..

AGVLogic/EnigProtocol/enigprotocol/Commands.cs

@@ -67,6 +67,8 @@ namespace ENIGProtocol
         NOTSET_CHARGEPOINT,
         ALREADY_CHARGE,
         CHARGE_RETRY_OVER,
+        MAGNET_ON_ERROR,
+        MAGNET_OF_ERROR,
     }
 
     public static class AGVUtility

HMI/Project/Device/Xbee.cs

@@ -162,7 +162,10 @@ namespace Project.Device
             byte cmd = (byte)ENIGProtocol.AGVCommandEH.Arrived;
             var data = System.Text.Encoding.Default.GetBytes(tag);
             var packet = proto.CreatePacket(id, cmd, data);
-            Send(packet);
+            if (Send(packet))
+                PUB.logxbee.AddI($"Send SendMoveComplete [O] : {packet.Length} {packet.HexString()}");
+            else
+                PUB.logxbee.AddE($"Send SendMoveComplete [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
         }
 
         /// <summary>
@@ -174,7 +177,10 @@ namespace Project.Device
             byte cmd = (byte)ENIGProtocol.AGVCommandEH.ReadRFID;
             var data = System.Text.Encoding.Default.GetBytes(tag);
             var packet = proto.CreatePacket(id, cmd, data);
-            Send(packet);
+            if (Send(packet))
+                PUB.logxbee.AddI($"Send SendRFIDTag [O] : {packet.Length} {packet.HexString()}");
+            else
+                PUB.logxbee.AddE($"Send SendRFIDTag [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
         }
 
         /// <summary>
@@ -197,7 +203,10 @@ namespace Project.Device
             // data.AddRange(datamsg);
 
             var packet = proto.CreatePacket(id, cmd, data.ToArray());
-            Send(packet);
+            if (Send(packet))
+                PUB.logxbee.AddI($"Send SendError [O] : {packet.Length} {packet.HexString()}");
+            else
+                PUB.logxbee.AddE($"Send SendError [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
         }
 
         public eDocStep StepMC { get; set; } = eDocStep.NotSet;
@@ -237,7 +246,7 @@ namespace Project.Device
                 data.Add(value);
 
                 // RunSt
-                if (PUB.AGV.error.Emergency)
+                if (PUB.AGV.error.Value > 0)
                     value = 2; // error
                 else if (PUB.AGV.system1.agv_run)
                     value = 1; // run
@@ -245,6 +254,11 @@ namespace Project.Device
                     value = 0; // stop
                 data.Add(value);
 
+               
+                //나르미오류코드전송필요   260202 
+                //agv\structure\errorflag.cs 파일의  public enum eflag 에 내용있음
+                data.AddRange(BitConverter.GetBytes(PUB.AGV.error.Value));
+
                 //runstep
                 value = (byte)PUB.sm.RunStep;
                 data.Add(value);
@@ -310,7 +324,7 @@ namespace Project.Device
                 if (Send(packet))
                     PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}");
                 else
-                    PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()}");
+                    PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()} {PUB.XBE.ErrorMessage}");
                 LastStatusSendTime = DateTime.Now;
             }
             catch (Exception ex)

HMI/Project/Dialog/fLog.Designer.cs

@@ -28,6 +28,7 @@
         /// </summary>
         private void InitializeComponent()
         {
+            this.components = new System.ComponentModel.Container();
             this.rtsys = new arCtl.LogTextBox();
             this.rtTx = new arCtl.LogTextBox();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
@@ -40,6 +41,7 @@
             this.panel4 = new System.Windows.Forms.Panel();
             this.rtAGV = new arCtl.LogTextBox();
             this.titleAGV = new System.Windows.Forms.Label();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.tableLayoutPanel1.SuspendLayout();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -230,6 +232,11 @@
             this.titleAGV.Text = "AGV";
             this.titleAGV.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
+            // timer1
+            // 
+            this.timer1.Interval = 1000;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
             // fLog
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -263,5 +270,6 @@
         private System.Windows.Forms.Panel panel4;
         private System.Windows.Forms.Label titleBMS;
         private System.Windows.Forms.Label titleAGV;
+        private System.Windows.Forms.Timer timer1;
     }
 }

HMI/Project/Dialog/fLog.cs

@@ -20,12 +20,31 @@ namespace Project.Dialog
 
         private void FLog_FormClosed(object sender, FormClosedEventArgs e)
         {
+            timer1.Stop();
             PUB.log.RaiseMsg -= Log_RaiseMsg;
             PUB.logagv.RaiseMsg -= Log_RaiseMsgagv;
             PUB.logplc.RaiseMsg -= Log_RaiseMsgplc;
             PUB.logbms.RaiseMsg -= Log_RaiseMsgbms;
             PUB.logxbee.RaiseMsg -= Log_RaiseMsgcal;
         }
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            //포트열림상태표시 2600202
+            if (PUB.XBE.IsOpen)
+                titleXBEE.BackColor = Color.Lime;
+            else
+                titleXBEE.BackColor = Color.Tomato;
+
+            if (PUB.AGV.IsOpen)
+                titleAGV.BackColor = Color.Lime;
+            else
+                titleAGV.BackColor = Color.Tomato;
+
+            if (PUB.BMS.IsOpen)
+                titleBMS.BackColor = Color.Lime;
+            else
+                titleBMS.BackColor = Color.Tomato;
+        }
 
         private void fLog_Load(object sender, EventArgs e)
         {
@@ -52,6 +71,7 @@ namespace Project.Dialog
             PUB.logplc.RaiseMsg += Log_RaiseMsgplc;
             PUB.logbms.RaiseMsg += Log_RaiseMsgbms;
             PUB.logxbee.RaiseMsg += Log_RaiseMsgcal;
+            timer1.Start();
         }
 
         private void Log_RaiseMsg(DateTime LogTime, string TypeStr, string Message)
@@ -81,5 +101,6 @@ namespace Project.Dialog
                 rtRx.AddMsg(LogTime, TypeStr, Message);
             }
         }
+
     }
 }

HMI/Project/Dialog/fLog.resx

@@ -117,4 +117,7 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
 </root>

HMI/Project/PUB.cs

@@ -733,6 +733,8 @@ namespace Project
                     SaveTime = DateTime.Now
                 };
 
+                var fi = new System.IO.FileInfo(LastPosFilePath);
+                if (fi.Directory.Exists == false) fi.Directory.Create();
                 string json = JsonConvert.SerializeObject(data, Formatting.Indented);
                 File.WriteAllText(LastPosFilePath, json);
             }

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -145,9 +145,20 @@ namespace Project
             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($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트를 내립니다");
+                VAR.I32[eVarInt32.RetryLift] = 0;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                if (PUB.AGV.signal1.lift_down == false)
+                {
+                    VAR.I32[eVarInt32.RetryLift] = 0;
+                    var rlt = PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                    PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 실행:{rlt}");
+                }
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -158,36 +169,64 @@ namespace Project
                 {
                     if (seqtime.TotalSeconds > 20)
                     {
-                        PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않아 1회 재시도 합니다");
+                        if (VAR.I32[eVarInt32.RetryLift] < 3)
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                        {
-                        //재시도를 했으니 다음으로 진행하게한다
+                            PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않아 재시도 합니다");
+                            PUB.sm.UpdateRunStepSeq(-1);
                         }
                         else
                         {
-                        PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR,
-                        return false;
+                                $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않습니다");
+                            VAR.I32[eVarInt32.RetryLift] = 0;
                         }
                     }
-                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)
-                    {
-                        SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 내려가지 않습니다");
-                    }
                     else PUB._mapCanvas.SetAlertMessage($"리프트 하강 확인 중({seqtime.TotalSeconds:N0}/20)");
                     return false;
                 }
-
+                VAR.I32[eVarInt32.RetryManget] = 0;
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                if(PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    VAR.I32[eVarInt32.RetryManget] += 1;
+                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+                    PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마그넷ON");
+                }
+               
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마그넷센서가 들어오는지 5초간 확인한다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter && 
+                    PUB.AGV.signal1.magnet_on == false)
+                {
+                    if (seqtime.TotalSeconds > 5)
+                    {
+                        if (VAR.I32[eVarInt32.RetryManget] < 3)
+                        {
+                            PUB.sm.UpdateRunStepSeq(-1);
+                        }
+                        else
+                        {
+                            var errmsg = $"[{funcname}] 마그넷이 ON 되지 않았습니다";
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_ON_ERROR, errmsg);
+                            VAR.I32[eVarInt32.RetryManget] = 0;
+                        }
+                    }
+                    return false;
+                }
+
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
@@ -220,16 +259,17 @@ namespace Project
                     return false;
                 }
 
-                //후진이동을한다                
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 도킹을 위해 후진 이동 시작 (Dir:Backward, Spd:Low)");
+                PUB._mapCanvas.SetAlertMessage($"도킹을 위해 후진 이동 시작");
+                VAR.I32[eVarInt32.RetryMove] = 0;
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //이동확인을 한다.
+                VAR.I32[eVarInt32.RetryMove] += 1;
-                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 도킹을 위해 후진 이동 시작 (Dir:Backward, Spd:Low)");
+                var rlt = PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                PUB._mapCanvas.SetAlertMessage($"도킹을 위해 후진 이동 시작");
+                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이동명령 결과:{rlt}");
-                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -240,8 +280,18 @@ namespace Project
                 {
                     if (seqtime.TotalSeconds > 10)
                     {
-                        SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
+                        if (VAR.I32[eVarInt32.RetryMove] < 3)
+                        {
+                            PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 이동명령 재전송");
+                            PUB.sm.UpdateRunStepSeq(-1);
                         }
+                        else
+                        {
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
+                            VAR.I32[eVarInt32.RetryMove] = 0;
+                        }
+                    }
+                    else PUB._mapCanvas.SetAlertMessage($"AGV이동 확인 중");
                     return false;
                 }
 
@@ -309,11 +359,50 @@ namespace Project
                     return false;
                 }
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마크센서 확인완료");
+                VAR.I32[eVarInt32.RetryManget] = 0;
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    VAR.I32[eVarInt32.RetryManget] += 1;
+                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    //마그넷센서가 들어오는지 5초간 확인한다.
+                    if (PUB.AGV.signal1.magnet_on == true)
+                    {
+                        if (seqtime.TotalSeconds > 5)
+                        {
+                            if (VAR.I32[eVarInt32.RetryManget] < 3)
+                            {
+                                PUB.sm.UpdateRunStepSeq(-1);
+                            }
+                            else
+                            {
+                                VAR.I32[eVarInt32.RetryManget] = 0;
+                                var errmsg = $"[{funcname}] 마그넷이 OFF 되지 않았습니다";
+                                SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_OF_ERROR, errmsg);
+                            }
+                        }
+                        return false;
+                    }
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 if (seqtime.TotalSeconds < 2) return false;
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 작업({PUB.NextWorkCmd}) 완료. 대기 상태로 전환 (퇴출 명령 대기)");

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -37,12 +37,14 @@ namespace Project
                 PUB.Speak(Lang.진출을시작합니다);
                 PUB.sm.UpdateRunStepSeq();
                 SpeedSetRetry = false;
+                VAR.I32[eVarInt32.RetryLift] = 0;
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트제어 {lift}");
+                VAR.I32[eVarInt32.RetryLift] += 1;
                 PUB.AGV.LiftControl(lift);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
@@ -55,31 +57,23 @@ namespace Project
                 {
                     if (seqtime.TotalSeconds > 20)
                     {
-                        PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 완료되지 않아 1회 재시도 합니다");
+                        if(VAR.I32[eVarInt32.RetryLift] < 3)
-                        arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
+                        {
-                        PUB.AGV.LiftControl(lift);
+                            PUB.log.AddAT($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 완료되지 않아 재시도 합니다");
+                            PUB.sm.UpdateRunStepSeq(-1);
+                        }
+                        else
+                        {
+                            VAR.I32[eVarInt32.RetryLift] = 0;
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작하지 않습니다");
+                        }
                     }
                     else return false;
                 }
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
-            else if (PUB.sm.RunStepSeq == idx++)
+            
-            {
-                //리프트 센서 확인 
-                var checksensor = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? PUB.AGV.signal1.lift_up : PUB.AGV.signal1.lift_down;
-                if (checksensor == false)
-                {
-                    if (seqtime.TotalSeconds > 20)
-                    {
-                        SetRunStepError(ENIGProtocol.AGVErrorCode.LIFT_ERROR, $"[{funcname}-{PUB.sm.RunStepSeq}] 리프트가 동작하지 않습니다");
-                    }
-                    return false;
-                }
-                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 확인 완료");
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 if (PUB.AGV.signal1.mark_sensor == false)
@@ -111,6 +105,7 @@ namespace Project
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 이동 설정 완료 (Dir:Forward, Spd:Low)");
                 }
 
+                VAR.I32[eVarInt32.RetryMove] = 0;
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -119,10 +114,10 @@ namespace Project
                 //전진이동
                 if (PUB.AGV.signal1.mark_sensor == false)
                 {
+                    VAR.I32[eVarInt32.RetryMove] += 1;
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 전진 구동 시작");
                     PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
                 }
-
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -134,18 +129,33 @@ namespace Project
                     if (PUB.AGV.system1.agv_run == false)
                     {
                         if (seqtime.TotalSeconds > 3)
+                        {
+                            if(VAR.I32[eVarInt32.RetryMove] < 3)
+                            {
+                                //재시도를 하게한다.
+                                PUB.sm.UpdateRunStepSeq(-1);
+                            }
+                            else
                             {
                                 //구동이확인되지 않으면 오류처리를 한다.
                                 SetRunStepError(ENIGProtocol.AGVErrorCode.AGV_RUN_FAIL);
+                                VAR.I32[eVarInt32.RetryMove] = 0;
+                            }
+                            
                         }
                         return false;
                     }
-
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] AGV 구동 확인 완료");
-                    //마크스탑설정
+                }
+                VAR.I32[eVarInt32.RetryMarkStop] = 0;
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                VAR.I32[eVarInt32.RetryMarkStop] += 1;
                 PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 명령 전송 (진출 정지 장소)");
-                }
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -157,8 +167,17 @@ namespace Project
                     if (PUB.AGV.data.Speed != 'S')
                     {
                         if (seqtime.TotalSeconds > 3)
+                        {
+                            if(VAR.I32[eVarInt32.RetryMarkStop] < 3)
+                            {
+                                PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] MarkStop 재시도");
+                                PUB.sm.UpdateRunStepSeq(-1);
+                            }
+                            else
                             {
                                 SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_TIMEOUT);
+                                VAR.I32[eVarInt32.RetryMarkStop] = 0;
+                            }
                             return false;
                         }
                         return false;

HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs

@@ -36,7 +36,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //마크센서가 감지된상태여야 완전한위치로 가정한다
-                if(PUB.AGV.signal1.mark_sensor == false)
+                if (PUB.AGV.signal1.mark_sensor == false)
                 {
                     SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL, $"[{funcname}] 마크센서가 감지되지 않습니다");
                 }
@@ -97,13 +97,52 @@ namespace Project
                     }
                     return false;
                 }
-                else
+
-                {
+                VAR.I32[eVarInt32.RetryManget] = 0;
                 PUB.log.Add("리프트 동작 확인 완료");
                 PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    VAR.I32[eVarInt32.RetryManget] += 1;
+                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    //마그넷센서가 들어오는지 5초간 확인한다.
+                    if (PUB.AGV.signal1.magnet_on == false)
+                    {
+                        if (seqTime.TotalSeconds > 5)
+                        {
+                            if(VAR.I32[eVarInt32.RetryManget] < 3)
+                            {
+                                PUB.sm.UpdateRunStepSeq(-1);
+                            }
+                            else
+                            {
+                                var errmsg = $"[{funcname}] 마그넷이 ON 되지 않았습니다";
+                                SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_ON_ERROR, errmsg);
+                                VAR.I32[eVarInt32.RetryManget] = 0;
+                            }
+                            
                         }
                         return false;
                     }
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //저속이동 (후진 진입)
@@ -114,6 +153,7 @@ namespace Project
                     PBSSensor = 0,
                     Speed = arDev.Narumi.eMoveSpd.Low,
                 });
+
                 //명령이 실패되었다면 재시도를 한다
                 if (ret != arDev.eNarumiCommandResult.Success)
                 {
@@ -198,10 +238,50 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //완료되었다.
-                PUB.log.Add("진입 완료");
+                PUB.log.Add("진입 완료 마그넷을 off합니다");
+                VAR.I32[eVarInt32.RetryManget] = 0;
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    VAR.I32[eVarInt32.RetryManget] += 1;
+                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //pick off 조건이라면. 마그넷을 on 한후에 민다.
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
+                {
+                    //마그넷센서가 들어오는지 5초간 확인한다.
+                    if (PUB.AGV.signal1.magnet_on == true)
+                    {
+                        if (seqTime.TotalSeconds > 5)
+                        {
+                            if (VAR.I32[eVarInt32.RetryManget] < 3)
+                            {
+                                PUB.sm.UpdateRunStepSeq(-1);
+                            }
+                            else
+                            {
+                                VAR.I32[eVarInt32.RetryManget] = 0;
+                                var errmsg = $"[{funcname}] 마그넷이 OFF 되지 않았습니다";
+                                SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_OF_ERROR, errmsg);
+                            }
+                        }
+                        return false;
+                    }
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
 
             return true;
         }

HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -109,6 +109,9 @@ namespace Project
                 PUB.log.Add($"[GOTO] Step {idx - 1}: Movement Finished. Waiting for full stop.");
                 PUB.Speak(Lang.이동완료, true);
                 PUB.AddEEDB($"이동완료({PUB._virtualAGV.TargetNode.ID2})");
+
+                //ㅇ목적지 완료신호를 ACS에전송한다.
+                PUB.XBE.SendMoveComplete(PUB._virtualAGV.TargetNode.RfidId.ToString("0000"));
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

HMI/Project/StateMachine/Step/_Util.cs

@@ -287,10 +287,19 @@ namespace Project
                 {
                     if (PUB.AGV.system1.agv_run == false)
                     {
+                        //마크센서확인
+                        if(PUB.AGV.signal1.mark_sensor==false)
+                        {
+                            PUB.log.AddI($"목표도착되었으나 마크센서가 감지되지 않아 경로를 삭제 합니다");
+                            PUB._virtualAGV.SetPath(null);
+                            return false;
+                        }
+
                         // 경로가 존재한다면...
                         if (PUB._virtualAGV.CurrentPath != null && PUB._virtualAGV.CurrentPath.DetailedPath.Any())
                         {
                             var lastInfo = PUB._virtualAGV.CurrentPath.DetailedPath.Last();
+
                             // 위치와 방향이 모두 일치해야 완료된 것으로 본다.
                             if (PUB._virtualAGV.CurrentNode.Id == lastInfo.NodeId &&
                                 PUB._virtualAGV.CurrentDirection == lastInfo.MotorDirection)

HMI/Project/fMain.Designer.cs

@@ -119,6 +119,7 @@ namespace Project
             this.demoListLotToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripMenuItem5 = new System.Windows.Forms.ToolStripMenuItem();
             this.refreshListToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pandBottomDIO = new System.Windows.Forms.Panel();
             this.panel9 = new System.Windows.Forms.Panel();
@@ -127,7 +128,6 @@ namespace Project
             this.panDlg = new System.Windows.Forms.Panel();
             this.arPanel2 = new arCtl.arPanel();
             this.arPanel1 = new arCtl.arPanel();
-            this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.panRight.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel4.SuspendLayout();
@@ -1676,7 +1676,7 @@ namespace Project
             this.refreshListToolStripMenuItem,
             this.xbeeSettingToolStripMenuItem});
             this.cmDebug.Name = "cmVision";
-            this.cmDebug.Size = new System.Drawing.Size(229, 368);
+            this.cmDebug.Size = new System.Drawing.Size(229, 346);
             // 
             // mapFileToolStripMenuItem
             // 
@@ -1727,6 +1727,13 @@ namespace Project
             this.refreshListToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
             this.refreshListToolStripMenuItem.Text = "Refresh List";
             // 
+            // xbeeSettingToolStripMenuItem
+            // 
+            this.xbeeSettingToolStripMenuItem.Name = "xbeeSettingToolStripMenuItem";
+            this.xbeeSettingToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
+            this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
+            this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
+            // 
             // debugtestToolStripMenuItem
             // 
             this.debugtestToolStripMenuItem.Name = "debugtestToolStripMenuItem";
@@ -1824,7 +1831,7 @@ namespace Project
             this.IOState.Text = "gridView2";
             this.IOState.TextAttachToImage = true;
             this.IOState.Titles = new string[] {
-        "EMG|TAG|DIR|STS|SPD|SEN|CAL|RUN|MARK|CHG|ITM"};
+        "EMG|TAG|DIR|STS|SPD|SEN|CAL|RUN|MARK|CHG|CART"};
             this.IOState.Values = new ushort[] {
         ((ushort)(0)),
         ((ushort)(1)),
@@ -1970,13 +1977,6 @@ namespace Project
             this.arPanel1.TextShadow = false;
             this.arPanel1.UseProgressBar = false;
             // 
-            // xbeeSettingToolStripMenuItem
-            // 
-            this.xbeeSettingToolStripMenuItem.Name = "xbeeSettingToolStripMenuItem";
-            this.xbeeSettingToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
-            this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
-            this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
-            // 
             // fMain
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;

HMI/Project/fMain.resx

@@ -126,163 +126,160 @@
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HMI/SubProject/CommData/Enum.cs

@@ -14,6 +14,10 @@ namespace COMM
         ChargeWaitSec,
 		SyncItemCount,
         PathValidationError,
+        RetryManget,
+        RetryLift,
+        RetryMove,
+        RetryMarkStop,
 	}
 	public enum eVarUInt32
 	{