..

AGVEmulator/AGVEmulator.csproj

@@ -34,6 +34,9 @@
     <WarningLevel>4</WarningLevel>
     <Prefer32Bit>false</Prefer32Bit>
   </PropertyGroup>
+  <PropertyGroup>
+    <ApplicationIcon>icons8-robot-80.ico</ApplicationIcon>
+  </PropertyGroup>
   <ItemGroup>
     <Reference Include="arControl.Net4">
       <HintPath>..\Cs_HMI\DLL\arControl.Net4.dll</HintPath>
@@ -136,5 +139,8 @@
       <Name>ENIGProtocol</Name>
     </ProjectReference>
   </ItemGroup>
+  <ItemGroup>
+    <Content Include="icons8-robot-80.ico" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

AGVEmulator/DevXBE.cs

@@ -61,29 +61,52 @@ namespace AGVEmulator
         /// </summary>
         public void SendGotoTag(byte id, uint tag)
         {
-            var idSTR = id.ToString("X2");
+            //var idSTR = id.ToString("X2");
-            var tagSTR = tag.ToString("0000");
+            //var tagSTR = tag.ToString("0000");
-            var dataStr = $"{idSTR}{tagSTR}";
+            //var dataStr = $"{idSTR}{tagSTR}";
-            Send(ENIGProtocol.AGVCommandHE.Goto, dataStr);
+            var data = new List<byte>();
+            data.Add(id);
+            data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
+            Send(ENIGProtocol.AGVCommandHE.Goto, data.ToArray());
         }
+
+        /// <summary>
+        /// 카트를 가지러 들어간다
+        /// </summary>
+        /// <param name="id"></param>
+        public void SendPickOn(byte id)
+        {
+            var data = new List<byte>();
+            data.Add(id);
+            Send(ENIGProtocol.AGVCommandHE.PickOn, data.ToArray());
+        }
+
+        /// <summary>
+        /// 카트를 내려놓는다
+        /// </summary>
+        /// <param name="id"></param>
+        public void SendPickOff(byte id)
+        {
+            var data = new List<byte>();
+            data.Add(id);
+            Send(ENIGProtocol.AGVCommandHE.PickOff, data.ToArray());
+        }
+
         public void SendCurrentPos(byte id, uint tag)
         {
-            var idSTR = id.ToString("X2");
+            var data = new List<byte>();
-            var tagSTR = tag.ToString("0000");
+            data.Add(id);
-            var dataStr = $"{idSTR}{tagSTR}";
+            data.AddRange(System.Text.Encoding.Default.GetBytes(tag.ToString("0000")));
-            Send(ENIGProtocol.AGVCommandHE.SetCurrent, dataStr);
+            Send(ENIGProtocol.AGVCommandHE.SetCurrent, data.ToArray());
         }
-        private void Send(ENIGProtocol.AGVCommandHE Command, string datastr)
+        private void Send(ENIGProtocol.AGVCommandHE Command, byte[] data)
         {
             byte id = 0;
             byte cmd = (byte)Command; //move to target
-            byte[] data = null;
-            if (datastr != null && string.IsNullOrEmpty(datastr) == false)
-                data = System.Text.Encoding.Default.GetBytes(datastr);
             var packet = proto.CreatePacket(id, cmd, data);
             if (WriteData(packet, false))
             {
-                var hexstr = System.Text.Encoding.Default.GetString(data);
+                var hexstr =(data == null || data.Any()==false) ? string.Empty :  System.Text.Encoding.Default.GetString(data);
                 RaiseMessage(MessageType.Send, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
             }
         }

AGVEmulator/fMain.Designer.cs

@@ -32,7 +32,6 @@ namespace AGVEmulator
         private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(fMain));
             AGVEmulator.UC.AgvViewer.ptdata ptdata57 = new AGVEmulator.UC.AgvViewer.ptdata();
             AGVEmulator.UC.AgvViewer.ptdata ptdata58 = new AGVEmulator.UC.AgvViewer.ptdata();
             AGVEmulator.UC.AgvViewer.ptdata ptdata59 = new AGVEmulator.UC.AgvViewer.ptdata();
@@ -61,6 +60,7 @@ namespace AGVEmulator
             AGVEmulator.UC.AgvViewer.ptdata ptdata82 = new AGVEmulator.UC.AgvViewer.ptdata();
             AGVEmulator.UC.AgvViewer.ptdata ptdata83 = new AGVEmulator.UC.AgvViewer.ptdata();
             AGVEmulator.UC.AgvViewer.ptdata ptdata84 = new AGVEmulator.UC.AgvViewer.ptdata();
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(fMain));
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.rtBMS = new arCtl.LogTextBox();
             this.panel1 = new System.Windows.Forms.Panel();
@@ -86,6 +86,7 @@ namespace AGVEmulator
             this.label2 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
             this.trackBar1 = new System.Windows.Forms.TrackBar();
+            this.serBMS = new AGVEmulator.SerialConn();
             this.rtAGV = new arCtl.LogTextBox();
             this.panel4 = new System.Windows.Forms.Panel();
             this.groupBox9 = new System.Windows.Forms.GroupBox();
@@ -127,6 +128,7 @@ namespace AGVEmulator
             this.button4 = new System.Windows.Forms.Button();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.rtCAL = new arCtl.LogTextBox();
+            this.serCAL = new AGVEmulator.SerialConn();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage4 = new System.Windows.Forms.TabPage();
@@ -134,6 +136,8 @@ namespace AGVEmulator
             this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
             this.rtAGVPro = new arCtl.LogTextBox();
             this.panel12 = new System.Windows.Forms.Panel();
+            this.agvViewer1 = new AGVEmulator.UC.AgvViewer();
+            this.serAGV = new AGVEmulator.SerialConn();
             this.tabPage2 = new System.Windows.Forms.TabPage();
             this.tabPage3 = new System.Windows.Forms.TabPage();
             this.panel3 = new System.Windows.Forms.Panel();
@@ -152,6 +156,10 @@ namespace AGVEmulator
             this.toolStrip1 = new System.Windows.Forms.ToolStrip();
             this.toolStripButton1 = new System.Windows.Forms.ToolStripButton();
             this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
+            this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
+            this.toolStripButton3 = new System.Windows.Forms.ToolStripButton();
+            this.toolStripButton4 = new System.Windows.Forms.ToolStripButton();
+            this.toolStripButton5 = new System.Windows.Forms.ToolStripButton();
             this.statusStrip1 = new System.Windows.Forms.StatusStrip();
             this.toolStripStatusLabel8 = new System.Windows.Forms.ToolStripStatusLabel();
             this.sbAGV = new System.Windows.Forms.ToolStripStatusLabel();
@@ -159,14 +167,8 @@ namespace AGVEmulator
             this.sbBMS = new System.Windows.Forms.ToolStripStatusLabel();
             this.toolStripStatusLabel2 = new System.Windows.Forms.ToolStripStatusLabel();
             this.sbCAL = new System.Windows.Forms.ToolStripStatusLabel();
-            this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
+            this.button2 = new System.Windows.Forms.Button();
-            this.toolStripButton3 = new System.Windows.Forms.ToolStripButton();
+            this.button3 = new System.Windows.Forms.Button();
-            this.agvViewer1 = new AGVEmulator.UC.AgvViewer();
-            this.serAGV = new AGVEmulator.SerialConn();
-            this.serBMS = new AGVEmulator.SerialConn();
-            this.serCAL = new AGVEmulator.SerialConn();
-            this.toolStripButton4 = new System.Windows.Forms.ToolStripButton();
-            this.toolStripButton5 = new System.Windows.Forms.ToolStripButton();
             this.groupBox1.SuspendLayout();
             this.panel1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.trbT2)).BeginInit();
@@ -501,6 +503,18 @@ namespace AGVEmulator
             this.trackBar1.Value = 7000;
             this.trackBar1.Scroll += new System.EventHandler(this.trackBar1_Scroll);
             // 
+            // serBMS
+            // 
+            this.serBMS.BaudRate = 9600;
+            this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serBMS.dev = null;
+            this.serBMS.Dock = System.Windows.Forms.DockStyle.Top;
+            this.serBMS.Location = new System.Drawing.Point(3, 17);
+            this.serBMS.Name = "serBMS";
+            this.serBMS.PortName = "COM31";
+            this.serBMS.Size = new System.Drawing.Size(1134, 84);
+            this.serBMS.TabIndex = 1;
+            // 
             // rtAGV
             // 
             this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24)))));
@@ -984,6 +998,18 @@ namespace AGVEmulator
             this.rtCAL.TabIndex = 2;
             this.rtCAL.Text = "";
             // 
+            // serCAL
+            // 
+            this.serCAL.BaudRate = 9600;
+            this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serCAL.dev = null;
+            this.serCAL.Dock = System.Windows.Forms.DockStyle.Top;
+            this.serCAL.Location = new System.Drawing.Point(3, 17);
+            this.serCAL.Name = "serCAL";
+            this.serCAL.PortName = "COM41";
+            this.serCAL.Size = new System.Drawing.Size(776, 84);
+            this.serCAL.TabIndex = 1;
+            // 
             // timer1
             // 
             this.timer1.Interval = 200;
@@ -1069,6 +1095,149 @@ namespace AGVEmulator
             this.panel12.Size = new System.Drawing.Size(1140, 120);
             this.panel12.TabIndex = 5;
             // 
+            // agvViewer1
+            // 
+            this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F);
+            this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.agvViewer1.lastmark = "";
+            this.agvViewer1.lastmarkdir = "";
+            this.agvViewer1.lasttag = "";
+            this.agvViewer1.lasttagdir = "";
+            ptdata57.active = false;
+            ptdata57.data = "NOT";
+            ptdata57.pos = 30F;
+            ptdata58.active = false;
+            ptdata58.data = "QA";
+            ptdata58.pos = 200F;
+            ptdata59.active = false;
+            ptdata59.data = "CHG";
+            ptdata59.pos = 300F;
+            ptdata60.active = false;
+            ptdata60.data = "QC";
+            ptdata60.pos = 400F;
+            ptdata61.active = false;
+            ptdata61.data = "#FVI-1";
+            ptdata61.pos = 500F;
+            ptdata62.active = false;
+            ptdata62.data = "#FVI-2";
+            ptdata62.pos = 600F;
+            ptdata63.active = false;
+            ptdata63.data = "#FVI-3";
+            ptdata63.pos = 700F;
+            ptdata64.active = false;
+            ptdata64.data = "#FVI-4";
+            ptdata64.pos = 800F;
+            ptdata65.active = false;
+            ptdata65.data = "#FVI-5";
+            ptdata65.pos = 900F;
+            ptdata66.active = false;
+            ptdata66.data = "POT";
+            ptdata66.pos = 970F;
+            this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
+        ptdata57,
+        ptdata58,
+        ptdata59,
+        ptdata60,
+        ptdata61,
+        ptdata62,
+        ptdata63,
+        ptdata64,
+        ptdata65,
+        ptdata66};
+            ptdata67.active = false;
+            ptdata67.data = "9000";
+            ptdata67.pos = 80F;
+            ptdata68.active = false;
+            ptdata68.data = "9001";
+            ptdata68.pos = 120F;
+            ptdata69.active = false;
+            ptdata69.data = "9010";
+            ptdata69.pos = 180F;
+            ptdata70.active = false;
+            ptdata70.data = "9011";
+            ptdata70.pos = 220F;
+            ptdata71.active = false;
+            ptdata71.data = "9020";
+            ptdata71.pos = 280F;
+            ptdata72.active = false;
+            ptdata72.data = "9021";
+            ptdata72.pos = 320F;
+            ptdata73.active = false;
+            ptdata73.data = "9030";
+            ptdata73.pos = 380F;
+            ptdata74.active = false;
+            ptdata74.data = "9031";
+            ptdata74.pos = 420F;
+            ptdata75.active = false;
+            ptdata75.data = "9040";
+            ptdata75.pos = 480F;
+            ptdata76.active = false;
+            ptdata76.data = "9041";
+            ptdata76.pos = 520F;
+            ptdata77.active = false;
+            ptdata77.data = "9050";
+            ptdata77.pos = 580F;
+            ptdata78.active = false;
+            ptdata78.data = "9051";
+            ptdata78.pos = 620F;
+            ptdata79.active = false;
+            ptdata79.data = "9060";
+            ptdata79.pos = 680F;
+            ptdata80.active = false;
+            ptdata80.data = "9061";
+            ptdata80.pos = 720F;
+            ptdata81.active = false;
+            ptdata81.data = "9070";
+            ptdata81.pos = 780F;
+            ptdata82.active = false;
+            ptdata82.data = "9071";
+            ptdata82.pos = 820F;
+            ptdata83.active = false;
+            ptdata83.data = "9000";
+            ptdata83.pos = 10F;
+            ptdata84.active = false;
+            ptdata84.data = "9001";
+            ptdata84.pos = 50F;
+            this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
+        ptdata67,
+        ptdata68,
+        ptdata69,
+        ptdata70,
+        ptdata71,
+        ptdata72,
+        ptdata73,
+        ptdata74,
+        ptdata75,
+        ptdata76,
+        ptdata77,
+        ptdata78,
+        ptdata79,
+        ptdata80,
+        ptdata81,
+        ptdata82,
+        ptdata83,
+        ptdata84};
+            this.agvViewer1.Location = new System.Drawing.Point(241, 0);
+            this.agvViewer1.Name = "agvViewer1";
+            this.agvViewer1.Size = new System.Drawing.Size(899, 120);
+            this.agvViewer1.StopbyMark = false;
+            this.agvViewer1.TabIndex = 0;
+            this.agvViewer1.Text = "agvViewer1";
+            this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
+            // 
+            // serAGV
+            // 
+            this.serAGV.BaudRate = 9600;
+            this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serAGV.dev = null;
+            this.serAGV.Dock = System.Windows.Forms.DockStyle.Left;
+            this.serAGV.Location = new System.Drawing.Point(0, 0);
+            this.serAGV.Name = "serAGV";
+            this.serAGV.PortName = "COM21";
+            this.serAGV.Size = new System.Drawing.Size(241, 120);
+            this.serAGV.TabIndex = 0;
+            // 
             // tabPage2
             // 
             this.tabPage2.Controls.Add(this.groupBox1);
@@ -1093,6 +1262,8 @@ namespace AGVEmulator
             // 
             // panel3
             // 
+            this.panel3.Controls.Add(this.button3);
+            this.panel3.Controls.Add(this.button2);
             this.panel3.Controls.Add(this.nudIDAgv);
             this.panel3.Controls.Add(this.label7);
             this.panel3.Controls.Add(this.numericUpDown2);
@@ -1288,6 +1459,38 @@ namespace AGVEmulator
             this.toolStripButton2.Text = "All Close";
             this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
             // 
+            // toolStripSeparator1
+            // 
+            this.toolStripSeparator1.Name = "toolStripSeparator1";
+            this.toolStripSeparator1.Size = new System.Drawing.Size(6, 25);
+            // 
+            // toolStripButton3
+            // 
+            this.toolStripButton3.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton3.Image")));
+            this.toolStripButton3.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton3.Name = "toolStripButton3";
+            this.toolStripButton3.Size = new System.Drawing.Size(84, 22);
+            this.toolStripButton3.Text = "Open Map";
+            this.toolStripButton3.Click += new System.EventHandler(this.toolStripButton3_Click);
+            // 
+            // toolStripButton4
+            // 
+            this.toolStripButton4.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton4.Image")));
+            this.toolStripButton4.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton4.Name = "toolStripButton4";
+            this.toolStripButton4.Size = new System.Drawing.Size(117, 22);
+            this.toolStripButton4.Text = "Change Rotation";
+            this.toolStripButton4.Click += new System.EventHandler(this.toolStripButton4_Click);
+            // 
+            // toolStripButton5
+            // 
+            this.toolStripButton5.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton5.Image")));
+            this.toolStripButton5.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton5.Name = "toolStripButton5";
+            this.toolStripButton5.Size = new System.Drawing.Size(87, 22);
+            this.toolStripButton5.Text = "SetPosition";
+            this.toolStripButton5.Click += new System.EventHandler(this.toolStripButton5_Click);
+            // 
             // statusStrip1
             // 
             this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -1339,204 +1542,27 @@ namespace AGVEmulator
             this.sbCAL.Size = new System.Drawing.Size(19, 17);
             this.sbCAL.Text = "●";
             // 
-            // toolStripSeparator1
+            // button2
             // 
-            this.toolStripSeparator1.Name = "toolStripSeparator1";
+            this.button2.Location = new System.Drawing.Point(246, 295);
-            this.toolStripSeparator1.Size = new System.Drawing.Size(6, 25);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(86, 38);
+            this.button2.TabIndex = 14;
+            this.button2.Tag = "--";
+            this.button2.Text = "Pick On";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
             // 
-            // toolStripButton3
+            // button3
             // 
-            this.toolStripButton3.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton3.Image")));
+            this.button3.Location = new System.Drawing.Point(246, 339);
-            this.toolStripButton3.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.button3.Name = "button3";
-            this.toolStripButton3.Name = "toolStripButton3";
+            this.button3.Size = new System.Drawing.Size(86, 38);
-            this.toolStripButton3.Size = new System.Drawing.Size(84, 22);
+            this.button3.TabIndex = 15;
-            this.toolStripButton3.Text = "Open Map";
+            this.button3.Tag = "--";
-            this.toolStripButton3.Click += new System.EventHandler(this.toolStripButton3_Click);
+            this.button3.Text = "Pick Off";
-            // 
+            this.button3.UseVisualStyleBackColor = true;
-            // agvViewer1
+            this.button3.Click += new System.EventHandler(this.button3_Click);
-            // 
-            this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-            this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.agvViewer1.lastmark = "";
-            this.agvViewer1.lastmarkdir = "";
-            this.agvViewer1.lasttag = "";
-            this.agvViewer1.lasttagdir = "";
-            ptdata57.active = false;
-            ptdata57.data = "NOT";
-            ptdata57.pos = 30F;
-            ptdata58.active = false;
-            ptdata58.data = "QA";
-            ptdata58.pos = 200F;
-            ptdata59.active = false;
-            ptdata59.data = "CHG";
-            ptdata59.pos = 300F;
-            ptdata60.active = false;
-            ptdata60.data = "QC";
-            ptdata60.pos = 400F;
-            ptdata61.active = false;
-            ptdata61.data = "#FVI-1";
-            ptdata61.pos = 500F;
-            ptdata62.active = false;
-            ptdata62.data = "#FVI-2";
-            ptdata62.pos = 600F;
-            ptdata63.active = false;
-            ptdata63.data = "#FVI-3";
-            ptdata63.pos = 700F;
-            ptdata64.active = false;
-            ptdata64.data = "#FVI-4";
-            ptdata64.pos = 800F;
-            ptdata65.active = false;
-            ptdata65.data = "#FVI-5";
-            ptdata65.pos = 900F;
-            ptdata66.active = false;
-            ptdata66.data = "POT";
-            ptdata66.pos = 970F;
-            this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
-        ptdata57,
-        ptdata58,
-        ptdata59,
-        ptdata60,
-        ptdata61,
-        ptdata62,
-        ptdata63,
-        ptdata64,
-        ptdata65,
-        ptdata66};
-            ptdata67.active = false;
-            ptdata67.data = "9000";
-            ptdata67.pos = 80F;
-            ptdata68.active = false;
-            ptdata68.data = "9001";
-            ptdata68.pos = 120F;
-            ptdata69.active = false;
-            ptdata69.data = "9010";
-            ptdata69.pos = 180F;
-            ptdata70.active = false;
-            ptdata70.data = "9011";
-            ptdata70.pos = 220F;
-            ptdata71.active = false;
-            ptdata71.data = "9020";
-            ptdata71.pos = 280F;
-            ptdata72.active = false;
-            ptdata72.data = "9021";
-            ptdata72.pos = 320F;
-            ptdata73.active = false;
-            ptdata73.data = "9030";
-            ptdata73.pos = 380F;
-            ptdata74.active = false;
-            ptdata74.data = "9031";
-            ptdata74.pos = 420F;
-            ptdata75.active = false;
-            ptdata75.data = "9040";
-            ptdata75.pos = 480F;
-            ptdata76.active = false;
-            ptdata76.data = "9041";
-            ptdata76.pos = 520F;
-            ptdata77.active = false;
-            ptdata77.data = "9050";
-            ptdata77.pos = 580F;
-            ptdata78.active = false;
-            ptdata78.data = "9051";
-            ptdata78.pos = 620F;
-            ptdata79.active = false;
-            ptdata79.data = "9060";
-            ptdata79.pos = 680F;
-            ptdata80.active = false;
-            ptdata80.data = "9061";
-            ptdata80.pos = 720F;
-            ptdata81.active = false;
-            ptdata81.data = "9070";
-            ptdata81.pos = 780F;
-            ptdata82.active = false;
-            ptdata82.data = "9071";
-            ptdata82.pos = 820F;
-            ptdata83.active = false;
-            ptdata83.data = "9000";
-            ptdata83.pos = 10F;
-            ptdata84.active = false;
-            ptdata84.data = "9001";
-            ptdata84.pos = 50F;
-            this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
-        ptdata67,
-        ptdata68,
-        ptdata69,
-        ptdata70,
-        ptdata71,
-        ptdata72,
-        ptdata73,
-        ptdata74,
-        ptdata75,
-        ptdata76,
-        ptdata77,
-        ptdata78,
-        ptdata79,
-        ptdata80,
-        ptdata81,
-        ptdata82,
-        ptdata83,
-        ptdata84};
-            this.agvViewer1.Location = new System.Drawing.Point(241, 0);
-            this.agvViewer1.Name = "agvViewer1";
-            this.agvViewer1.Size = new System.Drawing.Size(899, 120);
-            this.agvViewer1.StopbyMark = false;
-            this.agvViewer1.TabIndex = 0;
-            this.agvViewer1.Text = "agvViewer1";
-            this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
-            // 
-            // serAGV
-            // 
-            this.serAGV.BaudRate = 9600;
-            this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serAGV.dev = null;
-            this.serAGV.Dock = System.Windows.Forms.DockStyle.Left;
-            this.serAGV.Location = new System.Drawing.Point(0, 0);
-            this.serAGV.Name = "serAGV";
-            this.serAGV.PortName = "COM20";
-            this.serAGV.Size = new System.Drawing.Size(241, 120);
-            this.serAGV.TabIndex = 0;
-            // 
-            // serBMS
-            // 
-            this.serBMS.BaudRate = 9600;
-            this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serBMS.dev = null;
-            this.serBMS.Dock = System.Windows.Forms.DockStyle.Top;
-            this.serBMS.Location = new System.Drawing.Point(3, 17);
-            this.serBMS.Name = "serBMS";
-            this.serBMS.PortName = "COM40";
-            this.serBMS.Size = new System.Drawing.Size(1134, 84);
-            this.serBMS.TabIndex = 1;
-            // 
-            // serCAL
-            // 
-            this.serCAL.BaudRate = 9600;
-            this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serCAL.dev = null;
-            this.serCAL.Dock = System.Windows.Forms.DockStyle.Top;
-            this.serCAL.Location = new System.Drawing.Point(3, 17);
-            this.serCAL.Name = "serCAL";
-            this.serCAL.PortName = "COM50";
-            this.serCAL.Size = new System.Drawing.Size(776, 84);
-            this.serCAL.TabIndex = 1;
-            // 
-            // toolStripButton4
-            // 
-            this.toolStripButton4.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton4.Image")));
-            this.toolStripButton4.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.toolStripButton4.Name = "toolStripButton4";
-            this.toolStripButton4.Size = new System.Drawing.Size(117, 22);
-            this.toolStripButton4.Text = "Change Rotation";
-            this.toolStripButton4.Click += new System.EventHandler(this.toolStripButton4_Click);
-            // 
-            // toolStripButton5
-            // 
-            this.toolStripButton5.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton5.Image")));
-            this.toolStripButton5.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.toolStripButton5.Name = "toolStripButton5";
-            this.toolStripButton5.Size = new System.Drawing.Size(87, 22);
-            this.toolStripButton5.Text = "SetPosition";
-            this.toolStripButton5.Click += new System.EventHandler(this.toolStripButton5_Click);
             // 
             // fMain
             // 
@@ -1706,6 +1732,8 @@ namespace AGVEmulator
         private ToolStripButton toolStripButton3;
         private ToolStripButton toolStripButton4;
         private ToolStripButton toolStripButton5;
+        private Button button3;
+        private Button button2;
     }
 }
 

AGVEmulator/fMain.cs

@@ -351,8 +351,8 @@ namespace AGVEmulator
         private void AgvViewer1_TagTouched(object sender, UC.AgvViewer.TagArgs e)
         {
             logAGV.Add($"tag touch:{e.Data}");
-            numericUpDown1.Text = e.Data;// decimal.Parse(e.Data);
+            //numericUpDown1.Text = e.Data;// decimal.Parse(e.Data);
-            button18.PerformClick();
+            //button18.PerformClick();
 
             UpdateVisualAgvPosition(e.Data);
         }
@@ -559,7 +559,7 @@ namespace AGVEmulator
 
 
 
-private void UpdateVisualAGV()
+        private void UpdateVisualAGV()
         {
             if (_visualAgv != null)
             {
@@ -619,18 +619,18 @@ private void UpdateVisualAGV()
                         // Send Tag
                         if (node.Id != numericUpDown1.Text)
                         {
-                             if (int.TryParse(node.Id, out int tag))
+                            if (int.TryParse(node.Id, out int tag))
-                             {
+                            {
-                                 AGV.SendTag(node.Id);
+                                //AGV.SendTag(node.Id);
-                                 numericUpDown1.Text = node.Id;
+                                numericUpDown1.Text = node.Id;
 
-                                 // Snap to node
+                                // Snap to node
-                                 _currentPosF = node.Position;
+                                _currentPosF = node.Position;
-                                 _visualAgv.CurrentPosition = node.Position;
+                                _visualAgv.CurrentPosition = node.Position;
 
-                                 // Decide Next Move (Turn/Straight)
+                                // Decide Next Move (Turn/Straight)
-                                 DecideNextMove(node);
+                                DecideNextMove(node);
-                             }
+                            }
                         }
                     }
                 }
@@ -793,7 +793,7 @@ private void UpdateVisualAGV()
         private void toolStripButton3_Click(object sender, EventArgs e)
         {
             var file = @"C:\Data\Amkor\AGV4\route\NewMap.agvmap";
-            if(System.IO.File.Exists(file)==false)
+            if (System.IO.File.Exists(file) == false)
             {
                 var od = new OpenFileDialog();
                 od.Filter = "json|*.json";
@@ -916,6 +916,19 @@ private void UpdateVisualAGV()
                 }
             }
         }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            this.XBE.SendPickOn(target);
+        }
+
+        private void button3_Click(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            this.XBE.SendPickOff(target);
+        }
+
         private void trbT2_Scroll(object sender, EventArgs e)
         {
             Temp2 = (UInt16)trbT2.Value;

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -78,6 +78,8 @@ namespace AGVNavigationCore.Controls
                 // 노드 라벨 그리기 (가장 나중 - 선이 텍스트를 가리지 않게)
                 DrawNodeLabels(g);
                 DrawLabels(g); // 추가: 텍스트 라벨
+
+        
             }
             finally
             {
@@ -93,6 +95,12 @@ namespace AGVNavigationCore.Controls
             {
                 DrawSyncScreen(g);
             }
+
+            //예측문자는 디버깅시에만 표시한다.
+            if (string.IsNullOrEmpty(PredictMessage) == false && System.Diagnostics.Debugger.IsAttached)
+            {
+                g.DrawString(this.PredictMessage, this.Font, Brushes.White, 10, 10);
+            }
         }
 
         private void DrawSyncScreen(Graphics g)

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -478,6 +478,17 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// 상세경로가 설정되어있는가?
+        /// </summary>
+        /// <returns></returns>
+        public bool HasPath()
+        {
+            if (_currentPath == null) return false;
+            if (_currentPath.DetailedPath == null) return false;
+            return _currentPath.DetailedPath.Any();
+        }
+
         /// <summary>
         /// 모든 경로 목록 (다중 AGV 경로 표시용)
         /// </summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -152,6 +152,18 @@ namespace AGVNavigationCore.Models
             return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
+        /// <summary>
+        /// RFID(*ID)
+        /// </summary>
+        public string ID2
+        {
+            get
+            {
+                if (HasRfid()) return $"{this.RfidId:0000}(*{this.Id})";
+                else return $"(*{this.Id})";
+            }
+        }
+
         public bool IsNavigationNode()
         {
             // 이제 MapNode는 항상 내비게이션 노드임 (Label, Image 분리됨)

Cs_HMI/AGVLogic/AGVNavigationCore/Models/NodeBase.cs

@@ -41,7 +41,6 @@ namespace AGVNavigationCore.Models
         public bool IsSelected { get; set; } = false;
 
 
-
         [Browsable(false)]
         [JsonIgnore]
         public bool IsHovered { get; set; } = false;

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -83,8 +83,8 @@ namespace AGVNavigationCore.Models
 
         // 에뮬레이터용 추가 속성
         public double Angle { get; set; } = 0; // 0 = Right, 90 = Down, 180 = Left, 270 = Up (Standard Math)
-        // But AGV Direction: Forward usually means "Front of AGV".
+                                               // But AGV Direction: Forward usually means "Front of AGV".
-        // Let's assume Angle is the orientation of the AGV in degrees.
+                                               // Let's assume Angle is the orientation of the AGV in degrees.
 
         public bool IsStopMarkOn { get; set; } = false;
 
@@ -143,6 +143,11 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public AGVPathResult CurrentPath => _currentPath;
 
+        public void ClearPath()
+        {
+            _currentPath = null;
+        }
+
         /// <summary>
         /// 현재 노드 ID
         /// </summary>
@@ -153,6 +158,18 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public string CurrentNodeId => _currentNode?.Id;
 
+        /// <summary>
+        /// 현재노드의 RFID(id)값을 표시합니다 없는경우 (X)가 표시됩니다
+        /// </summary>
+        public string CurrentNodeID2
+        {
+            get
+            {
+                if (_currentNode == null) return "(X)";
+                return _currentNode.ID2;
+            }
+        }
+
         /// <summary>
         /// 이전 위치
         /// </summary>
@@ -282,7 +299,7 @@ namespace AGVNavigationCore.Models
             if (_currentNode == null) return false;
             if (_currentPath == null) return false;
             var 미완료된처음노드 = _currentPath.DetailedPath.Where(t => t.IsPass == false).OrderBy(t => t.seq).FirstOrDefault();
-            if (미완료된처음노드 ==  null) return false;
+            if (미완료된처음노드 == null) return false;
             미완료된처음노드.IsPass = true;
             Console.WriteLine($"미완료된처음노드를 true러치합니다");
             return true;
@@ -295,6 +312,7 @@ namespace AGVNavigationCore.Models
         /// <returns>다음에 수행할 모터/마그넷/속도 명령</returns>
         public AGVCommand Predict()
         {
+
             // 1. 위치 미확정 상태 (RFID 2개 미만 감지)
             if (!_isPositionConfirmed)
             {
@@ -311,12 +329,17 @@ namespace AGVNavigationCore.Models
             // 2. 위치 확정됨 + 경로 없음 → 정지 (목적지 미설정 상태)
             if (_currentPath == null || (_currentPath.DetailedPath?.Count ?? 0) < 1)
             {
+                var curpos = "알수없음";
+                if (_currentNode != null)
+                {
+                    curpos = _currentNode.HasRfid() ? $"RFID #{_currentNode.RfidId} (*{_currentNode.Id})" : $"(*{_currentNode.Id})";
+                }
                 return new AGVCommand(
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
                      eAGVCommandReason.NoPath,
-                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.Id ?? "알수없음"}"
+                    $"(목적지 미설정) - 현재={curpos}"
                 );
             }
 
@@ -325,6 +348,9 @@ namespace AGVNavigationCore.Models
             if (_currentPath.DetailedPath.Where(t => t.seq < lastNode.seq && t.IsPass == false).Any() == false)
             {
                 // 마지막 노드에 도착했는지 확인 (현재 노드가 마지막 노드와 같은지)
+
+
+
                 if (_currentNode != null && _currentNode.Id == lastNode.NodeId)
                 {
                     if (lastNode.IsPass) //이미완료되었다.
@@ -334,7 +360,7 @@ namespace AGVNavigationCore.Models
                         MagnetPosition.S,
                         SpeedLevel.L,
                          eAGVCommandReason.Complete,
-                        $"목적지 도착 - 최종:{_currentNode?.Id ?? "알수없음"}"
+                        $"목적지 도착 - 최종:{CurrentNodeID2}"
                         );
                     }
                     else
@@ -345,7 +371,7 @@ namespace AGVNavigationCore.Models
                          MagnetPosition.S,
                          SpeedLevel.L,
                           eAGVCommandReason.MarkStop,
-                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.Id ?? "알수없음"}"
+                         $"목적지 도착 전(MarkStop) - 최종:{CurrentNodeID2}"
                          );
                     }
 
@@ -361,7 +387,7 @@ namespace AGVNavigationCore.Models
                     MagnetPosition.S,
                     SpeedLevel.L,
                      eAGVCommandReason.PathOut,
-                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.Id}"
+                    $"(재탐색요청)경로이탈 현재위치:{CurrentNodeID2}"
                 );
             }
 
@@ -403,6 +429,18 @@ namespace AGVNavigationCore.Models
 
         #region Public Methods - 경로 실행
 
+        /// <summary>
+        /// 경로가 설정되어있는지?
+        /// </summary>
+        /// <returns></returns>
+        public bool HasPath()
+        {
+            if (_currentPath == null) return false;
+            if (_currentPath.DetailedPath == null) return false;
+            return _currentPath.DetailedPath.Any();
+
+        }
+
         /// <summary>
         /// 경로 설정 (실제 AGV 및 시뮬레이터에서 사용)
         /// </summary>
@@ -411,6 +449,9 @@ namespace AGVNavigationCore.Models
         {
             if (path == null)
             {
+                _currentPath = null;
+                _remainingNodes.Clear();// = null;
+                _currentNodeIndex = 0;
                 OnError("경로가 null입니다.");
                 return;
             }

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs

@@ -123,6 +123,8 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (RequiresSpecialAction)
                 result += $" [특수동작:{SpecialActionDescription}]";
 
+            if (IsPass) result += "(O)";
+
             return result;
         }
     }

Cs_HMI/Project/Class/Lang.cs

@@ -55,10 +55,10 @@ namespace Project
 
         public static string 상차 = "상차";
         public static string 하차 = "하차";
-        public static string 홈검색완료 = "홈 검색 완료";
+        public static string 이동완료 = "이동 완료";
         public static string 오버로드감지 = "오버로드 감지";
-        public static string 상차작업을시작합니다 { get { return string.Format("{0} 작업을 시작 합니다",상차); } }
+        public static string 진출을시작합니다 { get { return "진출 시작"; } }
-        public static string 하차작업을시작합니다 { get { return string.Format("{0} 작업을 시작 합니다", 하차); } }
+        public static string 진입을작합니다 { get { return "진입 시작"; } }
         public static string 안전커버를내려주세요 = "안전 커버를 내려 주세요";
         public static string 안전커버를올려주세요 = "안전 커버를 올려 주세요";
         public static string 안전커버를올리면상차가완료됩니다 = "안전 커버를 올리면 상차가 완료 됩니다";

Cs_HMI/Project/Device/Xbee.cs

@@ -14,6 +14,36 @@ using System.Windows.Forms;
 
 namespace Project.Device
 {
+    public enum eDocStep : byte
+    {
+        NotSet = 0,
+
+        /// <summary>
+        /// 투입준비됨
+        /// </summary>
+        InReady = 10,
+
+        /// <summary>
+        /// 투입완료
+        /// </summary>
+        InComplete = 11,
+
+        /// <summary>
+        /// 투입(진행중)
+        /// </summary>
+        InIng = 12,
+
+        /// <summary>
+        /// 진출완료
+        /// </summary>
+        OutComplete = 21,
+
+        /// <summary>
+        /// 진출중
+        /// </summary>
+        OutIng = 22,
+    }
+
     public class Xbee : SerialPort, arDev.ISerialComm
     {
         public string buffer = string.Empty;
@@ -166,17 +196,10 @@ namespace Project.Device
             Send(packet);
         }
 
-        public bool BufferInReady { get; set; }
+        public eDocStep StepBuffer { get; set; } = eDocStep.NotSet;
-        public bool BufferInComplete { get; set; }
+        public eDocStep StepUnloader { get; set; } = eDocStep.NotSet;
-        public bool BufferOutComplete { get; set; }
+        public eDocStep StepLoader { get; set; } = eDocStep.NotSet;
-        public bool BufferReadyError { get; set; }
+        public eDocStep StepCleaner { get; set; } = eDocStep.NotSet;
-
-        public bool LoaderInComplete { get; set; }
-        public bool LoaderOutComplete { get; set; }
-        public bool UnloaderInComplete { get; set; }
-        public bool UnloaderOutComplete { get; set; }
-        public bool CleanerInComplete { get; set; }
-        public bool CleanerOutComplete { get; set; }
 
         ManualResetEvent sendlock = new ManualResetEvent(true);
 

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -52,6 +52,7 @@ namespace Project
                     VAR.TIME.Update(eVarTime.ReadyStart);
                 else
                     VAR.TIME.Update(eVarTime.RunStart);
+                VAR.I32[eVarInt32.PathValidationError] = 0;
             }
 
             //자동모드에서 대기상태 (추가동작없음)
@@ -90,7 +91,12 @@ namespace Project
             }
 
             //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return;
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
+            {
+                PUB.Result.result_message = "현재 위치 확인 중";
+                PUB.Result.result_progressmax = 0;
+                return;
+            }
 
             //나머지 상황체크
             switch (PUB.sm.RunStep)
@@ -109,33 +115,46 @@ namespace Project
                         var target = PUB._virtualAGV.TargetNode;
                         PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
 
+                        PUB.XBE.StepLoader = Device.eDocStep.NotSet;
+                        PUB.XBE.StepCleaner = Device.eDocStep.NotSet;
+                        PUB.XBE.StepUnloader = Device.eDocStep.NotSet;
+                        PUB.XBE.StepBuffer = Device.eDocStep.NotSet;
+
                         switch (target.StationType)
                         {
                             case AGVNavigationCore.Models.StationType.Buffer:
-                                //현재위치가 마지막경로의 NODEID와 일치해야한다
-                                if (PUB._virtualAGV.CurrentPath == null)
-                                {
-                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
-                                    PUB.XBE.BufferInComplete = false;
-                                    PUB.XBE.BufferOutComplete = false;
-                                    break;
-                                }
                                 var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
                                 if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
                                 {
                                     //버퍼진입전 노드에 도착완료했따
-                                    PUB.XBE.BufferInReady = true;
+                                    PUB.XBE.StepBuffer = Device.eDocStep.InReady;
-                                    PUB.XBE.BufferReadyError = false;
                                 }
                                 else
                                 {
                                     //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
-                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 마지막 노드가 아닙니다");
+                                    PUB.XBE.StepBuffer = Device.eDocStep.NotSet;
-                                    PUB.XBE.BufferInReady = false;
+                                    PUB.log.AddE($"목적지가 버퍼이나 노드가 불일치 한다 오류사항");
-                                    PUB.XBE.BufferReadyError = true;
+                                    PUB.sm.SetNewRunStep(ERunStep.ERROR);
                                 }
-                                PUB.XBE.BufferInComplete = false;
+                                break;
-                                PUB.XBE.BufferOutComplete = false;
+                            case AGVNavigationCore.Models.StationType.Charger:
+
+                                break;
+
+                            case AGVNavigationCore.Models.StationType.Loader:
+                                PUB.XBE.StepLoader = Device.eDocStep.InReady;
+                                break;
+
+                            case AGVNavigationCore.Models.StationType.Clearner:
+                                PUB.XBE.StepCleaner = Device.eDocStep.InReady;
+                                break;
+
+                            case AGVNavigationCore.Models.StationType.UnLoader:
+                                PUB.XBE.StepUnloader = Device.eDocStep.InReady;
+                                break;
+
+                            default:
+                                PUB.log.Add($"정의되지 않은 스테이션 입니다({target.StationType}) ");
                                 break;
                         }
 
@@ -144,7 +163,7 @@ namespace Project
                     }
                     break;
 
-                case ERunStep.MARKSTOPB:   //후진방향으로 마크스탑
+                case ERunStep.MARKSTOPB:    //후진방향으로 마크스탑
                 case ERunStep.MARKSTOPF:    //전진방향으로 마크스탑
 
                     //이동중이지 않다면 먼저 이동을 진행한다
@@ -169,10 +188,6 @@ namespace Project
                     }
                     else if (_SM_RUN_GOCHARGE(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
-                        //230601
-                        //if (PUB.Result != null && PUB.sm != null)
-                        //   EEMStatus.AddEEDBSQL(PUB.sm.Step, PUB.sm.RunStep.ToString(), PUB.Result.TargetPos.ToString());
-
                         PUB.Speak(Lang.충전을시작합니다);
                         PUB.sm.SetNewRunStep(ERunStep.CHARGECHECK);
                         return;
@@ -207,16 +222,7 @@ namespace Project
                             //충전상태가 활성화되었으므로 대기상태로 전환한다
                             PUB.sm.ClearRunStep();
 
-                            //충전기위치에서 OFF를 한 경우이다
+                            //대기상태로 전환
-                            if (PUB.Result.CurrentPos != ePosition.CHARGE || PUB.Result.TargetPos != ePosition.CHARGE)
-                            {
-                                PUB.Result.CurrentPos = ePosition.NONE;
-                            }
-                            else
-                            {
-                                PUB.Result.TargetPos = ePosition.QC;
-                            }
-                            PUB.Result.CurrentPosCW = "1";
                             PUB.sm.SetNewRunStep(ERunStep.READY);
                             PUB.log.AddAT("충전 해제로 대기상태로 전환 합니다");
                         }
@@ -228,8 +234,7 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹해제완료);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.LoaderInComplete = false;
+                        PUB.XBE.StepLoader = Device.eDocStep.OutComplete;
-                        PUB.XBE.LoaderOutComplete = true;
 
                         //대기상태로 전환
                         PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -243,23 +248,10 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹이완료되었습니다);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.LoaderInComplete = true;
+                        PUB.XBE.StepLoader = Device.eDocStep.InComplete;
 
-                        //로더아웃으로 자동 진행하지 않음 (ACS 명령 대기)
+                        //대기상태로 전환
-                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
-                        {
-                            PUB.sm.SetNewRunStep(ERunStep.READY);
-                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Command consumed
-                        }
-                        else
-                        {
-                            // Legacy behavior or Goto command: Auto-exit? 
-                            // User said separation is key. Let's Stop here too or keep legacy for GOTO?
-                            // Assuming GOTO might rely on this, but safer to STOP if we want strict separation.
-                            // However, let's keep legacy behavior for GOTO if possible, but for PickOn/Off we STOP.
-                            PUB.sm.ClearRunStep();
-                            PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
-                        }
                         return;
                     }
                     break;
@@ -270,8 +262,7 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹해제완료);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.UnloaderInComplete = false;
+                        PUB.XBE.StepUnloader = Device.eDocStep.OutComplete;
-                        PUB.XBE.UnloaderOutComplete = true;
 
                         //대기상태로 전환
                         PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -285,19 +276,10 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹이완료되었습니다);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.UnloaderInComplete = true;
+                        PUB.XBE.StepUnloader = Device.eDocStep.InComplete;
 
-                        //언로더아웃으로 자동 진행하지 않음
+                        //대기상태로 전환
-                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
-                        {
-                            PUB.sm.SetNewRunStep(ERunStep.READY);
-                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
-                        }
-                        else
-                        {
-                            PUB.sm.ClearRunStep();
-                            PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
-                        }
                         return;
                     }
                     break;
@@ -308,8 +290,7 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹해제완료);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.CleanerInComplete = false;
+                        PUB.XBE.StepCleaner = Device.eDocStep.OutComplete;
-                        PUB.XBE.CleanerOutComplete = true;
 
                         //대기상태로 전환
                         PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -323,19 +304,10 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹이완료되었습니다);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.CleanerInComplete = true;
+                        PUB.XBE.StepCleaner = Device.eDocStep.InComplete;
 
                         //클리너아웃으로 자동 진행하지 않음
-                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
-                        {
-                            PUB.sm.SetNewRunStep(ERunStep.READY);
-                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
-                        }
-                        else
-                        {
-                            PUB.sm.ClearRunStep();
-                            PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
-                        }
                         return;
                     }
                     break;
@@ -346,13 +318,13 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹해제완료);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.BufferInComplete = false;
+                        PUB.XBE.StepBuffer = Device.eDocStep.OutComplete;
-                        PUB.XBE.BufferOutComplete = true;
 
                         //대기상태로 전환
                         PUB.sm.SetNewRunStep(ERunStep.READY);
                         return;
                     }
+                    else PUB.XBE.StepBuffer = Device.eDocStep.OutIng;
                     break;
 
                 case ERunStep.BUFFER_IN: //버퍼도킹
@@ -361,28 +333,16 @@ namespace Project
                         PUB.Speak(Lang.버퍼도킹이완료되었습니다);
 
                         //도킹완료상태를 업데이트한다. 
-                        PUB.XBE.BufferInComplete = true;
+                        PUB.XBE.StepBuffer = Device.eDocStep.InComplete;
 
-                        //버퍼아웃으로 자동 진행하지 않음
+                        //대기상태로 전환
-                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
-                        {
-                            PUB.sm.SetNewRunStep(ERunStep.READY);
-                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
-                        }
-                        else
-                        {
-                            PUB.sm.ClearRunStep();
-                            PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
-                        }
                         return;
                     }
+                    else PUB.XBE.StepBuffer = Device.eDocStep.InIng;
                     break;
-
-
             }
 
-
-
         }
 
     }//cvass

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -11,26 +11,17 @@ namespace Project
 {
     public partial class fMain
     {
-        /// <summary>
+        public Boolean _SM_RUN_BUFFER_IN(bool isFirst, TimeSpan seqtime)
-        /// 버퍼도킹
-        /// </summary>
-        /// <param name="isFirst"></param>
-        /// <param name="stepTime"></param>
-        /// <returns></returns>
-        public Boolean _SM_RUN_BUFFER_IN(bool isFirst, TimeSpan stepTime)
         {
             var funcname = "_SM_RUN_BUFFER_IN";
             var idx = 1;
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+            if (_SM_RUN_CHGOFF(isFirst, seqtime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
-
             /*
              * 버퍼IN시퀀스
              * 1. 회전이 진행되지 않았다면 회전을 진행한다.
@@ -41,8 +32,8 @@ namespace Project
 
             if (PUB.sm.RunStepSeq == idx++)
             {
-                PUB.log.Add("버퍼도킹시작");
+                PUB.log.Add($"[{funcname}] 버퍼진입시작({PUB.NextWorkCmd}) Turn:{PUB._virtualAGV.Turn}");
-                PUB.Speak(Lang.하차작업을시작합니다);
+                PUB.Speak(Lang.진입을작합니다);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -70,9 +61,9 @@ namespace Project
             {
                 if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
                 {
-                    VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                     PUB.AGV.AGVMoveLeft180Turn();
                     PUB.log.Add("AGV Left Turn");
+                    VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                     PUB.sm.UpdateRunStepSeq();
                 }
                 else PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
@@ -80,59 +71,35 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                //왼쪽턴이 완료되지 않은경우
+                if (PUB.AGV.TurnInformation.State != arDev.eNarumiTurn.Left)
                 {
-                    //5초이내에 턴이동 상태가 확인되어야 한다.
+                    //움직임 확인을 위해 3초간은 검증을 유예한다
-                    if (PUB.AGV.system1.agv_run == false)
+                    if (PUB.AGV.TurnInformation.Runtime.TotalSeconds < 3) return false;
+
+                    //턴 이동 상태가 확인되어야 한다.
+                    var overtime = 10;
+                    if (PUB.AGV.TurnInformation.Runtime.TotalSeconds > overtime)
                     {
-                        var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                        //5초동안 AGV까 움직이지 않았다면 오류 처리한다.
-                        if (ts.TotalSeconds > 5)
+                        PUB.AGV.AGVMoveStop($"[bufferin] {overtime}초이내 턴 감지 안됨");
-                        {
+                        PUB.log.AddE($"[{funcname}] {overtime}초이내 턴 감지 안됨");
-                            //5초동안 AGV까 움직이지 않았다면 오류 처리한다.
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                            PUB.AGV.AGVMoveStop("5초이내 턴 감지 안됨");
-                            PUB.log.AddE("5초이내 턴 감지 안됨");
-                            PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                            return false;
-                        }
                         return false;
                     }
-                }
+                    return false;
-                PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                //턴이완료되었느닞 확인한다.
-                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
-                {
-                    //10초 이상 가동하고 있다면 문제이다 
-                    if (PUB.AGV.system1.agv_run == true)
-                    {
-                        var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                        if (ts.TotalSeconds > 15)
-                        {
-                            PUB.AGV.AGVMoveStop("15초이내 턴 이 완료되지 않음");
-                            PUB.log.AddE("5초이내 턴 완료 확인 안됨");
-                            PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                            return false;
-                        }
-                        return false;
-                    }
-                    else PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.L90;
-                }
-                PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                // [PickOn/PickOff] 초기 리프트 동작
-                var liftCmd = arDev.Narumi.LiftCommand.DN; 
-                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
-                {
-                    liftCmd = arDev.Narumi.LiftCommand.UP;
                 }
 
+                PUB.log.Add($"[{funcname}] Turn(left) 완료");
+                PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //버퍼에들어갈때에는 가져다 놓을때도 가지러 갈때에도 리프트는 내려서 들어간다
+                var liftCmd = arDev.Narumi.LiftCommand.DN;
                 PUB.AGV.LiftControl(liftCmd);
+                PUB.log.Add($"[{funcname}]  리프트를 내립니다");
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
@@ -140,12 +107,32 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //리프트 센서 확인 
-                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                if (PUB.AGV.signal1.lift_down == false)
-                 if (ts.TotalSeconds > 10)
+                {
-                 {
+                    if (seqtime.TotalSeconds > 20)
-                        // Timebound check
+                    {
-                 }
+                        PUB.log.AddAT($"[{funcname}] 리프트가 내려가지 않아 1회 재시도 합니다");
-                PUB.log.Add("리프트 동작 확인 완료");
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                        //재시도를 했으니 다음으로 진행하게한다
+                    }
+                    else return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                if (PUB.AGV.signal1.lift_down == false)
+                {
+                    if (seqtime.TotalSeconds > 20)
+                    {
+                        PUB.log.AddE($"[{funcname}] 리프트가 내려가지 않습니다");
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -160,26 +147,32 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
-                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Backward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
-                if (moveset == false)
+
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
                 {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ret >= arDev.eNarumiCommandResult.Error)
-                    if (ts.TotalSeconds > 10)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
-                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
                     }
+                    return false;
                 }
+                
+                //후진이동을한다
                 PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+
+                //마크스탑으로 이동
                 PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
@@ -193,7 +186,7 @@ namespace Project
                     if (ts.TotalSeconds > 3)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
-                        PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
+                        PUB.log.AddE($"[{funcname}] MARK STOP신호가 확인되지 않습니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
                         return false;
                     }
@@ -211,7 +204,7 @@ namespace Project
                     if (ts.TotalSeconds > 10)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
-                        PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
+                        PUB.log.AddE($"[{funcname}] AGV가 멈추지 않아 강제종료 합니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
                         return false;
                     }
@@ -223,45 +216,22 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                if (seqtime.TotalSeconds < 2) return false;
-                PUB.log.Add("버퍼 진입 완료. 작업 수행(Lift Pick/Drop)");
+                PUB.log.Add($"[{funcname}] 작업({PUB.NextWorkCmd}) 완료. 대기 상태로 전환 (퇴출 명령 대기)");
-                
-                var liftCmd = arDev.Narumi.LiftCommand.UP; 
-                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
-                {
-                    liftCmd = arDev.Narumi.LiftCommand.DN; 
-                }
-
-                PUB.AGV.LiftControl(liftCmd);
-                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                 // 리프트 동작 대기 
+                //완료되었다.
-                 // TODO: 실제 센서 확인 로직 추가 필요
+                PUB.log.Add($"[{funcname}] 버퍼 진입 및 작업 완료");
-                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                 if (ts.TotalSeconds < 2) return false; 
-                 
-                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환 (퇴출 명령 대기)");
-                 PUB.sm.UpdateRunStepSeq();
-                 return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                //완료되었다. (ACS에 보내야함)
-                PUB.log.Add("버퍼 진입 및 작업 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
 
             // 작업을 마치고 설비 안에 멈춰있는 상태.
             // ACS가 이 상태를 확인하고 NextWorkCmd로 퇴출(Out) 명령을 보내야 함.
-            PUB.AddEEDB($"버퍼작업완료({PUB.Result.TargetPos})");
+            PUB.AddEEDB($"[{funcname}] 버퍼작업완료({PUB.Result.TargetPos})");
-            return true;
-
-            PUB.AddEEDB($"버퍼투입완료({PUB.Result.TargetPos})");
             return true;
         }
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -11,30 +11,97 @@ namespace Project
 {
     public partial class fMain
     {
-
+        public Boolean _SM_RUN_BUFFER_OUT(bool isFirst, TimeSpan seqtime)
-        public Boolean _SM_RUN_BUFFER_OUT(bool isFirst, TimeSpan stepTime)
         {
+            var funcname = "_SM_RUN_BUFFER_IN";
+            var idx = 1;
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+            if (_SM_RUN_CHGOFF(isFirst, seqtime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
+            /*
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+             * 버퍼 OUT 시퀀스
+             * 1-1. PickOn 라면 리프트를 Up 한다
+             * 1-2. PickOff 라면 리프트를 Down 한다 
+             * 2.전진-저속-마크다운
+             * 3.Turn-Right-180
+            */
 
-            var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add($"[{funcname}] 버퍼진출시작({PUB.NextWorkCmd}) Turn:{PUB._virtualAGV.Turn}");
+                PUB.Speak(Lang.진출을시작합니다);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
+                PUB.log.Add($"[{funcname}] 리프트제어 {lift}");
+                PUB.AGV.LiftControl(lift);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
+                if (checksensor == false)
+                {
+                    if (seqtime.TotalSeconds > 20)
+                    {
+                        PUB.log.AddAT($"[{funcname}] 리프트가 완료되지 않아 1회 재시도 합니다");
+                        arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
+                        PUB.AGV.LiftControl(lift);
+                    }
+                    else return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
+                if (checksensor == false)
+                {
+                    if (seqtime.TotalSeconds > 20)
+                    {
+                        PUB.log.AddE($"[{funcname}] 리프트가 동작하지 않습니다");
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //빈 상태로 아웃해야한다.
-                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Forward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    if (ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
+
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_IN.cs

@@ -25,9 +25,6 @@ namespace Project
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
-
             /*
              * 클리너 IN 시퀀스 (버퍼 복사 - 턴 제거)
              * 1. LIFT DOWN
@@ -78,24 +75,25 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
-                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Backward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
-                if (moveset == false)
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
                 {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ret >= arDev.eNarumiCommandResult.Error)
-                    if (ts.TotalSeconds > 10)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
-                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
                     }
+                    return false;
                 }
+
                 PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
                 PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_OUT.cs

@@ -16,26 +16,37 @@ namespace Project
         /// </summary>
         public Boolean _SM_RUN_CLEANER_OUT(bool isFirst, TimeSpan stepTime)
         {
+            var funcname = "CLEANEROUT";
+
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
                 //빈 상태로 아웃해야한다.
-                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Forward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    if (ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs

@@ -14,11 +14,11 @@ namespace Project
         DateTime tm_gocharge_command = DateTime.Now;
         public Boolean _SM_RUN_GOCHARGE(bool isFirst, TimeSpan stepTime)
         {
+            var funcname = "GOCHARGE";
             if (runStepisFirst)
             {
                 //홈을 찾도록 항상 위치를 지워버리자
                 PUB.Result.CurrentPos = ePosition.NONE;
-                PUB.Result.CurrentPos = ePosition.NONE;
             }
 
             //HW 연결오류
@@ -57,13 +57,7 @@ namespace Project
                 return false;
             }
 
-            //현재 위치가 결정되어있는지 체크한다
+       
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-            {
-                PUB.Result.result_message = "충전기 검색 전 현재 위치 검색";
-                PUB.Result.result_progressmax = 0;
-                return false;
-            }
 
             //충전작업진행상태 //220629
             //if (PUB.flag.get(EFlag.FLAG_GO_CHAGER_TEMP) == false)
@@ -119,17 +113,26 @@ namespace Project
             {
                 PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
                 PUB.Speak(Lang.충전기를검색합니다);
-                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Speed = arDev.Narumi.eMoveSpd.Low,
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Forward,
                     PBSSensor = 1,
                 });
-                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                if(ret != arDev.eNarumiCommandResult.Success)
-                //PUB.Result.TargetPos = ePosition.CHARGE;
+                {
-                VAR.TIME.Update(eVarTime.ChargeSearch);
+                    if(ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        PUB.log.AddE($"[{funcname}] AGV속도설정 실패");
+                        PUB.AGV.AGVMoveStop("err");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
 
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                VAR.TIME.Update(eVarTime.ChargeSearch);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOHOME.cs

@@ -72,8 +72,8 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                PUB.Speak(Lang.홈검색완료, true);
+                PUB.Speak(Lang.이동완료, true);
-                PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
+                PUB.AddEEDB($"이동완료({PUB.Result.TargetPos})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -67,8 +67,8 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                PUB.Speak(Lang.홈검색완료, true);
+                PUB.Speak(Lang.이동완료, true);
-                PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
+                PUB.AddEEDB($"이동완료({PUB._virtualAGV.TargetNode.ID2})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_IN.cs

@@ -25,8 +25,6 @@ namespace Project
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
      
             /*
              * 로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
@@ -84,23 +82,22 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
-                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Backward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
-                if (moveset == false)
+                if (ret != arDev.eNarumiCommandResult.Success)
                 {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ret >= arDev.eNarumiCommandResult.Error)
-                    if (ts.TotalSeconds > 10)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
                         PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
                     }
+                    return false;
                 }
                 PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
                 PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);

Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_OUT.cs

@@ -16,27 +16,37 @@ namespace Project
         /// </summary>
         public Boolean _SM_RUN_LOADER_OUT(bool isFirst, TimeSpan stepTime)
         {
-
+            var funcname = "LOADEROUT";
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
                 //빈 상태로 아웃해야한다.
-                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Forward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    if (ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
+
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

@@ -16,9 +16,6 @@ namespace Project
             if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.PrevNode != null)
                 return true;
 
-            //최소2개의 노드정보가 있어야 진행가능하므로 prevNode 값이 있는지 확인한다.
-
-
             //이동을 하지 않고있다면 전진을 진행한다
             if (PUB.AGV.system1.agv_run == false)
             {
@@ -26,14 +23,17 @@ namespace Project
                 if (ts.TotalSeconds > 5)
                 {
                     PUB.log.Add($"현재위치를 몰라 전진 이동 합니다");
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
                         Direction = arDev.Narumi.eMoveDir.Forward,
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                    if(ret == arDev.eNarumiCommandResult.Success)
+                    {
+                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                    }
                     VAR.TIME.Update(eVarTime.LastRunCommandTime);
                 }
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_IN.cs

@@ -25,9 +25,6 @@ namespace Project
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
-
             /*
              * 언로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
              * 1. LIFT DOWN
@@ -78,24 +75,27 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
-                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Backward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
-                if (moveset == false)
+
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
                 {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ret >= arDev.eNarumiCommandResult.Error)
-                    if (ts.TotalSeconds > 10)
                     {
                         PUB.AGV.AGVMoveStop(funcname);
-                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
                         PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
                     }
+                    return false;
                 }
+
+
                 PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
                 PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);

Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_OUT.cs

@@ -16,27 +16,37 @@ namespace Project
         /// </summary>
         public Boolean _SM_RUN_UNLOADER_OUT(bool isFirst, TimeSpan stepTime)
         {
-
+            var funcname = "UNLOADEROUT";
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false; 
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
                 //빈 상태로 아웃해야한다.
-                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
                     Direction = arDev.Narumi.eMoveDir.Forward,
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
+                //명령이 실패되었다면 재시도를 한다
+                if (ret != arDev.eNarumiCommandResult.Success)
+                {
+                    if (ret >= arDev.eNarumiCommandResult.Error)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE($"[{funcname}] AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                    }
+                    return false;
+                }
+
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -67,8 +67,9 @@ namespace Project
         /// <returns></returns>
         Boolean UpdateMotionPositionForMark(string sender)
         {
-            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
+            ////현재위치를 모르는 상태라면 처리하지 않는다
-            if (_SM_RUN_POSCHK(false, new TimeSpan()) == false) return false;
+            if (PUB._virtualAGV.CurrentNode == null || PUB._virtualAGV.PrevNode == null)
+                return false;
 
             //현재위치노드 오류
             var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNode.Id);
@@ -119,6 +120,7 @@ namespace Project
                 }
                 else
                 {
+                    //계산은 되었으나 현재위치가 전체 경로 없다면 시작노드를 현재로 변경해야한다.
                     PUB._mapCanvas.CurrentPath = PathResult.result;
                     PUB._virtualAGV.SetPath(PathResult.result);
                 }
@@ -133,19 +135,50 @@ namespace Project
                 {
                     PUB.AGV.AGVMoveStop("Path Integrity Fail");
                 }
-                PUB.log.AddE($"경로 무결성 오류");
+                PUB.log.AddE($"경로 무결성 오류로 인해 경로를 삭제 합니다");
-                PUB.sm.SetNewRunStep(ERunStep.READY);
+                Console.WriteLine($"경로 무결성 오류로 인해 경로를 삭제 합니다");
+                PUB._virtualAGV.SetPath(null);
+                VAR.I32[eVarInt32.PathValidationError] += 1;
+                if (VAR.I32[eVarInt32.PathValidationError] > 50)
+                {
+                    PUB.log.AddE($"연속 경로 무결성 오류로 인해 중지 합니다");
+                    PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                }
                 return false;
             }
+            else VAR.I32[eVarInt32.PathValidationError] = 0;
+
+            //현재위치 기준으로 재 계산하여. 더 최적화된 루트가 있다면 처리를 해준다.
+            if (PUB._virtualAGV.CurrentPath.DetailedPath.Count > 5)
+            {
+                var PathResult2 = CalcPath(PUB._virtualAGV.CurrentNode, PUB._virtualAGV.TargetNode);
+                if (PathResult2.result != null && PathResult2.result.Success)
+                {
+                    //절반이상 경로가 짧을때에는 재계산을 하게한다
+                    var halfcnt = (int)(PUB._virtualAGV.CurrentPath.DetailedPath.Count / 2.0);
+                    if (PathResult2.result.DetailedPath.Count < halfcnt)
+                    {
+                        var msg = $"단축경로가 확인되었습니다. 경로를 삭제 합니다";
+                        PUB.log.AddE(msg);
+                        Console.WriteLine(msg);
+                        PUB._virtualAGV.SetPath(null);
+                    }
+                    return false;
+                }
+            }
 
 
 
             //predict 를 이용하여 다음 이동을 모두 확인한다.
             var nextAction = PUB._virtualAGV.Predict();
-            if(nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
+            if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
             {
                 //경로이탈
-                PUB._virtualAGV.CurrentPath.DetailedPath.Clear();
+                var logmessage = $"경로이탈감지 시작노드를 현재위치로 설정합니다  START:{PUB._virtualAGV.StartNode},CURRENT:{PUB._virtualAGV.CurrentNode}";
+                PUB.log.AddE(logmessage);
+                Console.WriteLine(logmessage);
+                PUB._virtualAGV.ClearPath();//.DetailedPath.Clear();
+                PUB._virtualAGV.StartNode = PUB._virtualAGV.CurrentNode;
                 return false;
             }
 
@@ -158,7 +191,7 @@ namespace Project
                          $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
                          $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
                          $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
-                         $"현재 노드: {PUB._virtualAGV.CurrentNode.Id ?? "없음"}";
+                         $"현재 노드: {PUB._virtualAGV.CurrentNodeID2}";
 
             //모터에서 정지를 요청했다
             if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
@@ -181,13 +214,33 @@ namespace Project
                 // 목적지 도착 여부 확인
                 // 현재 노드가 타겟 노드와 같고, 위치가 확정된 상태라면 도착으로 간주
                 // 단, AGV가 실제로 멈췄는지 확인 (agv_run == false)
-                if (PUB._virtualAGV.IsPositionConfirmed &&
+                if (PUB._virtualAGV.IsPositionConfirmed)
-                    PUB._virtualAGV.CurrentNode.Id == PUB._virtualAGV.TargetNode.Id)
                 {
                     if (PUB.AGV.system1.agv_run == false)
                     {
-                        PUB.log.AddI($"목표 도착 및 정지 확인됨(MarkStop 완료). Node:{PUB._virtualAGV.CurrentNode.Id}");
+                        //목적지도착완료시
-                        return true;
+                        if (PUB._virtualAGV.CurrentNode.Id == PUB._virtualAGV.TargetNode.Id)
+                        {
+                            var node = PUB._mapCanvas.Nodes.Where(t => t.Id == PUB._virtualAGV.CurrentNodeId).FirstOrDefault();
+                            var rfid = node?.ID2 ?? "(X)";
+                            PUB.log.AddI($"목표 도착 및 정지 확인됨(MarkStop 완료) Node:{rfid}");
+                            return true;
+                        }
+
+                        //목적지가 버퍼라면 그 앞에 멈춘다
+                        if (PUB._virtualAGV.TargetNode.StationType == AGVNavigationCore.Models.StationType.Buffer &&
+                            PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any())
+                        {
+                            if (PUB._virtualAGV.CurrentNode.Id == PUB._virtualAGV.CurrentPath.DetailedPath.Last().NodeId)
+                            {
+                                PUB.log.AddI($"목표(버퍼) 도착 및 정지 확인됨(MarkStop 완료). Node:{PUB._virtualAGV.CurrentNodeID2}");
+                                return true;
+                            }
+                        }
+                    }
+                    else
+                    {
+                        //아직 멈추지 않았다면 기다린다.
                     }
                 }
 
@@ -213,14 +266,17 @@ namespace Project
                     PUB.AGV.data.Direction != dir.ToString()[0] ||
                     PUB.AGV.data.Speed != spd.ToString()[0])
                 {
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
                         Bunki = bunki,
                         Direction = dir,
                         PBSSensor = 1,
                         Speed = spd,
                     });
-                    PUB.log.Add($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
+                    if (ret == arDev.eNarumiCommandResult.Success)
+                        PUB.log.Add($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
+                    else
+                        PUB.log.AddE($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
                 }
 
                 // AGV가 정지 상태라면 구동 시작
@@ -250,14 +306,18 @@ namespace Project
                     PUB.AGV.error.Emergency == false &&
                     PUB.AGV.system1.agv_run == false)
                 {
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
                         Bunki = arDev.Narumi.eBunki.Strate,
                         Direction = arDev.Narumi.eMoveDir.Forward,
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);//
+                    if (ret == arDev.eNarumiCommandResult.Success)
+                    {
+                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);//
+                    }
+
                     tm_gocharge_command = DateTime.Now;
                 }
             }
@@ -278,14 +338,15 @@ namespace Project
                         PUB.AGV.error.Emergency == false &&
                         PUB.AGV.system1.agv_run == false)
                     {
-                        PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                        var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                         {
                             Bunki = arDev.Narumi.eBunki.Strate,
                             Direction = arDev.Narumi.eMoveDir.Backward,
                             PBSSensor = 1,
                             Speed = arDev.Narumi.eMoveSpd.Low,
                         });
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
+                        if (ret == arDev.eNarumiCommandResult.Success)
+                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
                         LastCommandTime = DateTime.Now;
                     }
                 }
@@ -311,7 +372,7 @@ namespace Project
             // 만약 수행되지 않았다면 여기서 수행.
             if (pathResult.DockingValidation == null)
             {
-                 pathResult.DockingValidation = AGVNavigationCore.Utils.DockingValidator.ValidateDockingDirection(pathResult, PUB._mapCanvas.Nodes);
+                pathResult.DockingValidation = AGVNavigationCore.Utils.DockingValidator.ValidateDockingDirection(pathResult, PUB._mapCanvas.Nodes);
             }
 
             // 검증 결과 확인

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -199,9 +199,11 @@ namespace Project
                             else
                             {
                                 //모터방향 확인해서 UI와 AGV클래스에 적용한다
-                                var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward;
+                                var MotDireciton = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
                                 PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, CurrentNode, MotDireciton);
                                 PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
+
+                                //방향을 다시 확인하여. 기존 경로의 무결성을 검증한다, 필요한 경우 다시 계산할 필요가 있다.
                             }
 
                             //태그를 읽었다면 상태를 바로 전송한다
@@ -221,16 +223,42 @@ namespace Project
                 if (PUB._mapCanvas != null && PUB._virtualAGV != null)
                 {
                     var nextAction = PUB._virtualAGV.Predict();
-                    var message = $"[다음 행동 예측]\n\n" +
+                    var message = $"[다음 행동 예측]\n\n";
-                     $"모터: {nextAction.Motor}\n" +
+
+                    if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                        message += "[수동모드]\n\n";
+
+                    var node = PUB._virtualAGV.CurrentNode;
+                    var curpos = PUB._virtualAGV.CurrentNodeID2;
+                    var targetpos = PUB._virtualAGV.TargetNode?.ID2 ?? "(X)";
+
+                    var pathdetail = "";
+                    if (PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any())
+                    {
+                        var idx = 0;
+                        foreach (var item in PUB._virtualAGV.CurrentPath.DetailedPath)
+                        {
+                            idx += 1;
+                            if (pathdetail.isEmpty() == false) pathdetail += "->";
+                            if (idx % 6 == 0) pathdetail += "\n";
+                            pathdetail += $"{item.RfidId:0000}({item.MotorDirection.ToString().Substring(0, 1)}{item.MagnetDirection.ToString().Substring(0, 1)}{item.Speed.ToString().Substring(0, 1)})";
+                            if (item.IsPass) pathdetail += "(O)";
+                        }
+                    }
+
+                    message += $"모터: {nextAction.Motor}\n" +
                      $"마그넷: {nextAction.Magnet}\n" +
                      $"속도: {nextAction.Speed}\n" +
-                     $"이유: {nextAction.Message}\n\n" +
+                     $"이유: {nextAction.Message}\n" +
+                     $"상태머신:{PUB.sm.Step}:{PUB.sm.RunStep}:{PUB.sm.RunStepSeq}\n"+
                      $"---\n" +
                      $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
                      $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                     $"턴: {PUB._virtualAGV.Turn}\n" +
                      $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
-                     $"현재 노드: {PUB._virtualAGV.CurrentNode.Id ?? "없음"}";
+                     $"현재 노드: {curpos}\n" +
+                     $"대상 노드: {targetpos}\n" +
+                     $"상세 경로: {pathdetail}";
 
                     PUB._mapCanvas.PredictMessage = message;
                 }

Cs_HMI/Project/StateMachine/_Loop.cs

@@ -49,8 +49,15 @@ namespace Project
                 else if (PUB.DriveSpeed)
                 {
                     var rlt = PUB.AGV.AGVCommand("SSH", PUB.setting.SPD_H.ToString("0000"));
-                    if (rlt) PUB.DriveSpeed = false;
+                    if (rlt == arDev.eNarumiCommandResult.Success)
-                    PUB.log.Add($"Screen Change and DriveSpeed Off:{rlt}");
+                    {
+                        PUB.DriveSpeed = false;
+                        PUB.log.Add($"Screen Change and DriveSpeed Off:{rlt}");
+                    } else
+                    {
+                        PUB.log.AddE($"Screen Change and DriveSpeed Off:{rlt}");
+                    }
+                    
                 }
 
                 MenuAuto.ForeColor = Color.FromArgb(180, 180, 180);

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -79,25 +79,37 @@ namespace Project
                             var currNode = PUB._virtualAGV.CurrentNode;
                             if (currNode == null)
                             {
-                                PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다 NodeID:{PUB._virtualAGV.CurrentNode.Id}");
+                                PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Node");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Current Node");
                                 return;
                             }
 
-                            PUB.NextWorkCmd = cmd;
+                            var targetNode = PUB._virtualAGV.TargetNode;
-                            ERunStep nextStep = ERunStep.READY;
+                            if (targetNode == null)
+                            {
+                                PUB.log.AddE($"[{logPrefix}-{cmd}] 목표 노드를 알 수 없습니다");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Target Node");
+                                return;
+                            }
 
-                            switch (currNode.StationType)
+                            //버퍼의 경우 직전에 멈추기 때문에 스테이션종류를 보정해준다
+                            var StationType = currNode.StationType;
+                            if (StationType == StationType.Normal && targetNode.StationType == StationType.Buffer)
+                                StationType = StationType.Buffer;
+
+                            ERunStep nextStep = ERunStep.READY;
+                            switch (StationType)
                             {
                                 case StationType.Loader: nextStep = ERunStep.LOADER_IN; break;
                                 case StationType.UnLoader: nextStep = ERunStep.UNLOADER_IN; break;
                                 case StationType.Buffer: nextStep = ERunStep.BUFFER_IN; break;
                                 case StationType.Clearner: nextStep = ERunStep.CLEANER_IN; break;
                                 default:
-                                    PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({currNode.Type})은 작업을 지원하지 않습니다.");
+                                    PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({StationType})은 작업을 지원하지 않습니다.");
                                     return;
                             }
 
+                            PUB.NextWorkCmd = cmd;
                             PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
                             PUB.sm.SetNewRunStep(nextStep);
                         }
@@ -118,7 +130,7 @@ namespace Project
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
                             MapNode targetNode = null;
-                            if(cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
+                            if (cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
                             {
                                 targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == currTag);
                             }
@@ -157,7 +169,7 @@ namespace Project
                                 }
 
                                 //대상이동으로 처리한다.
-                                if(PUB.sm.RunStep != ERunStep.GOTO)
+                                if (PUB.sm.RunStep != ERunStep.GOTO)
                                 {
                                     PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
                                     PUB.sm.ResetRunStepSeq();
@@ -242,9 +254,15 @@ namespace Project
                         if (Lidar == 0) bunkidata.PBSSensor = 0;
                         else bunkidata.PBSSensor = 2;
 
-                            PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
+                        PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
-                        PUB.AGV.AGVMoveSet(bunkidata);
+
-                        PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
+                        if (PUB.AGV.AGVMoveSet(bunkidata) != eNarumiCommandResult.Success)
+                            PUB.log.AddE($"AGV속도설정실패로 인해 자동전환이 실패되었습니다");
+                        else
+                        {
+                            PUB.log.Add($"XBE 에서 자동모드로 전환합니다");
+                            PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
+                        }
                         break;
 
                     case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
@@ -323,7 +341,7 @@ namespace Project
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
 
                 //마지막대상이 버퍼라면 시퀀스처리를 해야한다
-                if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
+                if (targetNode.StationType == StationType.Buffer && advancedResult.DetailedPath.Any())
                 {
                     var lastDetailPath = advancedResult.DetailedPath.Last();
                     if (lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
@@ -349,7 +367,7 @@ namespace Project
                 //UpdateAdvancedPathDebugInfo(advancedResult);
 
             }
-            else if(advancedResult != null)
+            else if (advancedResult != null)
             {
                 // 경로 실패시 디버깅 정보 초기화
                 //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";                

Cs_HMI/Project/ViewForm/fManual.cs

@@ -200,8 +200,8 @@ namespace Project.ViewForm
                 var dlg = UTIL.MsgQ("자동 진행을 시작할까요?\n우측 옵션을 확인 하세요");
                 if (dlg != DialogResult.Yes) return;
                 var opt = makeopt();
-                PUB.AGV.AGVMoveSet(opt);
+                if (PUB.AGV.AGVMoveSet(opt) == eNarumiCommandResult.Success)
-                PUB.AGV.AGVMoveRun(opt.Direction == arDev.Narumi.eMoveDir.Forward ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward);
+                    PUB.AGV.AGVMoveRun(opt.Direction == arDev.Narumi.eMoveDir.Forward ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward);
             }
             else
             {
@@ -350,7 +350,7 @@ namespace Project.ViewForm
             PUB.log.Add($"사용자 설정 : {bunkiopt}");
             if (PUB.DriveSpeed)
             {
-                if (PUB.AGV.AGVCommand("SSH", PUB.setting.SPD_H.ToString("0000")) == true)
+                if (PUB.AGV.AGVCommand("SSH", PUB.setting.SPD_H.ToString("0000")) == eNarumiCommandResult.Success)
                     PUB.DriveSpeed = false;
             }
 
@@ -361,7 +361,7 @@ namespace Project.ViewForm
         private void arLabel1_Click_1(object sender, EventArgs e)
         {
 
-            if (PUB.AGV.AGVCommand("SSH", PUB.setting.SPD_DRIVE.ToString("0000")) == false)
+            if (PUB.AGV.AGVCommand("SSH", PUB.setting.SPD_DRIVE.ToString("0000")) != eNarumiCommandResult.Success)
             {
                 AR.UTIL.MsgE("고속속도에 주행속도 연결 실패\n잠시 후 다시 시도하세요");
                 return;
@@ -369,12 +369,18 @@ namespace Project.ViewForm
 
             if (this.bunkiopt == null) bunkiopt = makeopt();
             bunkiopt.Speed = arDev.Narumi.eMoveSpd.High;
-            PUB.AGV.AGVMoveSet(bunkiopt);
+            if (PUB.AGV.AGVMoveSet(bunkiopt) == eNarumiCommandResult.Success)
-            PUB.log.Add($"고속주행설정 : {bunkiopt}");
+            {
-            PUB.DriveSpeed = true;
+                PUB.log.Add($"고속주행설정 : {bunkiopt}");
+                PUB.DriveSpeed = true;
 
-            AR.UTIL.MsgI($"주행속도({PUB.setting.SPD_DRIVE})가 '고속' 속도에 연결되었습니다.\n" +
+                AR.UTIL.MsgI($"주행속도({PUB.setting.SPD_DRIVE})가 '고속' 속도에 연결되었습니다.\n" +
-                $"창을 이동하거나 '설정적용'을 누르면 원래속도({PUB.setting.SPD_H})로 변경 됩니다");
+                    $"창을 이동하거나 '설정적용'을 누르면 원래속도({PUB.setting.SPD_H})로 변경 됩니다");
+            }
+            else
+            {
+                UTIL.MsgE($"고속 속도 설정이 실패되었습니다");
+            }
         }
 
         private void btLeft180_Click(object sender, EventArgs e)

Cs_HMI/Project/fMain.cs

@@ -433,9 +433,6 @@ namespace Project
                 //충전상태확인
                 if (PUB.CheckManualChargeMode() == false) return;
                 PUB.popup.needClose = true;                
-                //PUB.sm.bPause = false;
-                //PUB.sm.ClearRunStep();
-                //PUB.sm.SetNewRunStep(ERunStep.READY);
                 PUB.sm.SetNewStep(eSMStep.RUN);
                 PUB.Speak(Lang.자동전환, addlog: false);
 

Cs_HMI/Project/fSetup.cs

@@ -471,7 +471,7 @@ namespace Project
 
             if (tagStr == "XBE") tbPortXBE.Text = newPort;
             else if (tagStr == "AGV") tbPortAGV.Text = newPort;
-          //  else if (tagStr == "PLC") tbPortPLC.Text = newPort;
+            //  else if (tagStr == "PLC") tbPortPLC.Text = newPort;
             else if (tagStr == "BAT") tbportBMS.Text = newPort;
 
         }
@@ -511,7 +511,7 @@ namespace Project
             }
             try
             {
-                if (PUB.mplayer.SoundLocation.isEmpty()==false) PUB.mplayer.Stop();
+                if (PUB.mplayer.SoundLocation.isEmpty() == false) PUB.mplayer.Stop();
                 PUB.mplayer.SoundLocation = tbMusic.Text;// (new Uri(tbMusic.Text));
                 PUB.mplayer.Play();
                 PUB.bPlayMusic = true;
@@ -535,14 +535,14 @@ namespace Project
             if (this.tbPortAGV.Text == "COM21")
             {
                 this.tbPortAGV.Text = "COM11";
-            //    this.tbPortPLC.Text = "COM6";
+                //    this.tbPortPLC.Text = "COM6";
                 this.tbportBMS.Text = "COM15";
                 this.tbPortXBE.Text = "COM18";
             }
             else
             {
                 this.tbPortAGV.Text = "COM21";
-              //  this.tbPortPLC.Text = "COM31";
+                //  this.tbPortPLC.Text = "COM31";
                 this.tbportBMS.Text = "COM41";
                 this.tbPortXBE.Text = "COM51";
             }
@@ -615,7 +615,7 @@ namespace Project
         private void button7_Click(object sender, EventArgs e)
         {
             var value = tbagvaddr.Text.PadLeft(4, '0');
-            if (PUB.AGV.AGVCommand("SAD", value))
+            if (PUB.AGV.AGVCommand("SAD", value) == arDev.eNarumiCommandResult.Success)
             {
                 PUB.setting.AGV_ADDRESS = value;
                 PUB.setting.Save();
@@ -626,7 +626,7 @@ namespace Project
         private void button5_Click(object sender, EventArgs e)
         {
             var value = tbagvpanid.Text.PadLeft(4, '0');
-            if (PUB.AGV.AGVCommand("SPN", value))
+            if (PUB.AGV.AGVCommand("SPN", value) == arDev.eNarumiCommandResult.Success)
             {
                 PUB.setting.AGV_PANID = value;
                 PUB.setting.Save();
@@ -637,7 +637,7 @@ namespace Project
         private void button6_Click(object sender, EventArgs e)
         {
             var value = tbagvchannel.Text.PadLeft(4, '0');
-            if (PUB.AGV.AGVCommand("SCH", value))
+            if (PUB.AGV.AGVCommand("SCH", value) == arDev.eNarumiCommandResult.Success)
             {
                 PUB.setting.AGV_CHANNEL = value;
                 PUB.setting.Save();
@@ -659,7 +659,7 @@ namespace Project
         {
             var value = (ushort)vcGDS.Value;
             var rlt = PUB.AGV.TurnGDSCenterScope(value);
-            if (rlt == false) UTIL.MsgE("Error");
+            if (rlt != arDev.eNarumiCommandResult.Success) UTIL.MsgE($"Error\n{rlt}");
             else UTIL.MsgI("OK");
         }
     }

Cs_HMI/SubProject/AGV/Command.cs

@@ -12,20 +12,75 @@ using AR;
 
 namespace arDev
 {
+    public enum eNarumiTurn
+    {
+        None = 0,
+        LeftIng,
+        Left,
+        RightIng,
+        Right,
+    }
+    public class NarumiTurnInfo
+    {
+        public DateTime Start { get; set; }
+        public DateTime End { get; set; }
+        public TimeSpan Runtime
+        {
+            get
+            {
+                if (End.Year < 2000) return DateTime.Now - Start;
+                if (End < Start) return DateTime.Now - Start;
+                else return End - Start;
+            }
+        }
+        public eNarumiTurn State { get; set; }
+        public NarumiTurnInfo()
+        {
+            Start = new DateTime(1982, 11, 23);
+            End = new DateTime(1982, 11, 23);
+            State = eNarumiTurn.None;
+        }
+    }
+    public class NarumiCommandTime
+    {
+        public DateTime Time { get; set; }
+        public ushort count { get; set; }
+        public NarumiCommandTime(ushort cnt)
+        {
+            Time = DateTime.Now;
+            this.count = cnt;
+        }
+    }
+
+    /// <summary>
+    /// error 이상은모두 처리불가한 오류 조건을 의미한다
+    /// </summary>
+    public enum eNarumiCommandResult : byte
+    {
+        Fail = 0,
+        Success = 1,
+        Wait = 2,
+        Error = 100,
+        Timeout,
+        
+    }
     public partial class Narumi
     {
+        public NarumiTurnInfo TurnInformation { get; set; } = null;
+        Dictionary<string, NarumiCommandTime> SendCommandFailList { get; set; } = new Dictionary<string, NarumiCommandTime>();
 
-        public bool AGVMoveSet(BunkiData opt)
+        public eNarumiCommandResult AGVMoveSet(BunkiData opt)
         {
-            return AddCommand(eAgvCmd.MoveSet, opt.ToString());
+            var param = opt.ToString();
+            return AddCommand(eAgvCmd.MoveSet, param);
         }
 
-        public bool AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
+        public eNarumiCommandResult AGVMoveManual(ManulOpt opt, Speed spd, Sensor ss)
         {
             var param = opt.ToString() + spd.ToString()[0] + ((int)ss).ToString();
             return AddCommand(eAgvCmd.ManualMove, param);
         }
-        public bool AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
+        public eNarumiCommandResult AGVMoveRun(eRunOpt opt = eRunOpt.NotSet)
         {
             System.Text.StringBuilder sb = new StringBuilder();
             if (opt == eRunOpt.Backward) sb.Append("B");
@@ -35,7 +90,7 @@ namespace arDev
             return AddCommand(eAgvCmd.MoveStart, sb.ToString());
         }
 
-        public bool AGVSetSpeed(eSetSpeed item, int speed)
+        public eNarumiCommandResult AGVSetSpeed(eSetSpeed item, int speed)
         {
             string cmd = "SS";
             if (item == eSetSpeed.Rotation) cmd = "SRS";
@@ -43,7 +98,7 @@ namespace arDev
             cmd += speed.ToString("0000");
             return AddCommand(cmd);
         }
-        public bool AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
+        public eNarumiCommandResult AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
         {
             System.Text.StringBuilder sb = new StringBuilder();
             if (opt == eStopOpt.MarkStop) sb.Append("MS");
@@ -53,147 +108,187 @@ namespace arDev
             else sb.Append("0S");
             sb.Append("00");
             sb.Append("0000");   //재기동시간
-            //if (opt == eStopOpt.MarkStop)
-            //    VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
 
             //동작중이면 이 멈춤 명령을 기록으로 남긴다 230116
             if (this.system1.agv_run)
                 RaiseMessage(MessageType.Normal, $"stop command from {Reason}");
-            return AddCommand(eAgvCmd.MoveStop, sb.ToString());
+            var retval = AddCommand(eAgvCmd.MoveStop, sb.ToString());
+            if (retval == eNarumiCommandResult.Success && opt == eStopOpt.MarkStop)
+                VAR.BOOL[eVarBool.NEXTSTOP_MARK] = true;
+
+            return retval;
         }
-        public bool AGVCommand(string cmd, string data)
+        public eNarumiCommandResult AGVCommand(string cmd, string data)
         {
             return AddCommand(cmd + data);
         }
 
-        public bool LiftControl(LiftCommand cmd)
+        public eNarumiCommandResult LiftControl(LiftCommand cmd)
         {
             return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
         }
-        public bool AGVCharge(int chargetID, bool on, int waittime = 3)
+        public eNarumiCommandResult AGVCharge(int chargetID, bool on, int waittime = 3)
         {
             if (on)
                 return AddCommand(eAgvCmd.ChargeOn, chargetID.ToString("0000"));
             else
                 return AddCommand(eAgvCmd.ChargeOf, chargetID.ToString("0000"));
         }
-        public bool SetBackturnTime(int time)
+        public eNarumiCommandResult SetBackturnTime(int time)
         {
             return AddCommand(eAgvCmd.BackTrunResumeTime, time.ToString("0000"));
         }
-        public bool SetGateOutOffTime(int time)
+        public eNarumiCommandResult SetGateOutOffTime(int time)
         {
             return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
         }
 
-        public bool TurnGDSCenterScope(UInt16 time)
+        public eNarumiCommandResult TurnGDSCenterScope(UInt16 time)
         {
             if (time > 2000) time = 2000;
             return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
         }
-        public bool AGVMoveLeft180Turn()
+        public eNarumiCommandResult AGVMoveLeft180Turn()
         {
             return AddCommand(eAgvCmd.TurnLeft);
         }
-        public bool AGVMoveRight180Turn()
+        public eNarumiCommandResult AGVMoveRight180Turn()
         {
             return AddCommand(eAgvCmd.TurnRight);
         }
-        public bool AGVMoveBack180Turn(bool leftTurn)
+        public eNarumiCommandResult AGVMoveBack180Turn(bool leftTurn)
         {
             var dir = leftTurn ? "L" : "R";
             return AddCommand(eAgvCmd.BackAndTurn, dir);
         }
 
-
+        public eNarumiCommandResult AGVErrorReset()
-
-        public bool AGVErrorReset()
         {
             return AddCommand(eAgvCmd.ErrorReset, "FFFF");
         }
-        public bool AGVTowerLamp(bool on)
+        public eNarumiCommandResult AGVTowerLamp(bool on)
         {
             return AddCommand(eAgvCmd.TowerLamp, (on ? "I" : "O"));
         }
-        public bool AGVSetAddress(int value)
+        public eNarumiCommandResult AGVSetAddress(int value)
         {
             return AddCommand($"SAD{value:0000}");
         }
-        public bool AGVSetPanID(string value)
+        public eNarumiCommandResult AGVSetPanID(string value)
         {
             value = value.PadLeft(4, '0');
             return AddCommand($"SPN{value}");
         }
-        public bool AGVSetChannel(string value)
+        public eNarumiCommandResult AGVSetChannel(string value)
         {
             value = value.PadLeft(4, '0');
             return AddCommand($"SCH{value}");
         }
-        //public bool AGVGateOutTimer(int value)
-        //{
-        //    return AddCommand($"SGT{value:0000}");
-        //}
-        /// <summary>
-        /// 정지감속주기 및 상수
-        /// </summary>
-        /// <returns></returns>
-        public bool AGVSetStopAcc(int interval, int value)
-        {
-            var cmds = new string[] {
-                $"SSK{interval:0000}",
-                $"SCK{value:0000}"
-            };
-            return AddCommand( cmds);
-        }
 
-        public bool AGVSetTagReinputTime(int value)
+        public eNarumiCommandResult AGVSetTagReinputTime(int value)
         {
             return AddCommand($"STT{value:0000}");
         }
-        public bool AGVSetPID(eSetPIDSpeed speed, int P, int I, int D)
-        {
-            var cmd = "S";
-            var cmd2 = "";
-            if (speed == eSetPIDSpeed.High) cmd2 = "K";
-            else if (speed == eSetPIDSpeed.Middle) cmd2 = "M";
-            else if (speed == eSetPIDSpeed.Low) cmd2 = "L";
-            else if (speed == eSetPIDSpeed.Stop) cmd2 = "S";
 
-            var cmds = new string[] {
+        ///// <summary>
-                $"{cmd}P{cmd2}{P:0000}",
+        ///// 전송에 성공한 명령시간
-                $"{cmd}I{cmd2}{I:0000}",
+        ///// </summary>
-                $"{cmd}D{cmd2}{D:0000}",
+        ////public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
-            };
+        protected bool SendCommand(string cmdline)
-            return AddCommand( cmds);
-        }
-
-        /// <summary>
-        /// 전송을시도한 시간
-        /// </summary>
-        //public Dictionary<String,DateTime> LastCommandTime { get; set; }
-
-        /// <summary>
-        /// 전송에 성공한 명령시간
-        /// </summary>
-        //public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
-        protected bool AddCommand(params string[] cmds)
         {
             bool ret = true;
-            ACKData = string.Empty;     //회신값 제거
+            ACKData = string.Empty;
-            //LastCommandTime.Add(cmd, DateTime.Now);
+            var fullcmd = MakeCheckSum(cmdline);
-            foreach (var cmdline in cmds)
+            if (WriteData(fullcmd) == false) ret = false;
-            {
+            System.Threading.Thread.Sleep(1);
-                var fullcmd = MakeCheckSum(cmdline);
-                //commandQueue.Enqueue(fullcmd);
-                if (WriteData(fullcmd) == false) ret = false;
-                //else LastCommandOKTime.Add(cmd, DateTime.Now);
-                System.Threading.Thread.Sleep(1);
-            }
             return ret;
         }
 
+        ManualResetEvent mrecmd = new ManualResetEvent(true);
+        public eNarumiCommandResult AddCommand(string cmd, int waitms = 1)
+        {
+            if (mrecmd.WaitOne(waitms) == false)
+            {
+                //다른명령을 처리하는 중이므로 대기상태로 반환한다
+                return eNarumiCommandResult.Wait;
+            }
 
-        protected bool AddCommand(eAgvCmd command, BunkiData param)
+            //다른신호를 처리하지 못하게한다.
+            mrecmd.Reset();
+
+            try
+            {
+                if (SendCommandFailList.ContainsKey(cmd) == false)
+                {
+                    //실패기록이 없다
+                    var ret = SendCommand(cmd);
+                    if (ret == false)
+                    {
+                        SendCommandFailList.Add(cmd, new NarumiCommandTime(1));
+                        return eNarumiCommandResult.Fail;
+                    }
+                    else return eNarumiCommandResult.Success;
+                }
+                else
+                {
+                    //실패기록이 존재한다.
+                    //1.동일 명령이 아니면 바로 전송한다
+                    var precmd = SendCommandFailList[cmd];
+
+                    //동일명령의 실패기록이 존재한다.
+                    //2초간의 간격을 둔다
+                    var ts = DateTime.Now - precmd.Time;
+                    if (ts.TotalSeconds < 2)
+                    {
+                        precmd.Time = DateTime.Now;
+                        SendCommandFailList[cmd] = precmd;
+                        return eNarumiCommandResult.Wait; //대기한다
+                    }
+                    else
+                    {
+                        //오류가 누적되었다.
+                        var ret = SendCommand(cmd);
+                        if (ret == false)
+                        {
+                            precmd.Time = DateTime.Now;
+                            precmd.count += 1;
+                            SendCommandFailList[cmd] = precmd;
+
+                            //5회연속 실패했다면 타임아웃처리한다
+                            if (precmd.count > 5)
+                            {
+                                //타임아웃
+                                return eNarumiCommandResult.Timeout;
+                            }
+                            else
+                            {
+                                //실패
+                                return eNarumiCommandResult.Fail;
+                            }
+                        }
+                        else
+                        {
+                            //전송이성공했으니 키를 제거한다.
+                            SendCommandFailList.Remove(cmd);
+                            return eNarumiCommandResult.Success;
+                        }
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"narumi addCommand error : {ex.Message}");
+                return eNarumiCommandResult.Error;
+            }
+            finally
+            {
+                mrecmd.Set();
+            }
+        }
+
+
+        protected eNarumiCommandResult AddCommand(eAgvCmd command, BunkiData param)
         {
             return AddCommand(command, param.ToString());
         }
@@ -204,15 +299,15 @@ namespace arDev
         /// </summary>
         /// <param name="param"></param>
         /// <param name="Repeat"></param>
-        protected bool AddCommand(BunkiData param)
+        protected eNarumiCommandResult AddCommand(BunkiData param)
         {
             return AddCommand(eAgvCmd.MoveSet, param.ToString());
         }
 
-        protected bool AddCommand(eAgvCmd command, string param = "")
+        protected eNarumiCommandResult AddCommand(eAgvCmd command, string param = "")
         {
             string cmdString;
-            bool retval = false;
+            eNarumiCommandResult retval = eNarumiCommandResult.Error;
             switch (command)
             {
                 case eAgvCmd.ErrorReset:
@@ -247,10 +342,24 @@ namespace arDev
                 case eAgvCmd.TurnLeft:
                     cmdString = $"CTL0000";
                     retval = AddCommand(cmdString);
+                    if (retval == eNarumiCommandResult.Success)
+                    {
+                        if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
+                        TurnInformation.Start = DateTime.Now;
+                        TurnInformation.End = new DateTime(1982, 11, 23);
+                        TurnInformation.State = eNarumiTurn.LeftIng;
+                    }
                     break;
                 case eAgvCmd.TurnRight:
                     cmdString = $"CTR0000";
                     retval = AddCommand(cmdString);
+                    if (retval == eNarumiCommandResult.Success)
+                    {
+                        if (TurnInformation == null) TurnInformation = new NarumiTurnInfo();
+                        TurnInformation.Start = DateTime.Now;
+                        TurnInformation.End = new DateTime(1982, 11, 23);
+                        TurnInformation.State = eNarumiTurn.RightIng;
+                    }
                     break;
                 case eAgvCmd.BackAndTurn:
                     if (param.isEmpty()) param = "L";

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -229,7 +229,7 @@ namespace arDev
         private void RevSTS(Dataframe frame)
         {
             LastSTS = frame.DataString;
-            string rcvdNow = frame.DataString.Replace("\0","");
+            string rcvdNow = frame.DataString.Replace("\0", "");
             byte[] bRcvData = frame.Buffer;
             var encoding = System.Text.Encoding.Default;
             try
@@ -258,16 +258,34 @@ namespace arDev
                 error.SetValue(nDataTemp);
                 idx += 4;
 
-
                 data.Speed = rcvdNow.Substring(idx, 1)[0]; idx += 1;    //L,M.H
                 data.Sts = rcvdNow.Substring(idx, 1)[0]; idx += 1;      //S(직진),L(좌분기),R(우분기)
                 data.Direction = rcvdNow.Substring(idx, 1)[0]; idx += 1;    //F,B,L,R
                 data.guidesensor = int.Parse(rcvdNow.Substring(idx, 1)); idx += 1;  //가이드 좌측부터 1~9
 
                 nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
-                signal1.SetValue(nDataTemp);  idx += 2;
+                signal1.SetValue(nDataTemp); idx += 2;
 
-                if(idx <= rcvdNow.Length-2)
+                //agv가 멈춰있고 마크센서가 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
+                if (system1.agv_run == false && system1.agv_stop == true &&
+                    TurnInformation != null && signal1.mark_sensor)
+                {
+                    if (TurnInformation.Start.Year > 2000)
+                    {
+                        if (TurnInformation.State == eNarumiTurn.LeftIng || TurnInformation.State == eNarumiTurn.RightIng)
+                        {
+                            TurnInformation.End = DateTime.Now;
+                            if (TurnInformation.State == eNarumiTurn.LeftIng) TurnInformation.State = eNarumiTurn.Left;
+                            if (TurnInformation.State == eNarumiTurn.RightIng) TurnInformation.State = eNarumiTurn.Right;
+                        }
+                    }
+                    else
+                    {
+                        //시작시간이 설정되지 않았다면 처리하지 않는다.
+                    }
+                }
+
+                if (idx <= rcvdNow.Length - 2)
                 {
                     nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
                     signal2.SetValue(nDataTemp);

Cs_HMI/SubProject/CommData/Enum.cs

@@ -13,6 +13,7 @@ namespace COMM
         SumQty,
         ChargeWaitSec,
 		SyncItemCount,
+        PathValidationError,
 	}
 	public enum eVarUInt32
 	{