Click(object sender, EventArgs e)
+        {
+            LoadCmds();
+        }
+
+        void LoadCmds()
+        {
+            var fi = new System.IO.FileInfo("cmds.rtf");
+            if (fi.Exists == false)
+            {
+                AddMessage("no cmds file", messageType.error);
+                return;
+            }
+            var data = System.IO.File.ReadAllText("cmds.rtf", System.Text.Encoding.Default);
+            rtCmd.Rtf = data;
+        }
+    }
+}

AGVLogic/EnigProtocol/sample/Form1.resx

@@ -0,0 +1,126 @@
+<?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>
+  <metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>134, 17</value>
+  </metadata>
+</root>

AGVLogic/EnigProtocol/sample/Program.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace SampleProject
+{
+    internal static class Program
+    {
+        /// <summary>
+        /// 해당 애플리케이션의 주 진입점입니다.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Pub.init();
+            Application.Run(new Form1());
+        }
+    }
+}

AGVLogic/EnigProtocol/sample/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("SampleProject")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("ATK")]
+[assembly: AssemblyProduct("SampleProject")]
+[assembly: AssemblyCopyright("Copyright © ATK 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("fab31c8a-7dcf-4152-8a82-76f3c10baba4")]
+
+// 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")]

AGVLogic/EnigProtocol/sample/Properties/Resources.Designer.cs

@@ -0,0 +1,71 @@
+//------------------------------------------------------------------------------
+// <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 SampleProject.Properties
+{
+
+
+    /// <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", "4.0.0.0")]
+    [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 ((resourceMan == null))
+                {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("SampleProject.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;
+            }
+        }
+    }
+}

AGVLogic/EnigProtocol/sample/Properties/Settings.Designer.cs

@@ -0,0 +1,30 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace SampleProject.Properties
+{
+
+
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
+    {
+
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+
+        public static Settings Default
+        {
+            get
+            {
+                return defaultInstance;
+            }
+        }
+    }
+}