acs command 창 추가

HMI/Project/AGV4.csproj

@@ -191,6 +191,12 @@
       <SubType>Component</SubType>
     </Compile>
     <Compile Include="Device\Socket.cs" />
+    <Compile Include="Dialog\fACSCommand.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Dialog\fACSCommand.Designer.cs">
+      <DependentUpon>fACSCommand.cs</DependentUpon>
+    </Compile>
     <Compile Include="Dialog\fCounter.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -416,6 +422,9 @@
     <Compile Include="ViewForm\fManual.Designer.cs">
       <DependentUpon>fManual.cs</DependentUpon>
     </Compile>
+    <EmbeddedResource Include="Dialog\fACSCommand.resx">
+      <DependentUpon>fACSCommand.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Dialog\fCounter.resx">
       <DependentUpon>fCounter.cs</DependentUpon>
     </EmbeddedResource>

HMI/Project/Dialog/fACSCommand.Designer.cs

@@ -0,0 +1,302 @@
+namespace Project.Dialog
+{
+    partial class fACSCommand
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.btnPickOffExit = new System.Windows.Forms.Button();
+            this.btnPickOnExit = new System.Windows.Forms.Button();
+            this.btnPickOffEnter = new System.Windows.Forms.Button();
+            this.btnPickOnEnter = new System.Windows.Forms.Button();
+            this.btnBuffer6 = new System.Windows.Forms.Button();
+            this.btnBuffer5 = new System.Windows.Forms.Button();
+            this.btnBuffer4 = new System.Windows.Forms.Button();
+            this.btnBuffer3 = new System.Windows.Forms.Button();
+            this.btnBuffer2 = new System.Windows.Forms.Button();
+            this.btnBuffer1 = new System.Windows.Forms.Button();
+            this.btnCleaner = new System.Windows.Forms.Button();
+            this.btnPlating = new System.Windows.Forms.Button();
+            this.btnLoader = new System.Windows.Forms.Button();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.btnCharge = new System.Windows.Forms.Button();
+            this.btnTurnLeft = new System.Windows.Forms.Button();
+            this.btnTurnRight = new System.Windows.Forms.Button();
+            this.btnMarkStop = new System.Windows.Forms.Button();
+            this.groupBox1.SuspendLayout();
+            this.groupBox2.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.btnPickOffExit);
+            this.groupBox1.Controls.Add(this.btnPickOnExit);
+            this.groupBox1.Controls.Add(this.btnPickOffEnter);
+            this.groupBox1.Controls.Add(this.btnPickOnEnter);
+            this.groupBox1.Controls.Add(this.btnBuffer6);
+            this.groupBox1.Controls.Add(this.btnBuffer5);
+            this.groupBox1.Controls.Add(this.btnBuffer4);
+            this.groupBox1.Controls.Add(this.btnBuffer3);
+            this.groupBox1.Controls.Add(this.btnBuffer2);
+            this.groupBox1.Controls.Add(this.btnBuffer1);
+            this.groupBox1.Controls.Add(this.btnCleaner);
+            this.groupBox1.Controls.Add(this.btnPlating);
+            this.groupBox1.Controls.Add(this.btnLoader);
+            this.groupBox1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.groupBox1.Location = new System.Drawing.Point(5, 5);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(235, 164);
+            this.groupBox1.TabIndex = 0;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "Goto";
+            // 
+            // btnPickOffExit
+            // 
+            this.btnPickOffExit.Location = new System.Drawing.Point(118, 133);
+            this.btnPickOffExit.Name = "btnPickOffExit";
+            this.btnPickOffExit.Size = new System.Drawing.Size(100, 23);
+            this.btnPickOffExit.TabIndex = 12;
+            this.btnPickOffExit.Text = "PickOff Exit";
+            this.btnPickOffExit.UseVisualStyleBackColor = true;
+            this.btnPickOffExit.Click += new System.EventHandler(this.btnWork_Click);
+            // 
+            // btnPickOnExit
+            // 
+            this.btnPickOnExit.Location = new System.Drawing.Point(12, 133);
+            this.btnPickOnExit.Name = "btnPickOnExit";
+            this.btnPickOnExit.Size = new System.Drawing.Size(100, 23);
+            this.btnPickOnExit.TabIndex = 11;
+            this.btnPickOnExit.Text = "Pickon Exit";
+            this.btnPickOnExit.UseVisualStyleBackColor = true;
+            this.btnPickOnExit.Click += new System.EventHandler(this.btnWork_Click);
+            // 
+            // btnPickOffEnter
+            // 
+            this.btnPickOffEnter.Location = new System.Drawing.Point(118, 104);
+            this.btnPickOffEnter.Name = "btnPickOffEnter";
+            this.btnPickOffEnter.Size = new System.Drawing.Size(100, 23);
+            this.btnPickOffEnter.TabIndex = 10;
+            this.btnPickOffEnter.Text = "PickOff Enter";
+            this.btnPickOffEnter.UseVisualStyleBackColor = true;
+            this.btnPickOffEnter.Click += new System.EventHandler(this.btnWork_Click);
+            // 
+            // btnPickOnEnter
+            // 
+            this.btnPickOnEnter.Location = new System.Drawing.Point(12, 104);
+            this.btnPickOnEnter.Name = "btnPickOnEnter";
+            this.btnPickOnEnter.Size = new System.Drawing.Size(100, 23);
+            this.btnPickOnEnter.TabIndex = 9;
+            this.btnPickOnEnter.Text = "PickOn Enter";
+            this.btnPickOnEnter.UseVisualStyleBackColor = true;
+            this.btnPickOnEnter.Click += new System.EventHandler(this.btnWork_Click);
+            // 
+            // btnBuffer6
+            // 
+            this.btnBuffer6.Location = new System.Drawing.Point(149, 75);
+            this.btnBuffer6.Name = "btnBuffer6";
+            this.btnBuffer6.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer6.TabIndex = 8;
+            this.btnBuffer6.Text = "Buffer 6";
+            this.btnBuffer6.UseVisualStyleBackColor = true;
+            this.btnBuffer6.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnBuffer5
+            // 
+            this.btnBuffer5.Location = new System.Drawing.Point(79, 75);
+            this.btnBuffer5.Name = "btnBuffer5";
+            this.btnBuffer5.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer5.TabIndex = 7;
+            this.btnBuffer5.Text = "Buffer 5";
+            this.btnBuffer5.UseVisualStyleBackColor = true;
+            this.btnBuffer5.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnBuffer4
+            // 
+            this.btnBuffer4.Location = new System.Drawing.Point(9, 75);
+            this.btnBuffer4.Name = "btnBuffer4";
+            this.btnBuffer4.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer4.TabIndex = 6;
+            this.btnBuffer4.Text = "Buffer 4";
+            this.btnBuffer4.UseVisualStyleBackColor = true;
+            this.btnBuffer4.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnBuffer3
+            // 
+            this.btnBuffer3.Location = new System.Drawing.Point(149, 46);
+            this.btnBuffer3.Name = "btnBuffer3";
+            this.btnBuffer3.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer3.TabIndex = 5;
+            this.btnBuffer3.Text = "Buffer 3";
+            this.btnBuffer3.UseVisualStyleBackColor = true;
+            this.btnBuffer3.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnBuffer2
+            // 
+            this.btnBuffer2.Location = new System.Drawing.Point(79, 46);
+            this.btnBuffer2.Name = "btnBuffer2";
+            this.btnBuffer2.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer2.TabIndex = 4;
+            this.btnBuffer2.Text = "Buffer 2";
+            this.btnBuffer2.UseVisualStyleBackColor = true;
+            this.btnBuffer2.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnBuffer1
+            // 
+            this.btnBuffer1.Location = new System.Drawing.Point(9, 46);
+            this.btnBuffer1.Name = "btnBuffer1";
+            this.btnBuffer1.Size = new System.Drawing.Size(69, 23);
+            this.btnBuffer1.TabIndex = 3;
+            this.btnBuffer1.Text = "Buffer 1";
+            this.btnBuffer1.UseVisualStyleBackColor = true;
+            this.btnBuffer1.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnCleaner
+            // 
+            this.btnCleaner.Location = new System.Drawing.Point(149, 17);
+            this.btnCleaner.Name = "btnCleaner";
+            this.btnCleaner.Size = new System.Drawing.Size(69, 23);
+            this.btnCleaner.TabIndex = 2;
+            this.btnCleaner.Text = "Cleaner";
+            this.btnCleaner.UseVisualStyleBackColor = true;
+            this.btnCleaner.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnPlating
+            // 
+            this.btnPlating.Location = new System.Drawing.Point(79, 17);
+            this.btnPlating.Name = "btnPlating";
+            this.btnPlating.Size = new System.Drawing.Size(69, 23);
+            this.btnPlating.TabIndex = 1;
+            this.btnPlating.Text = "Plating";
+            this.btnPlating.UseVisualStyleBackColor = true;
+            this.btnPlating.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // btnLoader
+            // 
+            this.btnLoader.Location = new System.Drawing.Point(9, 17);
+            this.btnLoader.Name = "btnLoader";
+            this.btnLoader.Size = new System.Drawing.Size(69, 23);
+            this.btnLoader.TabIndex = 0;
+            this.btnLoader.Text = "Loader";
+            this.btnLoader.UseVisualStyleBackColor = true;
+            this.btnLoader.Click += new System.EventHandler(this.btnGoto_Click);
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.btnCharge);
+            this.groupBox2.Controls.Add(this.btnTurnLeft);
+            this.groupBox2.Controls.Add(this.btnTurnRight);
+            this.groupBox2.Controls.Add(this.btnMarkStop);
+            this.groupBox2.Location = new System.Drawing.Point(5, 175);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(235, 79);
+            this.groupBox2.TabIndex = 1;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "Action";
+            // 
+            // btnCharge
+            // 
+            this.btnCharge.Location = new System.Drawing.Point(93, 45);
+            this.btnCharge.Name = "btnCharge";
+            this.btnCharge.Size = new System.Drawing.Size(83, 23);
+            this.btnCharge.TabIndex = 5;
+            this.btnCharge.Text = "Charge";
+            this.btnCharge.UseVisualStyleBackColor = true;
+            this.btnCharge.Click += new System.EventHandler(this.btnAction_Click);
+            // 
+            // btnTurnLeft
+            // 
+            this.btnTurnLeft.Location = new System.Drawing.Point(9, 18);
+            this.btnTurnLeft.Name = "btnTurnLeft";
+            this.btnTurnLeft.Size = new System.Drawing.Size(83, 23);
+            this.btnTurnLeft.TabIndex = 2;
+            this.btnTurnLeft.Text = "Turn Left";
+            this.btnTurnLeft.UseVisualStyleBackColor = true;
+            this.btnTurnLeft.Click += new System.EventHandler(this.btnAction_Click);
+            // 
+            // btnTurnRight
+            // 
+            this.btnTurnRight.Location = new System.Drawing.Point(93, 18);
+            this.btnTurnRight.Name = "btnTurnRight";
+            this.btnTurnRight.Size = new System.Drawing.Size(83, 23);
+            this.btnTurnRight.TabIndex = 3;
+            this.btnTurnRight.Text = "Turn Right";
+            this.btnTurnRight.UseVisualStyleBackColor = true;
+            this.btnTurnRight.Click += new System.EventHandler(this.btnAction_Click);
+            // 
+            // btnMarkStop
+            // 
+            this.btnMarkStop.Location = new System.Drawing.Point(9, 45);
+            this.btnMarkStop.Name = "btnMarkStop";
+            this.btnMarkStop.Size = new System.Drawing.Size(83, 23);
+            this.btnMarkStop.TabIndex = 4;
+            this.btnMarkStop.Text = "Mark Stop";
+            this.btnMarkStop.UseVisualStyleBackColor = true;
+            this.btnMarkStop.Click += new System.EventHandler(this.btnAction_Click);
+            // 
+            // fACSCommand
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(245, 259);
+            this.Controls.Add(this.groupBox2);
+            this.Controls.Add(this.groupBox1);
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "fACSCommand";
+            this.Opacity = 0.9D;
+            this.Padding = new System.Windows.Forms.Padding(5);
+            this.Text = "Command Test";
+            this.Load += new System.EventHandler(this.fACSCommand_Load);
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox2.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.Button btnCleaner;
+        private System.Windows.Forms.Button btnPlating;
+        private System.Windows.Forms.Button btnLoader;
+        private System.Windows.Forms.Button btnBuffer3;
+        private System.Windows.Forms.Button btnBuffer2;
+        private System.Windows.Forms.Button btnBuffer1;
+        private System.Windows.Forms.Button btnBuffer6;
+        private System.Windows.Forms.Button btnBuffer5;
+        private System.Windows.Forms.Button btnBuffer4;
+        private System.Windows.Forms.Button btnPickOffExit;
+        private System.Windows.Forms.Button btnPickOnExit;
+        private System.Windows.Forms.Button btnPickOffEnter;
+        private System.Windows.Forms.Button btnPickOnEnter;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.Button btnTurnRight;
+        private System.Windows.Forms.Button btnTurnLeft;
+        private System.Windows.Forms.Button btnMarkStop;
+        private System.Windows.Forms.Button btnCharge;
+    }
+}

HMI/Project/Dialog/fACSCommand.cs

@@ -0,0 +1,129 @@
+using System.Linq;
+using AR;
+using AGVNavigationCore.Models;
+using Project.StateMachine;
+using System.Windows.Forms;
+using System;
+using System.Collections.Generic;
+
+namespace Project.Dialog
+{
+    public partial class fACSCommand : Form
+    {
+        public fACSCommand()
+        {
+            InitializeComponent();
+        }
+
+       
+        private void btnGoto_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            var targetAlias = btn.Text.Trim();
+            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == targetAlias);
+
+            if (targetNode == null)
+            {
+                // Fallback for Buffer names which might have spaces
+                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName.Replace(" ", "") == targetAlias.Replace(" ", ""));
+            }
+
+            if (targetNode == null)
+            {
+                UTIL.MsgE($"대상 노드를 찾을 수 없습니다: {targetAlias}");
+                return;
+            }
+
+            // Goto 명령 데이터: RFID 문자열
+            var data = System.Text.Encoding.Default.GetBytes(targetNode.RfidId.ToString());
+            ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.Goto, data);
+        }
+
+        private void btnWork_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            ENIGProtocol.AGVCommandHE cmd;
+            switch (btn.Text)
+            {
+                case "PickOn Enter": cmd = ENIGProtocol.AGVCommandHE.PickOnEnter; break;
+                case "PickOff Enter": cmd = ENIGProtocol.AGVCommandHE.PickOffEnter; break;
+                case "Pickon Exit": cmd = ENIGProtocol.AGVCommandHE.PickOnExit; break;
+                case "PickOff Exit": cmd = ENIGProtocol.AGVCommandHE.PickOffExit; break;
+                default: return;
+            }
+
+            ExecuteRemoteCommand(cmd);
+        }
+
+        private void btnAction_Click(object sender, EventArgs e)
+        {
+            var btn = sender as Button;
+            if (btn == null) return;
+
+            switch (btn.Text)
+            {
+                case "Turn Left":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.LTurn);
+                    break;
+                case "Turn Right":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.RTurn);
+                    break;
+                case "Mark Stop":
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.MarkStop);
+                    break;
+                case "Charge":
+                    // ChargeControl: 1=On
+                    ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE.ChargeControl, (byte)1);
+                    break;
+            }
+        }
+
+        private void fACSCommand_Load(object sender, EventArgs e)
+        {
+
+        }
+
+        /// <summary>
+        /// ACS로부터 수신된 패킷인 것처럼 시뮬레이션하여 메인 폼의 로직을 실행합니다.
+        /// </summary>
+        private void ExecuteRemoteCommand(ENIGProtocol.AGVCommandHE cmd, params byte[] data)
+        {
+            // XBEE 패킷 시뮬레이션
+            var packet = new ENIG.Packet();
+            packet.ID = 0; // ACS ID
+            packet.Command = (byte)cmd;
+
+            // 데이터 설정 (TargetID: PUB.setting.XBE_ID)
+            var buffer = new List<byte>();
+            buffer.Add((byte)PUB.setting.XBE_ID);
+            if (data != null) buffer.AddRange(data);
+            packet.Data = buffer.ToArray();
+
+            var args = new ENIG.EEProtocol.DataEventArgs { ReceivedPacket = packet };
+
+            var mainForm = Application.OpenForms.OfType<fMain>().FirstOrDefault();
+            if (mainForm != null)
+            {
+                // fMain.cs 내의 XBE_ProtocReceived를 호출하기 위해 리플렉션 사용
+                var method = typeof(fMain).GetMethod("XBE_ProtocReceived", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
+                if (method != null)
+                {
+                    method.Invoke(mainForm, new object[] { null, args });
+                }
+                else
+                {
+                    UTIL.MsgE("명령 처리 메서드(XBE_ProtocReceived)를 찾을 수 없습니다.");
+                }
+            }
+            else
+            {
+                UTIL.MsgE("메인 폼 인스턴스를 찾을 수 없습니다.");
+            }
+        }
+
+    }
+}

HMI/Project/Dialog/fACSCommand.resx

@@ -0,0 +1,120 @@
+<?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>
+</root>

HMI/Project/Dialog/fSystem.Designer.cs

@@ -60,7 +60,7 @@
             this.btOpenDir.Size = new System.Drawing.Size(201, 79);
             this.btOpenDir.TabIndex = 2;
             this.btOpenDir.Text = "폴더열기";
-            this.btOpenDir.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btOpenDir.UseVisualStyleBackColor = false;
             this.btOpenDir.Click += new System.EventHandler(this.lbMsg_Click);
             // 
             // arLabel4
@@ -76,7 +76,7 @@
             this.arLabel4.Size = new System.Drawing.Size(633, 51);
             this.arLabel4.TabIndex = 2;
             this.arLabel4.Text = "닫기";
-            this.arLabel4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.arLabel4.UseVisualStyleBackColor = false;
             this.arLabel4.Click += new System.EventHandler(this.arLabel4_Click);
             // 
             // btShutdown
@@ -92,7 +92,7 @@
             this.btShutdown.Size = new System.Drawing.Size(201, 79);
             this.btShutdown.TabIndex = 2;
             this.btShutdown.Text = "시스템 종료";
-            this.btShutdown.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btShutdown.UseVisualStyleBackColor = false;
             this.btShutdown.Click += new System.EventHandler(this.arLabel9_Click);
             // 
             // btRestart
@@ -108,7 +108,7 @@
             this.btRestart.Size = new System.Drawing.Size(201, 79);
             this.btRestart.TabIndex = 2;
             this.btRestart.Text = "시스템 재시작";
-            this.btRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btRestart.UseVisualStyleBackColor = false;
             this.btRestart.Click += new System.EventHandler(this.arLabel10_Click);
             // 
             // btStartMenu
@@ -124,7 +124,7 @@
             this.btStartMenu.Size = new System.Drawing.Size(201, 79);
             this.btStartMenu.TabIndex = 2;
             this.btStartMenu.Text = "시작메뉴";
-            this.btStartMenu.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btStartMenu.UseVisualStyleBackColor = false;
             this.btStartMenu.Click += new System.EventHandler(this.arLabel1_Click);
             // 
             // btTaskMgr
@@ -140,7 +140,7 @@
             this.btTaskMgr.Size = new System.Drawing.Size(201, 79);
             this.btTaskMgr.TabIndex = 2;
             this.btTaskMgr.Text = "작업관리자";
-            this.btTaskMgr.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btTaskMgr.UseVisualStyleBackColor = false;
             this.btTaskMgr.Click += new System.EventHandler(this.arLabel6_Click);
             // 
             // btProcessList
@@ -156,7 +156,7 @@
             this.btProcessList.Size = new System.Drawing.Size(201, 79);
             this.btProcessList.TabIndex = 2;
             this.btProcessList.Text = "Process List";
-            this.btProcessList.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btProcessList.UseVisualStyleBackColor = false;
             this.btProcessList.Click += new System.EventHandler(this.arLabel2_Click);
             // 
             // label1
@@ -194,7 +194,7 @@
             this.btEmulator.Size = new System.Drawing.Size(201, 79);
             this.btEmulator.TabIndex = 4;
             this.btEmulator.Text = "Emulator";
-            this.btEmulator.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btEmulator.UseVisualStyleBackColor = false;
             this.btEmulator.Click += new System.EventHandler(this.arLabel3_Click);
             // 
             // btMakePatch
@@ -210,7 +210,7 @@
             this.btMakePatch.Size = new System.Drawing.Size(201, 79);
             this.btMakePatch.TabIndex = 5;
             this.btMakePatch.Text = "패치파일 생성";
-            this.btMakePatch.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btMakePatch.UseVisualStyleBackColor = false;
             this.btMakePatch.Click += new System.EventHandler(this.arLabel5_Click);
             // 
             // btAutoRestart
@@ -226,7 +226,7 @@
             this.btAutoRestart.Size = new System.Drawing.Size(201, 79);
             this.btAutoRestart.TabIndex = 6;
             this.btAutoRestart.Text = "자동 재시작";
-            this.btAutoRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btAutoRestart.UseVisualStyleBackColor = false;
             this.btAutoRestart.Click += new System.EventHandler(this.arLabel7_Click);
             // 
             // tableLayoutPanel1
@@ -272,13 +272,13 @@
             // button2
             // 
             this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.button2.Enabled = false;
             this.button2.Location = new System.Drawing.Point(214, 270);
             this.button2.Name = "button2";
             this.button2.Size = new System.Drawing.Size(205, 83);
             this.button2.TabIndex = 7;
-            this.button2.Text = "---";
+            this.button2.Text = "ACS Commmand";
             this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click_1);
             // 
             // button3
             // 

HMI/Project/Dialog/fSystem.cs

@@ -162,5 +162,13 @@ namespace Project.Dialog
             if (fn.Exists == false) return;
             UTIL.RunExplorer(fn.FullName);
         }
+
+        private void button2_Click_1(object sender, EventArgs e)
+        {
+            var f = new Dialog.fACSCommand();
+            f.TopMost = true;
+            f.Show();
+            this.Close();
+        }
     }
 }

HMI/Project/ViewForm/fManual.cs

@@ -34,8 +34,8 @@ namespace Project.ViewForm
             radstrai.Checked = true;
 
             if (PUB.AGV.data.Speed == 'H') radspdh.Checked = true;
-            else if (PUB.AGV.data.Speed == 'L') radspdl.Checked = true;
+            else if (PUB.AGV.data.Speed == 'M') radspdm.Checked = true;
-            else radspdm.Checked = true;
+            else radspdl.Checked = true;
 
             this.timer1.Start();
         }