프로토콜 조정

Cs_HMI/AGVCSharp.sln

@@ -5,14 +5,10 @@ VisualStudioVersion = 15.0.36324.19
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Sub", "Sub", "{C423C39A-44E7-4F09-B2F7-7943975FF948}"
 EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Test", "Test", "{7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}"
-EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "StateMachine", "StateMachine\StateMachine.csproj", "{BBC9BCCF-6262-4355-9CC2-37FF678AC499}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "agvControl", "SubProject\AGVControl\agvControl.csproj", "{8CB883C0-99C3-4DD4-B017-F9B92010A806}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_BMS", "TestProject\Test_BMS\Test_BMS.csproj", "{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}"
-EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BMS", "SubProject\BMS\BMS.csproj", "{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SWPatch", "SubProject\Patch\SWPatch.csproj", "{37DC0BAE-50BF-41E4-BAAB-B0E211467AD1}"
@@ -21,8 +17,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "NARUMI", "SubProject\AGV\NA
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CommData", "SubProject\CommData\CommData.csproj", "{14E8C9A5-013E-49BA-B435-EFEFC77DD623}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_Narumi", "TestProject\Test_Narumi\Test_Narumi.csproj", "{EB77976F-4DE4-46A5-8B25-D07226204C32}"
-EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGV4", "Project\AGV4.csproj", "{D6B3880D-7D5C-44E2-B6A5-CF6D881A8A38}"
@@ -44,10 +38,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVLogic\AG
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVLogic\AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_Port", "TestProject\Test_Port\Test_Port.csproj", "{CCFA2CE7-A539-4ADC-B803-F759284C3463}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_ACS", "TestProject\Test_ACS\Test_ACS.csproj", "{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -82,18 +72,6 @@ Global
 		{8CB883C0-99C3-4DD4-B017-F9B92010A806}.Release|x64.Build.0 = Release|Any CPU
 		{8CB883C0-99C3-4DD4-B017-F9B92010A806}.Release|x86.ActiveCfg = Release|Any CPU
 		{8CB883C0-99C3-4DD4-B017-F9B92010A806}.Release|x86.Build.0 = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|x64.Build.0 = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|x86.Build.0 = Debug|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|Any CPU.Build.0 = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|x64.ActiveCfg = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|x64.Build.0 = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|x86.ActiveCfg = Release|Any CPU
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|x86.Build.0 = Release|Any CPU
 		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -142,18 +120,6 @@ Global
 		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Release|x64.Build.0 = Release|Any CPU
 		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Release|x86.ActiveCfg = Release|Any CPU
 		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Release|x86.Build.0 = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|x64.Build.0 = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|x86.Build.0 = Debug|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|Any CPU.Build.0 = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|x64.ActiveCfg = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|x64.Build.0 = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|x86.ActiveCfg = Release|Any CPU
-		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|x86.Build.0 = Release|Any CPU
 		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -214,47 +180,19 @@ Global
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x64.Build.0 = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.ActiveCfg = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.Build.0 = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x64.Build.0 = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|x86.Build.0 = Debug|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.Build.0 = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x64.ActiveCfg = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x64.Build.0 = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x86.ActiveCfg = Release|Any CPU
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|x86.Build.0 = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|x64.Build.0 = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|x86.Build.0 = Debug|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|Any CPU.Build.0 = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|x64.ActiveCfg = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|x64.Build.0 = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|x86.ActiveCfg = Release|Any CPU
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
 		{8CB883C0-99C3-4DD4-B017-F9B92010A806} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
-		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
 		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
 		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
 		{14E8C9A5-013E-49BA-B435-EFEFC77DD623} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
-		{EB77976F-4DE4-46A5-8B25-D07226204C32} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
 		{9365803B-933D-4237-93C7-B502C855A71C} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
 		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{B2C3D4E5-0000-0000-0000-000000000000} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
-		{CCFA2CE7-A539-4ADC-B803-F759284C3463} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
-		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D} = {7AF32085-E7A6-4D06-BA6E-C6B1EBAEA99A}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9}

Cs_HMI/Project/Device/Xbee.cs

@@ -173,7 +173,7 @@ namespace Project.Device
             */
             try
             {
-                byte[] data = new byte[13]; // 총 13바이트 데이터
+                byte[] data = new byte[12]; // 총 12바이트 데이터
 
                 // Mode
                 data[0] = (byte)(VAR.BOOL[eVarBool.FLAG_AUTORUN] ? 1 : 0);
@@ -186,47 +186,56 @@ namespace Project.Device
                 else
                     data[1] = 0; // stop
 
-                // Direction
+                // Motor Direction
-                if (PUB.AGV.system1.stop_by_front_detect)
+                if (PUB.AGV.data.Direction == 'F')
-                    data[2] = 3; // markstop
+                    data[2] = 0;
-                else if (VAR.BOOL[eVarBool.FLAG_LEFT_RUN])
+                else if (PUB.AGV.data.Direction == 'B')
-                    data[2] = 1; // left
+                    data[2] = 1;
-                else if (VAR.BOOL[eVarBool.FLAG_RIGHT_RUN])
-                    data[2] = 2; // right
                 else
-                    data[2] = 0; // straight
+                    data[2] = 0xff; //unknown
+
+                // Magnet Direction
+                if (PUB.AGV.data.Sts == 'L')
+                    data[3] = 1; // left
+                else if (PUB.AGV.data.Sts == 'R')
+                    data[3] = 2; // right
+                else if (PUB.AGV.data.Sts == 'S')
+                    data[3] = 0; // straight
+                else
+                    data[3] = 0xFF; //unknown
 
                 // Inposition
-                data[3] = (byte)(PUB.AGV.system1.agv_stop ? 1 : 0);
+                data[4] = (byte)(PUB.AGV.system1.agv_stop ? 1 : 0);
 
                 // ChargeSt
-                data[4] = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0);
+                data[5] = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0);
 
                 // CartSt
                 if (PUB.AGV.signal.cart_detect1 && PUB.AGV.signal.cart_detect2)
-                    data[5] = 1; // 센서두개가 모두 감지되는 경우
+                    data[6] = 1; // 센서두개가 모두 감지되는 경우
                 else if (PUB.AGV.signal.cart_detect1 == false && PUB.AGV.signal.cart_detect2 == false)
-                    data[5] = 0; // 센서두개가 모두 감지되지 않는 경우
+                    data[6] = 0; // 센서두개가 모두 감지되지 않는 경우
                 else
-                    data[5] = 2; // 센서하나만 감지되는 경우
+                    data[6] = 2; // 센서하나만 감지되는 경우
 
                 // LiftSt
                 if (PUB.AGV.signal.lift_up)
-                    data[6] = 1; // 위로 올라가는 경우
+                    data[7] = 1; // 위로 올라가는 경우
                 else if (PUB.AGV.signal.lift_down)
-                    data[6] = 0; // 아래로 내려가는 경우
+                    data[7] = 0; // 아래로 내려가는 경우
                 else
-                    data[6] = 2; // unknown (기본값)
+                    data[7] = 2; // unknown (기본값)
 
                 // LastTag
-                string lastTag = PUB.AGV.data.TagNo.ToString("000000") ?? "000000";
+                string lastTag = PUB.AGV.data.TagNo.ToString("0000") ?? "0000";
-                byte[] tagBytes = Encoding.ASCII.GetBytes(lastTag.PadRight(6, '0'));
+                byte[] tagBytes = Encoding.ASCII.GetBytes(lastTag.PadRight(4, '0'));
-                Array.Copy(tagBytes, 0, data, 7, 6);
+                Array.Copy(tagBytes, 0, data, 8, lastTag.Length);
 
                 // 데이터 전송
                 var cmd = (byte)ENIGProtocol.AGVCommandEH.Status;
                 var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data);
-                Send(packet);
+                if (Send(packet))
+                    PUB.logxbee.AddI($"Send status {packet.Length} {packet.HexString()}");
                 LastStatusSendTime = DateTime.Now;
             }
             catch (Exception ex)

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -195,7 +195,7 @@ namespace Project
                             //모터방향 확인해서 UI와 AGV클래스에 적용한다
                             var MotDireciton = PUB.AGV.data.Direction == 'B' ? AGVNavigationCore.Models.AgvDirection.Backward : AGVNavigationCore.Models.AgvDirection.Forward;
                             PUB._virtualAGV.SetPosition(CurrentNode, MotDireciton);
-                            PUB._mapCanvas.SetAGVPosition("AGV", CurrentNode, MotDireciton);
+                            PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, CurrentNode, MotDireciton);
                         }
                         break;
                     case arDev.Narumi.DataType.ACK:

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -3,6 +3,8 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using AGVNavigationCore.Models;
+using AGVNavigationCore.Utils;
 using AR;
 using arDev;
 using COMM;
@@ -22,82 +24,88 @@ namespace Project
             //ACS 수신 데이터 처리(타 장비는 확인하지 않는다)
             if (e.ReceivedPacket.ID == 0)
             {
+                var logPrefix = "ACS";
                 var data = e.ReceivedPacket.Data;
-                var dataStr = System.Text.Encoding.Default.GetString(data);
                 var cmd = (ENIGProtocol.AGVCommandHE)e.ReceivedPacket.Command;
-                var TargetID = 0;
+                if (data.Length < 1)
-                if (dataStr.Length >= 2)
-                {
-                    //대상디바이스
-                    TargetID = Convert.ToByte(dataStr.Substring(0, 2), 16);
-
-                    //데이터영역을 다시 설정
-                    if (dataStr.Length > 2) dataStr = dataStr.Substring(2);
-                    else dataStr = string.Empty;
-                }
-                else
                 {
                     PUB.log.Add($"ACS 데이터에서 TARGET ID가 없습니다(data : first byte)");
+                    return;
                 }
 
+                //대상디바이스
+                var TargetID = data[0];
 
-                if (PUB.setting.XBE_ID != TargetID)
+                //해당 패킷의 대상이 나라면 처리한다.
-                    return;
+                if (PUB.setting.XBE_ID != TargetID) return;
 
                 switch (cmd)
                 {
 
                     case ENIGProtocol.AGVCommandHE.SetCurrent: //Set Current Position
 
-                        if (dataStr.Length == 6)
+                        if (data.Length > 4)
                         {
-                            var targID = dataStr.Substring(0, 2);
+                            var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            var targstr = dataStr.Substring(2);
+                            var node = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
-
+                            if (node == null)
-                            if (byte.TryParse(targID, out byte tID))
                             {
-                                if (PUB.setting.XBE_ID == tID)
+                                PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
-                                {
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
-                                    if (ushort.TryParse(targstr, out ushort tagno))
+                                return;
-                                    {
-                                        //if (PUB.mapctl.SetCurrentPosition(tagno) == true)
-                                        //{
-                                        //    PUB.log.AddI($"Set Position:{tagno}");
-                                        //}
-                                        //else PUB.log.AddE($"Position Set Error:{tagno}");
-                                    }
-                                    else PUB.log.AddE($"Position Param(tagstr) Error:{dataStr}");
-                                }
-                                else PUB.log.AddI($"Another Target {tID}:{PUB.setting.XBE_ID}");
                             }
-                            else PUB.log.AddE($"Position Param(targetid) Error:{dataStr}");
 
+                            PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
                         }
-                        else PUB.log.AddE($"Position Param Error:{dataStr}");
+                        else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
-
                         break;
+
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
-                        if (uint.TryParse(dataStr, out uint tagno2))
+                        if (data.Length > 4)
                         {
-                            //var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(;
+                            var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            //if (PUB.mapctl.SetTargetPosition(tagno2))
+                            var targetNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
-                            //    PUB.log.AddI($"New Target {tagno2}");
+                            if (targetNode == null)
-                            //else
+                            {
-                            //    PUB.log.AddE($"Path Error {tagno2}");
+                                PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                return;
+                            }
+
+                            var startNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNodeId);
+                            if (startNode == null)
+                            {
+                                PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{PUB._virtualAGV.CurrentNodeId}");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{PUB._virtualAGV.CurrentNodeId}");
+                                return;
+                            }
+
+                            var rltGoto = CalcPath(startNode, targetNode);
+                            if (rltGoto.result == false)
+                            {
+                                PUB.log.AddE($"[{logPrefix}-Goto] {rltGoto.message}");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.Goto, rltGoto.message);
+                                return;
+                            }
+
+                            //Move to 
+                            PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
                         }
-                        else PUB.log.AddE($"Path Param Error :{dataStr}");
+                        else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Errorr:{data.Length}");
                         break;
+
                     case ENIGProtocol.AGVCommandHE.Stop:  //stop
+                        PUB.log.Add($"[{logPrefix}-Stop]");
                         PUB.AGV.AGVMoveStop("xbee");
                         break;
                     case ENIGProtocol.AGVCommandHE.Reset: //Error Reset
+                        PUB.log.Add($"[{logPrefix}-Reset]");
                         PUB.AGV.AGVErrorReset();
                         break;
 
                     case ENIGProtocol.AGVCommandHE.Manual: //Manual Move (Direction, speed, runtime)
-                        var Direction = data[0];     //0=back, 1=forward, 2=left, 3=right
+                        var Direction = data[1];     //0=back, 1=forward, 2=left, 3=right
-                        var Speed = data[1];         //0=slow, 1=normal, 2=fast
+                        var Speed = data[2];         //0=slow, 1=normal, 2=fast
-                        var Runtime = data[2];       // running seconds
 
                         arDev.Narumi.ManulOpt opt = arDev.Narumi.ManulOpt.BS;
                         arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
@@ -111,27 +119,63 @@ namespace Project
                         else if (Direction == 2) opt = arDev.Narumi.ManulOpt.LT;
                         else if (Direction == 3) opt = arDev.Narumi.ManulOpt.RT;
 
+                        PUB.log.Add($"[{logPrefix}-Manual] DIR:{opt},SPD:{spd}");
                         PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
                         break;
-                    case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
-                        var MarkStop = data[0];    //0=off, 1=on
 
+                    case ENIGProtocol.AGVCommandHE.AutoMove:
+                        var MotDirection = data[1];     //0=back, 1=forward
+                        var MagDirection = data[2];     //0=straight, 1=left, 2=right
+                        var AutSpeed = data[3];         //0=slow, 1=normal, 2=fast
+
+                        var bunkidata = new arDev.Narumi.BunkiData();
+
+                        //speed;
+                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Middle;
+                        else if (AutSpeed == 2) bunkidata.Speed = arDev.Narumi.eMoveSpd.High;
+                        else bunkidata.Speed = arDev.Narumi.eMoveSpd.Low;
+
+                        //motor direction
+                        if (MotDirection == 0) bunkidata.Direction = arDev.Narumi.eMoveDir.Backward;
+                        else bunkidata.Direction = arDev.Narumi.eMoveDir.Forward;
+
+                        if (MagDirection == 2) bunkidata.Bunki = arDev.Narumi.eBunki.Right;
+                        else if (MagDirection == 1) bunkidata.Bunki = arDev.Narumi.eBunki.Left;
+                        else bunkidata.Bunki = arDev.Narumi.eBunki.Strate;
+
+                        PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
+                        PUB.AGV.AGVMoveSet(bunkidata);
+                        PUB.AGV.AGVMoveRun();
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
                         //마크센서에서 멈추게 한다
+                        PUB.log.Add($"[{logPrefix}-MarkStop]");
                         PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
                         break;
+
                     case ENIGProtocol.AGVCommandHE.LiftControl: //Lift Control
-                        var LiftCommand = data[0];    //0=stop, 1=up, 2=down
+                        var LiftCommand = data[1];    //0=stop, 1=up, 2=down
+
                         arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
                         if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
                         else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
-
+                        
-                        //리프트제어
+                        PUB.log.Add($"[{logPrefix}-LiftControl] {LCmd}");
-                        PUB.AGV.LiftControl(LCmd);
+                        PUB.AGV.LiftControl(LCmd);  //리프트제어
                         break;
 
+                    case ENIGProtocol.AGVCommandHE.ChargeControl:   //충전을 제어한다
+                        var chargeAction = data[1] == 1; //0= off, 1=on 
 
-
+                        //충전시퀀스가 진행되지 않았다면 진행한다
-
+                        if(PUB.sm.RunStep == StateMachine.ERunStep.GOCHARGE && PUB.sm.RunStepNew != StateMachine.ERunStep.GOCHARGE)
+                        {
+                            PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOCHARGE);
+                            PUB.log.AddI($"충전을 시작합니다");
+                        }
+                        break;
+                        
                 }
             }
         }
@@ -142,6 +186,60 @@ namespace Project
             else PUB.log.Add(e.Message);
         }
 
+        AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null;
+        (bool result, string message) CalcPath(MapNode startNode, MapNode targetNode)
+        {
+            var _mapNodes = PUB._mapNodes;
+            // 시작 RFID가 없으면 AGV 현재 위치로 설정
+            if (startNode == null || targetNode == null)
+                return (false, "시작 RFID와 목표 RFID를 선택해주세요.");
+
+            //경로계산기확인
+            if (_advancedPathfinder == null)
+                _advancedPathfinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(_mapNodes);
+
+            // 현재 AGV 방향 가져오기
+            var selectedAGV = PUB._virtualAGV;
+            var currentDirection = selectedAGV.CurrentDirection;
+
+            // AGV의 이전 위치에서 가장 가까운 노드 찾기
+            var prevNode = selectedAGV.PrevNode;
+            var prevDir = selectedAGV.PrevDirection;
+
+            // 고급 경로 계획 사용 (노드 객체 직접 전달)
+            var advancedResult = _advancedPathfinder.FindPath(startNode, targetNode, prevNode, prevDir, currentDirection);
+
+            var _simulatorCanvas = PUB._mapCanvas;
+
+            _simulatorCanvas.FitToNodes();
+            if (advancedResult.Success)
+            {
+                // 도킹 검증이 없는 경우 추가 검증 수행
+                if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
+                    advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
+
+                _simulatorCanvas.CurrentPath = advancedResult;
+                //_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
+                //_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
+
+                // 🔥 VirtualAGV에도 경로 설정 (Predict()가 동작하려면 필요)
+                selectedAGV.SetPath(advancedResult);
+
+                // 도킹 검증 결과 확인 및 UI 표시
+                //CheckAndDisplayDockingValidation(advancedResult);
+
+                // 고급 경로 디버깅 정보 표시
+                //UpdateAdvancedPathDebugInfo(advancedResult);
+                return (true, string.Empty);
+            }
+            else
+            {
+                // 경로 실패시 디버깅 정보 초기화
+                //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
+                return (false, $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}");
+            }
+        }
+
 
     }
 }

Cs_HMI/TestProject/Test.sln

@@ -0,0 +1,75 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Express 15 for Windows Desktop
+VisualStudioVersion = 15.0.36324.19
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_ACS", "Test_ACS\Test_ACS.csproj", "{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_BMS", "Test_BMS\Test_BMS.csproj", "{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_Narumi", "Test_Narumi\Test_Narumi.csproj", "{EB77976F-4DE4-46A5-8B25-D07226204C32}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test_Port", "Test_Port\Test_Port.csproj", "{CCFA2CE7-A539-4ADC-B803-F759284C3463}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Library", "Library", "{530A4517-6210-422B-8CB4-B7D194EE70BE}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BMS", "..\SubProject\BMS\BMS.csproj", "{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CommData", "..\SubProject\CommData\CommData.csproj", "{14E8C9A5-013E-49BA-B435-EFEFC77DD623}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "NARUMI", "..\SubProject\AGV\NARUMI.csproj", "{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A1B2C3D4-E5F6-4A5B-8C9D-0E1F2A3B4C5D}.Release|Any CPU.Build.0 = Release|Any CPU
+		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{CE3FFF9F-6ACA-44BD-B64A-33FF4AD5E82E}.Release|Any CPU.Build.0 = Release|Any CPU
+		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{EB77976F-4DE4-46A5-8B25-D07226204C32}.Release|Any CPU.Build.0 = Release|Any CPU
+		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{CCFA2CE7-A539-4ADC-B803-F759284C3463}.Release|Any CPU.Build.0 = Release|Any CPU
+		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70}.Release|Any CPU.Build.0 = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-EFEFC77DD623}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.Build.0 = Release|Any CPU
+		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+		{7A94C30C-6772-4F71-BF9C-0DF071A1BC70} = {530A4517-6210-422B-8CB4-B7D194EE70BE}
+		{14E8C9A5-013E-49BA-B435-EFEFC77DD623} = {530A4517-6210-422B-8CB4-B7D194EE70BE}
+		{9365803B-933D-4237-93C7-B502C855A71C} = {530A4517-6210-422B-8CB4-B7D194EE70BE}
+		{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7} = {530A4517-6210-422B-8CB4-B7D194EE70BE}
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {E9528217-EC4E-4991-B3C9-AE371EDFA28F}
+	EndGlobalSection
+EndGlobal

Cs_HMI/TestProject/Test_ACS/MainForm.Designer.cs

@@ -17,6 +17,7 @@ namespace Test_ACS
 
         private void InitializeComponent()
         {
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
             this.grpConnection = new System.Windows.Forms.GroupBox();
             this.btnRefresh = new System.Windows.Forms.Button();
             this.btnConnect = new System.Windows.Forms.Button();
@@ -33,13 +34,12 @@ namespace Test_ACS
             this.btnLiftDown = new System.Windows.Forms.Button();
             this.btnLiftUp = new System.Windows.Forms.Button();
             this.grpManual = new System.Windows.Forms.GroupBox();
-            this.btnManual = new System.Windows.Forms.Button();
+            this.btMMove = new System.Windows.Forms.Button();
             this.numRuntime = new System.Windows.Forms.NumericUpDown();
             this.lblRuntime = new System.Windows.Forms.Label();
             this.cmbSpeed = new System.Windows.Forms.ComboBox();
             this.lblSpeed = new System.Windows.Forms.Label();
             this.cmbDirection = new System.Windows.Forms.ComboBox();
-            this.lblDirection = new System.Windows.Forms.Label();
             this.chkMarkStop = new System.Windows.Forms.CheckBox();
             this.btnMarkStop = new System.Windows.Forms.Button();
             this.btnReset = new System.Windows.Forms.Button();
@@ -49,16 +49,21 @@ namespace Test_ACS
             this.btnSetCurrent = new System.Windows.Forms.Button();
             this.txtAlias = new System.Windows.Forms.TextBox();
             this.lblAlias = new System.Windows.Forms.Label();
-            this.txtRFID = new System.Windows.Forms.TextBox();
+            this.txtRFID = new System.Windows.Forms.NumericUpDown();
             this.lblRFID = new System.Windows.Forms.Label();
+            this.lblDirection = new System.Windows.Forms.Label();
             this.grpLogs = new System.Windows.Forms.GroupBox();
             this.tabLogs = new System.Windows.Forms.TabControl();
             this.tabRX = new System.Windows.Forms.TabPage();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.txtRxLog = new System.Windows.Forms.TextBox();
-            this.tabTX = new System.Windows.Forms.TabPage();
             this.txtTxLog = new System.Windows.Forms.TextBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
             this.tabInfo = new System.Windows.Forms.TabPage();
             this.txtInfoLog = new System.Windows.Forms.TextBox();
+            this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.richTextBox1 = new System.Windows.Forms.RichTextBox();
             this.grpAGVStatus = new System.Windows.Forms.GroupBox();
             this.lblLastTagValue = new System.Windows.Forms.Label();
             this.lblLastTag = new System.Windows.Forms.Label();
@@ -75,18 +80,29 @@ namespace Test_ACS
             this.lblRunSt = new System.Windows.Forms.Label();
             this.lblModeValue = new System.Windows.Forms.Label();
             this.lblMode = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.btAMove = new System.Windows.Forms.Button();
+            this.cmbAutoSpeed = new System.Windows.Forms.ComboBox();
+            this.label4 = new System.Windows.Forms.Label();
+            this.cmbMotDirection = new System.Windows.Forms.ComboBox();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.cmbMagDirection = new System.Windows.Forms.ComboBox();
             this.grpConnection.SuspendLayout();
             this.grpAGV.SuspendLayout();
             this.grpCommands.SuspendLayout();
             this.grpLift.SuspendLayout();
             this.grpManual.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.numRuntime)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).BeginInit();
             this.grpLogs.SuspendLayout();
             this.tabLogs.SuspendLayout();
             this.tabRX.SuspendLayout();
-            this.tabTX.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
             this.tabInfo.SuspendLayout();
+            this.tabPage1.SuspendLayout();
             this.grpAGVStatus.SuspendLayout();
+            this.groupBox1.SuspendLayout();
             this.SuspendLayout();
             // 
             // grpConnection
@@ -199,7 +215,7 @@ namespace Test_ACS
             // 
             // grpCommands
             // 
-            this.grpCommands.Controls.Add(this.grpLift);
+            this.grpCommands.Controls.Add(this.groupBox1);
             this.grpCommands.Controls.Add(this.grpManual);
             this.grpCommands.Controls.Add(this.chkMarkStop);
             this.grpCommands.Controls.Add(this.btnMarkStop);
@@ -224,18 +240,18 @@ namespace Test_ACS
             this.grpLift.Controls.Add(this.btnLiftStop);
             this.grpLift.Controls.Add(this.btnLiftDown);
             this.grpLift.Controls.Add(this.btnLiftUp);
-            this.grpLift.Location = new System.Drawing.Point(240, 202);
+            this.grpLift.Location = new System.Drawing.Point(298, 456);
             this.grpLift.Name = "grpLift";
-            this.grpLift.Size = new System.Drawing.Size(210, 100);
+            this.grpLift.Size = new System.Drawing.Size(180, 120);
             this.grpLift.TabIndex = 9;
             this.grpLift.TabStop = false;
             this.grpLift.Text = "리프트 제어";
             // 
             // btnLiftStop
             // 
-            this.btnLiftStop.Location = new System.Drawing.Point(135, 20);
+            this.btnLiftStop.Location = new System.Drawing.Point(121, 20);
             this.btnLiftStop.Name = "btnLiftStop";
-            this.btnLiftStop.Size = new System.Drawing.Size(60, 70);
+            this.btnLiftStop.Size = new System.Drawing.Size(48, 90);
             this.btnLiftStop.TabIndex = 2;
             this.btnLiftStop.Text = "정지";
             this.btnLiftStop.UseVisualStyleBackColor = true;
@@ -243,9 +259,9 @@ namespace Test_ACS
             // 
             // btnLiftDown
             // 
-            this.btnLiftDown.Location = new System.Drawing.Point(70, 20);
+            this.btnLiftDown.Location = new System.Drawing.Point(65, 20);
             this.btnLiftDown.Name = "btnLiftDown";
-            this.btnLiftDown.Size = new System.Drawing.Size(60, 70);
+            this.btnLiftDown.Size = new System.Drawing.Size(48, 90);
             this.btnLiftDown.TabIndex = 1;
             this.btnLiftDown.Text = "하강";
             this.btnLiftDown.UseVisualStyleBackColor = true;
@@ -253,9 +269,9 @@ namespace Test_ACS
             // 
             // btnLiftUp
             // 
-            this.btnLiftUp.Location = new System.Drawing.Point(5, 20);
+            this.btnLiftUp.Location = new System.Drawing.Point(9, 20);
             this.btnLiftUp.Name = "btnLiftUp";
-            this.btnLiftUp.Size = new System.Drawing.Size(60, 70);
+            this.btnLiftUp.Size = new System.Drawing.Size(48, 90);
             this.btnLiftUp.TabIndex = 0;
             this.btnLiftUp.Text = "상승";
             this.btnLiftUp.UseVisualStyleBackColor = true;
@@ -263,7 +279,7 @@ namespace Test_ACS
             // 
             // grpManual
             // 
-            this.grpManual.Controls.Add(this.btnManual);
+            this.grpManual.Controls.Add(this.btMMove);
             this.grpManual.Controls.Add(this.numRuntime);
             this.grpManual.Controls.Add(this.lblRuntime);
             this.grpManual.Controls.Add(this.cmbSpeed);
@@ -274,17 +290,17 @@ namespace Test_ACS
             this.grpManual.Size = new System.Drawing.Size(215, 100);
             this.grpManual.TabIndex = 8;
             this.grpManual.TabStop = false;
-            this.grpManual.Text = "수동 제어";
+            this.grpManual.Text = "수동 이동";
             // 
-            // btnManual
+            // btMMove
             // 
-            this.btnManual.Location = new System.Drawing.Point(136, 16);
+            this.btMMove.Location = new System.Drawing.Point(136, 16);
-            this.btnManual.Name = "btnManual";
+            this.btMMove.Name = "btMMove";
-            this.btnManual.Size = new System.Drawing.Size(73, 74);
+            this.btMMove.Size = new System.Drawing.Size(73, 74);
-            this.btnManual.TabIndex = 6;
+            this.btMMove.TabIndex = 6;
-            this.btnManual.Text = "수동\r\n이동\r\n실행";
+            this.btMMove.Text = "실행";
-            this.btnManual.UseVisualStyleBackColor = true;
+            this.btMMove.UseVisualStyleBackColor = true;
-            this.btnManual.Click += new System.EventHandler(this.btnManual_Click);
+            this.btMMove.Click += new System.EventHandler(this.btnManual_Click);
             // 
             // numRuntime
             // 
@@ -297,6 +313,7 @@ namespace Test_ACS
             this.numRuntime.Name = "numRuntime";
             this.numRuntime.Size = new System.Drawing.Size(70, 21);
             this.numRuntime.TabIndex = 5;
+            this.numRuntime.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             this.numRuntime.Value = new decimal(new int[] {
             5,
             0,
@@ -348,15 +365,6 @@ namespace Test_ACS
             this.cmbDirection.Size = new System.Drawing.Size(70, 20);
             this.cmbDirection.TabIndex = 1;
             // 
-            // lblDirection
-            // 
-            this.lblDirection.AutoSize = true;
-            this.lblDirection.Location = new System.Drawing.Point(10, 48);
-            this.lblDirection.Name = "lblDirection";
-            this.lblDirection.Size = new System.Drawing.Size(33, 12);
-            this.lblDirection.TabIndex = 4;
-            this.lblDirection.Text = "방향:";
-            // 
             // chkMarkStop
             // 
             this.chkMarkStop.AutoSize = true;
@@ -451,11 +459,20 @@ namespace Test_ACS
             // 
             this.txtRFID.Font = new System.Drawing.Font("Consolas", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.txtRFID.Location = new System.Drawing.Point(85, 25);
+            this.txtRFID.Maximum = new decimal(new int[] {
+            999999,
+            0,
+            0,
+            0});
             this.txtRFID.Name = "txtRFID";
             this.txtRFID.Size = new System.Drawing.Size(195, 26);
             this.txtRFID.TabIndex = 1;
-            this.txtRFID.Text = "0001";
             this.txtRFID.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtRFID.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
             this.txtRFID.TextChanged += new System.EventHandler(this.txtRFID_TextChanged);
             // 
             // lblRFID
@@ -467,6 +484,15 @@ namespace Test_ACS
             this.lblRFID.TabIndex = 0;
             this.lblRFID.Text = "RFID 번호:";
             // 
+            // lblDirection
+            // 
+            this.lblDirection.AutoSize = true;
+            this.lblDirection.Location = new System.Drawing.Point(10, 48);
+            this.lblDirection.Name = "lblDirection";
+            this.lblDirection.Size = new System.Drawing.Size(33, 12);
+            this.lblDirection.TabIndex = 4;
+            this.lblDirection.Text = "방향:";
+            // 
             // grpLogs
             // 
             this.grpLogs.Controls.Add(this.tabLogs);
@@ -480,8 +506,8 @@ namespace Test_ACS
             // tabLogs
             // 
             this.tabLogs.Controls.Add(this.tabRX);
-            this.tabLogs.Controls.Add(this.tabTX);
             this.tabLogs.Controls.Add(this.tabInfo);
+            this.tabLogs.Controls.Add(this.tabPage1);
             this.tabLogs.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tabLogs.Location = new System.Drawing.Point(3, 17);
             this.tabLogs.Name = "tabLogs";
@@ -491,56 +517,85 @@ namespace Test_ACS
             // 
             // tabRX
             // 
-            this.tabRX.Controls.Add(this.txtRxLog);
+            this.tabRX.Controls.Add(this.tableLayoutPanel1);
             this.tabRX.Location = new System.Drawing.Point(4, 22);
             this.tabRX.Name = "tabRX";
             this.tabRX.Padding = new System.Windows.Forms.Padding(3);
             this.tabRX.Size = new System.Drawing.Size(506, 518);
             this.tabRX.TabIndex = 1;
-            this.tabRX.Text = "수신 (RX)";
+            this.tabRX.Text = "패킷";
             this.tabRX.UseVisualStyleBackColor = true;
             // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 1;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.Controls.Add(this.txtRxLog, 0, 3);
+            this.tableLayoutPanel1.Controls.Add(this.txtTxLog, 0, 1);
+            this.tableLayoutPanel1.Controls.Add(this.label1, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.label2, 0, 2);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 4;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(500, 512);
+            this.tableLayoutPanel1.TabIndex = 1;
+            // 
             // txtRxLog
             // 
             this.txtRxLog.Dock = System.Windows.Forms.DockStyle.Fill;
             this.txtRxLog.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.txtRxLog.Location = new System.Drawing.Point(3, 3);
+            this.txtRxLog.Location = new System.Drawing.Point(3, 279);
             this.txtRxLog.Multiline = true;
             this.txtRxLog.Name = "txtRxLog";
             this.txtRxLog.ReadOnly = true;
             this.txtRxLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtRxLog.Size = new System.Drawing.Size(500, 512);
+            this.txtRxLog.Size = new System.Drawing.Size(494, 230);
             this.txtRxLog.TabIndex = 0;
-            // 
+            this.txtRxLog.Text = "1";
-            // tabTX
-            // 
-            this.tabTX.Controls.Add(this.txtTxLog);
-            this.tabTX.Location = new System.Drawing.Point(4, 22);
-            this.tabTX.Name = "tabTX";
-            this.tabTX.Padding = new System.Windows.Forms.Padding(3);
-            this.tabTX.Size = new System.Drawing.Size(506, 469);
-            this.tabTX.TabIndex = 0;
-            this.tabTX.Text = "송신 (TX)";
-            this.tabTX.UseVisualStyleBackColor = true;
             // 
             // txtTxLog
             // 
             this.txtTxLog.Dock = System.Windows.Forms.DockStyle.Fill;
             this.txtTxLog.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.txtTxLog.Location = new System.Drawing.Point(3, 3);
+            this.txtTxLog.Location = new System.Drawing.Point(3, 23);
             this.txtTxLog.Multiline = true;
             this.txtTxLog.Name = "txtTxLog";
             this.txtTxLog.ReadOnly = true;
             this.txtTxLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtTxLog.Size = new System.Drawing.Size(500, 463);
+            this.txtTxLog.Size = new System.Drawing.Size(494, 230);
             this.txtTxLog.TabIndex = 0;
             // 
+            // label1
+            // 
+            this.label1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label1.Location = new System.Drawing.Point(3, 0);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(494, 20);
+            this.label1.TabIndex = 1;
+            this.label1.Text = "Tx";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label2
+            // 
+            this.label2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label2.Location = new System.Drawing.Point(3, 256);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(494, 20);
+            this.label2.TabIndex = 1;
+            this.label2.Text = "Rx";
+            this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
             // tabInfo
             // 
             this.tabInfo.Controls.Add(this.txtInfoLog);
             this.tabInfo.Location = new System.Drawing.Point(4, 22);
             this.tabInfo.Name = "tabInfo";
-            this.tabInfo.Size = new System.Drawing.Size(506, 469);
+            this.tabInfo.Size = new System.Drawing.Size(506, 518);
             this.tabInfo.TabIndex = 2;
             this.tabInfo.Text = "정보";
             this.tabInfo.UseVisualStyleBackColor = true;
@@ -554,9 +609,31 @@ namespace Test_ACS
             this.txtInfoLog.Name = "txtInfoLog";
             this.txtInfoLog.ReadOnly = true;
             this.txtInfoLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtInfoLog.Size = new System.Drawing.Size(506, 469);
+            this.txtInfoLog.Size = new System.Drawing.Size(506, 518);
             this.txtInfoLog.TabIndex = 0;
             // 
+            // tabPage1
+            // 
+            this.tabPage1.Controls.Add(this.richTextBox1);
+            this.tabPage1.Location = new System.Drawing.Point(4, 22);
+            this.tabPage1.Name = "tabPage1";
+            this.tabPage1.Size = new System.Drawing.Size(506, 518);
+            this.tabPage1.TabIndex = 3;
+            this.tabPage1.Text = "프레임구조";
+            this.tabPage1.UseVisualStyleBackColor = true;
+            // 
+            // richTextBox1
+            // 
+            this.richTextBox1.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.richTextBox1.BorderStyle = System.Windows.Forms.BorderStyle.None;
+            this.richTextBox1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.richTextBox1.Location = new System.Drawing.Point(0, 0);
+            this.richTextBox1.Margin = new System.Windows.Forms.Padding(10);
+            this.richTextBox1.Name = "richTextBox1";
+            this.richTextBox1.Size = new System.Drawing.Size(506, 518);
+            this.richTextBox1.TabIndex = 0;
+            this.richTextBox1.Text = resources.GetString("richTextBox1.Text");
+            // 
             // grpAGVStatus
             // 
             this.grpAGVStatus.Controls.Add(this.lblLastTagValue);
@@ -577,7 +654,7 @@ namespace Test_ACS
             this.grpAGVStatus.Controls.Add(this.lblMode);
             this.grpAGVStatus.Location = new System.Drawing.Point(12, 456);
             this.grpAGVStatus.Name = "grpAGVStatus";
-            this.grpAGVStatus.Size = new System.Drawing.Size(466, 120);
+            this.grpAGVStatus.Size = new System.Drawing.Size(280, 120);
             this.grpAGVStatus.TabIndex = 4;
             this.grpAGVStatus.TabStop = false;
             this.grpAGVStatus.Text = "AGV 상태";
@@ -586,7 +663,7 @@ namespace Test_ACS
             // 
             this.lblLastTagValue.AutoSize = true;
             this.lblLastTagValue.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Bold);
-            this.lblLastTagValue.Location = new System.Drawing.Point(310, 98);
+            this.lblLastTagValue.Location = new System.Drawing.Point(221, 98);
             this.lblLastTagValue.Name = "lblLastTagValue";
             this.lblLastTagValue.Size = new System.Drawing.Size(14, 14);
             this.lblLastTagValue.TabIndex = 15;
@@ -595,7 +672,7 @@ namespace Test_ACS
             // lblLastTag
             // 
             this.lblLastTag.AutoSize = true;
-            this.lblLastTag.Location = new System.Drawing.Point(240, 98);
+            this.lblLastTag.Location = new System.Drawing.Point(151, 98);
             this.lblLastTag.Name = "lblLastTag";
             this.lblLastTag.Size = new System.Drawing.Size(57, 12);
             this.lblLastTag.TabIndex = 14;
@@ -624,7 +701,7 @@ namespace Test_ACS
             // 
             this.lblCartStValue.AutoSize = true;
             this.lblCartStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblCartStValue.Location = new System.Drawing.Point(310, 73);
+            this.lblCartStValue.Location = new System.Drawing.Point(221, 73);
             this.lblCartStValue.Name = "lblCartStValue";
             this.lblCartStValue.Size = new System.Drawing.Size(12, 12);
             this.lblCartStValue.TabIndex = 11;
@@ -633,7 +710,7 @@ namespace Test_ACS
             // lblCartSt
             // 
             this.lblCartSt.AutoSize = true;
-            this.lblCartSt.Location = new System.Drawing.Point(240, 73);
+            this.lblCartSt.Location = new System.Drawing.Point(151, 73);
             this.lblCartSt.Name = "lblCartSt";
             this.lblCartSt.Size = new System.Drawing.Size(33, 12);
             this.lblCartSt.TabIndex = 10;
@@ -662,7 +739,7 @@ namespace Test_ACS
             // 
             this.lblInpositionValue.AutoSize = true;
             this.lblInpositionValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblInpositionValue.Location = new System.Drawing.Point(310, 48);
+            this.lblInpositionValue.Location = new System.Drawing.Point(221, 48);
             this.lblInpositionValue.Name = "lblInpositionValue";
             this.lblInpositionValue.Size = new System.Drawing.Size(12, 12);
             this.lblInpositionValue.TabIndex = 7;
@@ -671,7 +748,7 @@ namespace Test_ACS
             // lblInposition
             // 
             this.lblInposition.AutoSize = true;
-            this.lblInposition.Location = new System.Drawing.Point(240, 48);
+            this.lblInposition.Location = new System.Drawing.Point(151, 48);
             this.lblInposition.Name = "lblInposition";
             this.lblInposition.Size = new System.Drawing.Size(57, 12);
             this.lblInposition.TabIndex = 6;
@@ -691,7 +768,7 @@ namespace Test_ACS
             // 
             this.lblRunStValue.AutoSize = true;
             this.lblRunStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblRunStValue.Location = new System.Drawing.Point(310, 23);
+            this.lblRunStValue.Location = new System.Drawing.Point(221, 23);
             this.lblRunStValue.Name = "lblRunStValue";
             this.lblRunStValue.Size = new System.Drawing.Size(12, 12);
             this.lblRunStValue.TabIndex = 3;
@@ -700,7 +777,7 @@ namespace Test_ACS
             // lblRunSt
             // 
             this.lblRunSt.AutoSize = true;
-            this.lblRunSt.Location = new System.Drawing.Point(240, 23);
+            this.lblRunSt.Location = new System.Drawing.Point(151, 23);
             this.lblRunSt.Name = "lblRunSt";
             this.lblRunSt.Size = new System.Drawing.Size(57, 12);
             this.lblRunSt.TabIndex = 2;
@@ -725,11 +802,103 @@ namespace Test_ACS
             this.lblMode.TabIndex = 0;
             this.lblMode.Text = "모드:";
             // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.cmbMagDirection);
+            this.groupBox1.Controls.Add(this.label5);
+            this.groupBox1.Controls.Add(this.btAMove);
+            this.groupBox1.Controls.Add(this.cmbAutoSpeed);
+            this.groupBox1.Controls.Add(this.label4);
+            this.groupBox1.Controls.Add(this.cmbMotDirection);
+            this.groupBox1.Location = new System.Drawing.Point(240, 202);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(215, 100);
+            this.groupBox1.TabIndex = 8;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "자동 이동";
+            // 
+            // btAMove
+            // 
+            this.btAMove.Location = new System.Drawing.Point(128, 16);
+            this.btAMove.Name = "btAMove";
+            this.btAMove.Size = new System.Drawing.Size(81, 74);
+            this.btAMove.TabIndex = 6;
+            this.btAMove.Text = "이동";
+            this.btAMove.UseVisualStyleBackColor = true;
+            this.btAMove.Click += new System.EventHandler(this.btAMove_Click);
+            // 
+            // cmbAutoSpeed
+            // 
+            this.cmbAutoSpeed.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbAutoSpeed.FormattingEnabled = true;
+            this.cmbAutoSpeed.Items.AddRange(new object[] {
+            "느림",
+            "보통",
+            "빠름"});
+            this.cmbAutoSpeed.Location = new System.Drawing.Point(52, 69);
+            this.cmbAutoSpeed.Name = "cmbAutoSpeed";
+            this.cmbAutoSpeed.Size = new System.Drawing.Size(70, 20);
+            this.cmbAutoSpeed.TabIndex = 3;
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(14, 73);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(29, 12);
+            this.label4.TabIndex = 2;
+            this.label4.Text = "속도";
+            // 
+            // cmbMotDirection
+            // 
+            this.cmbMotDirection.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbMotDirection.FormattingEnabled = true;
+            this.cmbMotDirection.Items.AddRange(new object[] {
+            "후진",
+            "전진"});
+            this.cmbMotDirection.Location = new System.Drawing.Point(52, 16);
+            this.cmbMotDirection.Name = "cmbMotDirection";
+            this.cmbMotDirection.Size = new System.Drawing.Size(70, 20);
+            this.cmbMotDirection.TabIndex = 1;
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(13, 21);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(29, 12);
+            this.label5.TabIndex = 7;
+            this.label5.Text = "모터";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(13, 47);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(29, 12);
+            this.label3.TabIndex = 9;
+            this.label3.Text = "방향";
+            // 
+            // cmbMagDirection
+            // 
+            this.cmbMagDirection.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbMagDirection.FormattingEnabled = true;
+            this.cmbMagDirection.Items.AddRange(new object[] {
+            "직진",
+            "좌",
+            "우"});
+            this.cmbMagDirection.Location = new System.Drawing.Point(52, 42);
+            this.cmbMagDirection.Name = "cmbMagDirection";
+            this.cmbMagDirection.Size = new System.Drawing.Size(70, 20);
+            this.cmbMagDirection.TabIndex = 8;
+            // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(1016, 588);
+            this.Controls.Add(this.grpLift);
             this.Controls.Add(this.grpAGVStatus);
             this.Controls.Add(this.grpLogs);
             this.Controls.Add(this.grpCommands);
@@ -750,16 +919,19 @@ namespace Test_ACS
             this.grpManual.ResumeLayout(false);
             this.grpManual.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.numRuntime)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).EndInit();
             this.grpLogs.ResumeLayout(false);
             this.tabLogs.ResumeLayout(false);
             this.tabRX.ResumeLayout(false);
-            this.tabRX.PerformLayout();
+            this.tableLayoutPanel1.ResumeLayout(false);
-            this.tabTX.ResumeLayout(false);
+            this.tableLayoutPanel1.PerformLayout();
-            this.tabTX.PerformLayout();
             this.tabInfo.ResumeLayout(false);
             this.tabInfo.PerformLayout();
+            this.tabPage1.ResumeLayout(false);
             this.grpAGVStatus.ResumeLayout(false);
             this.grpAGVStatus.PerformLayout();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -777,7 +949,7 @@ namespace Test_ACS
         private System.Windows.Forms.RadioButton rbAGV1;
         private System.Windows.Forms.GroupBox grpCommands;
         private System.Windows.Forms.Button btnSetCurrent;
-        private System.Windows.Forms.TextBox txtRFID;
+        private System.Windows.Forms.NumericUpDown txtRFID;
         private System.Windows.Forms.Label lblRFID;
         private System.Windows.Forms.Button btnGoto;
         private System.Windows.Forms.Button btnStop;
@@ -785,7 +957,7 @@ namespace Test_ACS
         private System.Windows.Forms.Button btnMarkStop;
         private System.Windows.Forms.CheckBox chkMarkStop;
         private System.Windows.Forms.GroupBox grpManual;
-        private System.Windows.Forms.Button btnManual;
+        private System.Windows.Forms.Button btMMove;
         private System.Windows.Forms.NumericUpDown numRuntime;
         private System.Windows.Forms.Label lblRuntime;
         private System.Windows.Forms.ComboBox cmbSpeed;
@@ -797,7 +969,6 @@ namespace Test_ACS
         private System.Windows.Forms.Button btnLiftUp;
         private System.Windows.Forms.GroupBox grpLogs;
         private System.Windows.Forms.TabControl tabLogs;
-        private System.Windows.Forms.TabPage tabTX;
         private System.Windows.Forms.TextBox txtTxLog;
         private System.Windows.Forms.TabPage tabRX;
         private System.Windows.Forms.TextBox txtRxLog;
@@ -824,5 +995,18 @@ namespace Test_ACS
         private System.Windows.Forms.Label lblRunSt;
         private System.Windows.Forms.Label lblModeValue;
         private System.Windows.Forms.Label lblMode;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.TabPage tabPage1;
+        private System.Windows.Forms.RichTextBox richTextBox1;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.Button btAMove;
+        private System.Windows.Forms.ComboBox cmbAutoSpeed;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.ComboBox cmbMotDirection;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.ComboBox cmbMagDirection;
     }
 }

Cs_HMI/TestProject/Test_ACS/MainForm.cs

@@ -31,6 +31,11 @@ namespace Test_ACS
 
             // Speed combobox default
             if (cmbSpeed.Items.Count > 0) cmbSpeed.SelectedIndex = 1; // 보통
+
+            cmbMotDirection.SelectedIndex = 0;
+            cmbMagDirection.SelectedIndex = 0;
+            cmbAutoSpeed.SelectedIndex = 0;
+
         }
 
         private void InitializeProtocol()
@@ -61,9 +66,14 @@ namespace Test_ACS
             AddLog($"RX: {hexstrRaw}\nID:{id}, CMD:{cmd}, DATA:{hexstr}", LogType.RX);
 
             // AGV 상태 수신 처리 (cmd = 3)
-            if (e.ReceivedPacket.Command == (byte)ENIGProtocol.AGVCommandEH.Status)
+            var device = e.ReceivedPacket.ID;
+            var command = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;
+
+            switch (command)
             {
-                UpdateAGVStatus(e.ReceivedPacket.Data);
+                case AGVCommandEH.Status:
+                    UpdateAGVStatus(e.ReceivedPacket.Data);
+                    break;
             }
         }
 
@@ -220,18 +230,21 @@ namespace Test_ACS
         private void btnSetCurrent_Click(object sender, EventArgs e)
         {
             // SetCurrent: data = TargetID(2 hex) + RFID(4 hex)
-            var rfid = txtRFID.Text.PadLeft(4, '0');
             var targetID = selectedAGV.ToString("X2");
-            var dataStr = targetID + rfid;
+            var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
+            var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
+            var dataStr = targetID + rfidHex;
             SendCommand(AGVCommandHE.SetCurrent, dataStr);
         }
 
         private void btnGoto_Click(object sender, EventArgs e)
         {
             // Goto: data = TargetID(2 hex) + RFID(4 hex)
-            var rfid = txtRFID.Text.PadLeft(4, '0');
+
             var targetID = selectedAGV.ToString("X2");
-            var dataStr = targetID + rfid;
+            var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
+            var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
+            var dataStr = targetID + rfidHex;
             SendCommand(AGVCommandHE.Goto, dataStr);
         }
 
@@ -334,7 +347,22 @@ namespace Test_ACS
                 serialPort.Write(packet, 0, packet.Length);
 
                 var hexString = string.Join(" ", packet.Select(b => b.ToString("X2")));
-                AddLog($"TX: {hexString}\nCMD: {command} ({(byte)command:X2}), DATA: {dataHexString}", LogType.TX);
+
+                //정보를 조금더 추출한다.
+                var Sender = packet[2];
+
+                if (Sender == 0x00)
+                {
+                    var Receiver = packet[4];
+                    var strdata = System.Text.Encoding.Default.GetString(dataBytes, 1, dataBytes.Length - 1);// (dataHexString.Substring(2), 16);
+
+                    AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} To:{Receiver} => {dataHexString} STR:{strdata}", LogType.TX);
+                }
+                else
+                {
+                    AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} => {dataHexString}", LogType.TX);
+                }
+
             }
             catch (Exception ex)
             {
@@ -344,7 +372,7 @@ namespace Test_ACS
 
         private void UpdateAGVStatus(byte[] data)
         {
-            if (data.Length < 13)
+            if (data.Length < 12)
             {
                 AddLog($"AGV 상태 데이터 길이 오류: {data.Length} bytes", LogType.Error);
                 return;
@@ -383,36 +411,47 @@ namespace Test_ACS
                         break;
                 }
 
-                // Direction[1]: 0=straight, 1=left, 2=right, 3=markstop
+                // Mot Direction[1]: 0=forward, 1:backward
                 switch (data[2])
                 {
                     case 0:
-                        lblDirectionValue.Text = "직진";
+                        lblDirectionValue.Text = "전진";
                         break;
                     case 1:
-                        lblDirectionValue.Text = "좌회전";
+                        lblDirectionValue.Text = "후진";
-                        break;
-                    case 2:
-                        lblDirectionValue.Text = "우회전";
-                        break;
-                    case 3:
-                        lblDirectionValue.Text = "마크정지";
                         break;
                     default:
-                        lblDirectionValue.Text = "알 수 없음";
+                        lblDirectionValue.Text = "??";
+                        break;
+                }
+
+                // Direction[1]: 0=straight, 1=left, 2=right, 3=markstop
+                switch (data[3])
+                {
+                    case 0:
+                        lblDirectionValue.Text += "/직진";
+                        break;
+                    case 1:
+                        lblDirectionValue.Text += "/좌회전";
+                        break;
+                    case 2:
+                        lblDirectionValue.Text += "/우회전";
+                        break;
+                    default:
+                        lblDirectionValue.Text += "/??";
                         break;
                 }
 
                 // Inposition[1]: 0=off, 1=on
-                lblInpositionValue.Text = data[3] == 0 ? "OFF" : "ON";
+                lblInpositionValue.Text = data[4] == 0 ? "OFF" : "ON";
-                lblInpositionValue.ForeColor = data[3] == 0 ? Color.Gray : Color.Green;
+                lblInpositionValue.ForeColor = data[4] == 0 ? Color.Gray : Color.Green;
 
                 // ChargeSt[1]: 0=off, 1=on
-                lblChargeStValue.Text = data[4] == 0 ? "OFF" : "ON";
+                lblChargeStValue.Text = data[5] == 0 ? "OFF" : "ON";
-                lblChargeStValue.ForeColor = data[4] == 0 ? Color.Gray : Color.Orange;
+                lblChargeStValue.ForeColor = data[5] == 0 ? Color.Gray : Color.Orange;
 
                 // CartSt[1]: 0=off, 1=on, 2=unknown
-                switch (data[5])
+                switch (data[6])
                 {
                     case 0:
                         lblCartStValue.Text = "없음";
@@ -422,18 +461,14 @@ namespace Test_ACS
                         lblCartStValue.Text = "있음";
                         lblCartStValue.ForeColor = Color.Green;
                         break;
-                    case 2:
-                        lblCartStValue.Text = "알 수 없음";
-                        lblCartStValue.ForeColor = Color.Orange;
-                        break;
                     default:
-                        lblCartStValue.Text = "오류";
+                        lblCartStValue.Text = "??";
                         lblCartStValue.ForeColor = Color.Red;
                         break;
                 }
 
                 // LiftSt[1]: 0=down, 1=up, 2=unknown
-                switch (data[6])
+                switch (data[7])
                 {
                     case 0:
                         lblLiftStValue.Text = "하강";
@@ -443,18 +478,13 @@ namespace Test_ACS
                         lblLiftStValue.Text = "상승";
                         lblLiftStValue.ForeColor = Color.Green;
                         break;
-                    case 2:
-                        lblLiftStValue.Text = "알 수 없음";
-                        lblLiftStValue.ForeColor = Color.Orange;
-                        break;
                     default:
-                        lblLiftStValue.Text = "오류";
+                        lblLiftStValue.Text = "??";
                         lblLiftStValue.ForeColor = Color.Red;
                         break;
                 }
 
-                // LastTag[6]: "000000"
+                string lastTag = Encoding.ASCII.GetString(data, 8, 4);
-                string lastTag = Encoding.ASCII.GetString(data, 7, 6);
                 lblLastTagValue.Text = lastTag;
                 lblLastTagValue.ForeColor = Color.Black;
             }
@@ -511,5 +541,18 @@ namespace Test_ACS
             }
             base.OnFormClosing(e);
         }
+
+        private void btAMove_Click(object sender, EventArgs e)
+        {
+            // Manual: data = TargetID(2 hex) + Direction(1 byte) + Speed(1 byte) + Runtime(1 byte)
+            var targetID = selectedAGV.ToString("X2");
+            var Motdirection = (byte)cmbMotDirection.SelectedIndex;
+            var Magdirection = (byte)cmbMagDirection.SelectedIndex;
+            var speed = (byte)cmbAutoSpeed.SelectedIndex;
+
+            var dataBytes = new byte[] { Motdirection, Magdirection, speed };
+            var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
+            SendCommand(AGVCommandHE.AutoMove, dataStr);
+        }
     }
 }

Cs_HMI/TestProject/Test_ACS/MainForm.resx

@@ -117,4 +117,17 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
+  <data name="richTextBox1.Text" xml:space="preserve">
+    <value>### 기본 패킷 구조
+```
+[STX][LEN][ID][CMD][DATA][CRC16][ETX]
+```
+- **STX (Start of Text)**: 0x02
+- **LEN (Length)**: 데이터 길이 (1바이트) = {ID+CMD+DATA}
+- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType)
+- **CMD (Command)**: 명령어 코드 (1바이트)
+- **DATA**: 명령어에 따른 데이터 (가변 길이)
+- **CRC16**: 데이터 무결성 검사 (2바이트)
+- **ETX (End of Text)**: 0x03</value>
+  </data>
 </root>

Cs_HMI/TestProject/Test_ACS/Test_ACS.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
@@ -36,7 +36,7 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
-      <HintPath>..\..\SubProject\packages\Newtonsoft.Json.13.0.3\lib\net45\Newtonsoft.Json.dll</HintPath>
+      <HintPath>..\..\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
@@ -77,6 +77,7 @@
       <LastGenOutput>Resources.Designer.cs</LastGenOutput>
     </EmbeddedResource>
     <None Include="app.config" />
+    <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>

Cs_HMI/TestProject/Test_ACS/packages.config

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <packages>
-  <package id="Newtonsoft.Json" version="13.0.3" targetFramework="net48" />
+  <package id="Newtonsoft.Json" version="13.0.4" targetFramework="net48" />
-</packages>
+</packages>

Cs_HMI/TestProject/Test_BMS/Test_BMS.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

Cs_HMI/TestProject/Test_Narumi/Test_Narumi.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

Cs_HMI/TestProject/Test_Port/Test_Port.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>