agv 노드 정보 정리 세분화

Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj

@@ -62,7 +62,6 @@
     <Compile Include="Models\ImagePathEditor.cs" />
     <Compile Include="Models\MapImage.cs" />
     <Compile Include="Models\MapLabel.cs" />
-    <Compile Include="Models\NodePropertyWrapper.cs" />
     <Compile Include="Forms\MainForm.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs

@@ -64,6 +64,9 @@ namespace AGVMapEditor.Forms
             this.toolStripSeparator3 = new System.Windows.Forms.ToolStripSeparator();
             this.btnSave = new System.Windows.Forms.ToolStripButton();
             this.btnSaveAs = new System.Windows.Forms.ToolStripButton();
+            this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
+            this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
+            this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.statusStrip1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.Panel1.SuspendLayout();
@@ -351,7 +354,9 @@ namespace AGVMapEditor.Forms
             this.btnClose,
             this.toolStripSeparator3,
             this.btnSave,
-            this.btnSaveAs});
+            this.btnSaveAs,
+            this.toolStripSeparator2,
+            this.toolStripButton1});
             this.toolStrip2.Location = new System.Drawing.Point(0, 0);
             this.toolStrip2.Name = "toolStrip2";
             this.toolStrip2.Size = new System.Drawing.Size(1200, 25);
@@ -417,6 +422,28 @@ namespace AGVMapEditor.Forms
             this.btnSaveAs.ToolTipText = "다른 이름으로 저장";
             this.btnSaveAs.Click += new System.EventHandler(this.btnSaveAs_Click);
             // 
+            // toolStripSeparator2
+            // 
+            this.toolStripSeparator2.Name = "toolStripSeparator2";
+            this.toolStripSeparator2.Size = new System.Drawing.Size(6, 25);
+            // 
+            // toolStripButton1
+            // 
+            this.toolStripButton1.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.allTurnLeftRightCrossOnToolStripMenuItem});
+            this.toolStripButton1.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton1.Image")));
+            this.toolStripButton1.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton1.Name = "toolStripButton1";
+            this.toolStripButton1.Size = new System.Drawing.Size(68, 22);
+            this.toolStripButton1.Text = "Debig";
+            // 
+            // allTurnLeftRightCrossOnToolStripMenuItem
+            // 
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Name = "allTurnLeftRightCrossOnToolStripMenuItem";
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Size = new System.Drawing.Size(223, 22);
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
+            // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -490,5 +517,8 @@ namespace AGVMapEditor.Forms
         private System.Windows.Forms.ToolStripButton btnAddImage;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
         private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
+        private System.Windows.Forms.ToolStripDropDownButton toolStripButton1;
+        private System.Windows.Forms.ToolStripMenuItem allTurnLeftRightCrossOnToolStripMenuItem;
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -221,8 +221,8 @@ namespace AGVMapEditor.Forms
                 toolStripStatusLabel1.Text = $"{nodes.Count}개 노드 선택됨 - PropertyGrid에서 공통 속성 일괄 변경 가능";
 
                 // 다중 선택 PropertyWrapper 표시
-                var multiWrapper = new MultiNodePropertyWrapper(nodes);
+                //var multiWrapper = new MultiNodePropertyWrapper(nodes);
-                _propertyGrid.SelectedObject = multiWrapper;
+                _propertyGrid.SelectedObjects = nodes.ToArray();// multiWrapper;
                 _propertyGrid.Focus();
             }
         }
@@ -833,11 +833,10 @@ namespace AGVMapEditor.Forms
                             foreColor = Color.Black;
                             backColor = Color.White;
                             break;
-                        case NodeType.Rotation:
+                        case NodeType.Loader:
-                            foreColor = Color.DarkOrange;
+                        case NodeType.UnLoader:
-                            backColor = Color.LightYellow;
+                        case NodeType.Clearner:
-                            break;
+                        case NodeType.Buffer:
-                        case NodeType.Docking:
                             foreColor = Color.DarkGreen;
                             backColor = Color.LightGreen;
                             break;
@@ -975,9 +974,7 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            // 노드 래퍼 객체 생성 (타입에 따라 다른 래퍼 사용)
+            _propertyGrid.SelectedObject = _selectedNode;
-            var nodeWrapper = NodePropertyWrapperFactory.CreateWrapper(_selectedNode, _mapNodes);
-            _propertyGrid.SelectedObject = nodeWrapper;
             _propertyGrid.Focus();
 
             // 이미지 노드인 경우 편집 버튼 활성화
@@ -989,8 +986,7 @@ namespace AGVMapEditor.Forms
         /// </summary>
         private void ShowCanvasProperties()
         {
-            var canvasWrapper = new CanvasPropertyWrapper(_mapCanvas);
+            _propertyGrid.SelectedObject = _mapCanvas;
-            _propertyGrid.SelectedObject = canvasWrapper;
             DisableImageEditButton();
         }
 
@@ -1124,7 +1120,9 @@ namespace AGVMapEditor.Forms
             UpdateTitle();
 
             // 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
-            bool isMultiSelect = _propertyGrid.SelectedObject is MultiNodePropertyWrapper;
+            bool isMultiSelect = _propertyGrid.SelectedObjects is MapNode[]; // _propertyGrid.SelectedObject is MapNode[];
+            
+            //var a = _propertyGrid.SelectedObject;
             List<MapNode> selectedNodes = null;
             if (isMultiSelect)
             {
@@ -1146,9 +1144,9 @@ namespace AGVMapEditor.Forms
             // 🔥 다중 선택인 경우 MultiNodePropertyWrapper를 다시 생성하여 바인딩
             if (isMultiSelect && selectedNodes != null && selectedNodes.Count > 0)
             {
-                System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
+               // System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
-                var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
+                //var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
-                _propertyGrid.SelectedObject = multiWrapper;
+                _propertyGrid.SelectedObjects = selectedNodes.ToArray();// multiWrapper;
             }
 
             // PropertyGrid 새로고침
@@ -1180,18 +1178,18 @@ namespace AGVMapEditor.Forms
             var selectedObject = _propertyGrid.SelectedObject;
 
             // 다양한 PropertyWrapper 타입 처리
-            if (selectedObject is NodePropertyWrapper nodeWrapper)
+            //if (selectedObject is NodePropertyWrapper nodeWrapper)
-            {
+            //{
-                currentNodeId = nodeWrapper.WrappedNode?.NodeId;
+            //    currentNodeId = nodeWrapper.WrappedNode?.NodeId;
-            }
+            //}
-            else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
+            //else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
-            {
+            //{
-                currentNodeId = labelWrapper.WrappedNode?.NodeId;
+            //    currentNodeId = labelWrapper.WrappedNode?.NodeId;
-            }
+            //}
-            else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
+            //else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
-            {
+            //{
-                currentNodeId = imageWrapper.WrappedNode?.NodeId;
+            //    currentNodeId = imageWrapper.WrappedNode?.NodeId;
-            }
+            //}
 
             int duplicateCount = 0;
             foreach (var node in _mapNodes)
@@ -1370,5 +1368,46 @@ namespace AGVMapEditor.Forms
 
         #endregion
 
+        private void allTurnLeftRightCrossOnToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            //모든노드의 trun left/right/ cross 속성을 true로 변경합니다
+            if (_mapNodes == null || _mapNodes.Count == 0)
+            {
+                MessageBox.Show("맵에 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
+            var result = MessageBox.Show(
+                $"모든 노드({_mapNodes.Count}개)의 회전/교차 속성을 활성화하시겠습니까?\n\n" +
+                "• CanTurnLeft = true\n" +
+                "• CanTurnRight = true\n" +
+                "• DisableCross = false",
+                "일괄 속성 변경",
+                MessageBoxButtons.YesNo,
+                MessageBoxIcon.Question);
+
+            if (result == DialogResult.Yes)
+            {
+                foreach (var node in _mapNodes)
+                {
+                    node.CanTurnLeft = true;
+                    node.CanTurnRight = true;
+                    node.DisableCross =false;
+                    node.ModifiedDate = DateTime.Now;
+                }
+
+                _hasChanges = true;
+                UpdateTitle();
+                RefreshMapCanvas();
+                
+                MessageBox.Show(
+                    $"{_mapNodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
+                    "완료",
+                    MessageBoxButtons.OK,
+                    MessageBoxIcon.Information);
+
+                UpdateStatusBar($"모든 노드의 회전/교차 속성 활성화 완료");
+            }
+        }
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -120,22 +120,40 @@
   <metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>132, 17</value>
   </metadata>
+  <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>249, 17</value>
+  </metadata>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
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+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
   <metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>462, 17</value>
   </metadata>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -156,75 +174,75 @@
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         9qme1o7PBh0fmsYxmic4+v08R1pnqTJPU30uwBGzl11VN3jp427+BmRb26lRD0KdAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
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+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
 </value>
   </data>
 </root>

Cs_HMI/AGVLogic/AGVMapEditor/Models/NodePropertyWrapper.cs

@@ -1,825 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Drawing;
-using System.Drawing.Design;
-using AGVNavigationCore.Models;
-using AGVNavigationCore.Controls;
-
-namespace AGVMapEditor.Models
-{
-    /// <summary>
-    /// 노드 타입에 따른 PropertyWrapper 팩토리
-    /// </summary>
-    public static class NodePropertyWrapperFactory
-    {
-        public static object CreateWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            switch (node.Type)
-            {
-                case NodeType.Label:
-                    return new LabelNodePropertyWrapper(node, mapNodes);
-                case NodeType.Image:
-                    return new ImageNodePropertyWrapper(node, mapNodes);
-                default:
-                    return new NodePropertyWrapper(node, mapNodes);
-            }
-        }
-    }
-
-    /// <summary>
-    /// 라벨 노드 전용 PropertyWrapper
-    /// </summary>
-    public class LabelNodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public LabelNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입")]
-        [ReadOnly(true)]
-        public NodeType Type
-        {
-            get => _node.Type;
-        }
-
-        [Category("라벨")]
-        [DisplayName("텍스트")]
-        [Description("표시할 텍스트")]
-        public string LabelText
-        {
-            get => _node.LabelText;
-            set
-            {
-                _node.LabelText = value ?? "";
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 패밀리")]
-        [Description("폰트 패밀리")]
-        public string FontFamily
-        {
-            get => _node.FontFamily;
-            set
-            {
-                _node.FontFamily = value ?? "Arial";
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 크기")]
-        [Description("폰트 크기")]
-        public float FontSize
-        {
-            get => _node.FontSize;
-            set
-            {
-                _node.FontSize = Math.Max(6, Math.Min(72, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 스타일")]
-        [Description("폰트 스타일")]
-        public FontStyle FontStyle
-        {
-            get => _node.FontStyle;
-            set
-            {
-                _node.FontStyle = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("전경색")]
-        [Description("텍스트 색상")]
-        public Color ForeColor
-        {
-            get => _node.ForeColor;
-            set
-            {
-                _node.ForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("배경색")]
-        [Description("배경 색상")]
-        public Color BackColor
-        {
-            get => _node.BackColor;
-            set
-            {
-                _node.BackColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("배경 표시")]
-        [Description("배경을 표시할지 여부")]
-        public bool ShowBackground
-        {
-            get => _node.ShowBackground;
-            set
-            {
-                _node.ShowBackground = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("패딩")]
-        [Description("텍스트 주변 여백 (픽셀 단위)")]
-        public int Padding
-        {
-            get => _node.Padding;
-            set
-            {
-                _node.Padding = Math.Max(0, Math.Min(50, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-
-    /// <summary>
-    /// 이미지 노드 전용 PropertyWrapper
-    /// </summary>
-    public class ImageNodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public ImageNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입")]
-        [ReadOnly(true)]
-        public NodeType Type
-        {
-            get => _node.Type;
-        }
-
-        [Category("이미지")]
-        [DisplayName("이미지 경로")]
-        [Description("이미지 파일 경로 (... 버튼으로 파일 선택)")]
-        [Editor(typeof(ImagePathEditor), typeof(UITypeEditor))]
-        public string ImagePath
-        {
-            get => _node.ImagePath;
-            set
-            {
-                if (string.IsNullOrEmpty(value))
-                {
-                    _node.ImagePath = "";
-                    return;
-                }
-
-                // 파일이 존재하면 Base64로 변환하여 저장
-                if (System.IO.File.Exists(value))
-                {
-                    _node.ConvertImageToBase64(value);
-                    _node.LoadImage(); // 이미지 다시 로드
-                }
-                else
-                {
-                    _node.ImagePath = value;
-                }
-
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("가로 배율")]
-        [Description("가로 배율 (1.0 = 원본 크기)")]
-        public float ScaleWidth
-        {
-            get => _node.Scale.Width;
-            set
-            {
-                _node.Scale = new SizeF(Math.Max(0.1f, Math.Min(5.0f, value)), _node.Scale.Height);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("세로 배율")]
-        [Description("세로 배율 (1.0 = 원본 크기)")]
-        public float ScaleHeight
-        {
-            get => _node.Scale.Height;
-            set
-            {
-                _node.Scale = new SizeF(_node.Scale.Width, Math.Max(0.1f, Math.Min(5.0f, value)));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("투명도")]
-        [Description("투명도 (0.0 = 투명, 1.0 = 불투명)")]
-        public float Opacity
-        {
-            get => _node.Opacity;
-            set
-            {
-                _node.Opacity = Math.Max(0.0f, Math.Min(1.0f, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("회전각도")]
-        [Description("회전 각도 (도 단위)")]
-        public float Rotation
-        {
-            get => _node.Rotation;
-            set
-            {
-                _node.Rotation = value % 360;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-    /// <summary>
-    /// PropertyGrid에서 사용할 노드 속성 래퍼 클래스
-    /// </summary>
-    public class NodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public NodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-            set => _node.NodeId = value;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 이름")]
-        [Description("노드의 표시 이름")]
-        public string Name
-        {
-            get => _node.Name;
-            set
-            {
-                _node.Name = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입 (Normal, Rotation, Docking, Charging)")]
-        public NodeType Type
-        {
-            get => _node.Type;
-            set
-            {
-                _node.Type = value;
-                _node.CanRotate = value == NodeType.Rotation;
-                _node.SetDefaultColorByType(value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("도킹 방향")]
-        [Description("도킹이 필요한 노드의 경우 AGV 진입 방향 (DontCare: 방향 무관, Forward: 전진 도킹, Backward: 후진 도킹)")]
-        public DockingDirection DockDirection
-        {
-            get => _node.DockDirection;
-            set
-            {
-                _node.DockDirection = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-    
-
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-        [Category("고급")]
-        [DisplayName("회전 가능")]
-        [Description("이 노드에서 AGV가 회전할 수 있는지 여부")]
-        public bool CanRotate
-        {
-            get => _node.CanRotate;
-            set
-            {
-                _node.CanRotate = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("고급")]
-        [DisplayName("RFID")]
-        [Description("RFID ID")]
-        public string RFID
-        {
-            get => _node.RfidId;
-            set
-            {
-                _node.RfidId = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-
-        [Category("고급")]
-        [DisplayName("활성화")]
-        [Description("노드 활성화 여부")]
-        public bool IsActive
-        {
-            get => _node.IsActive;
-            set
-            {
-                _node.IsActive = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("노드 배경색")]
-        [Description("노드 배경 색상")]
-        public Color DisplayColor
-        {
-            get => _node.DisplayColor;
-            set
-            {
-                _node.DisplayColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 색상")]
-        [Description("노드 텍스트 색상 (NodeId, Name 등)")]
-        public Color ForeColor
-        {
-            get => _node.ForeColor;
-            set
-            {
-                _node.ForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 크기")]
-        [Description("노드 텍스트 크기 (픽셀)")]
-        public float TextFontSize
-        {
-            get => _node.TextFontSize;
-            set
-            {
-                _node.TextFontSize = Math.Max(5.0f, Math.Min(20.0f, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 굵게")]
-        [Description("노드 텍스트 볼드 표시")]
-        public bool TextFontBold
-        {
-            get => _node.TextFontBold;
-            set
-            {
-                _node.TextFontBold = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 배경색")]
-        [Description("노드 이름 말풍선(하단 표시) 배경색")]
-        public Color NameBubbleBackColor
-        {
-            get => _node.NameBubbleBackColor;
-            set
-            {
-                _node.NameBubbleBackColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 글자색")]
-        [Description("노드 이름 말풍선(하단 표시) 글자색")]
-        public Color NameBubbleForeColor
-        {
-            get => _node.NameBubbleForeColor;
-            set
-            {
-                _node.NameBubbleForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-
-    /// <summary>
-    /// 다중 노드 선택 시 공통 속성 편집용 래퍼
-    /// </summary>
-    public class MultiNodePropertyWrapper
-    {
-        private List<MapNode> _nodes;
-
-        public MultiNodePropertyWrapper(List<MapNode> nodes)
-        {
-            _nodes = nodes ?? new List<MapNode>();
-        }
-
-        [Category("다중 선택")]
-        [DisplayName("선택된 노드 수")]
-        [Description("현재 선택된 노드의 개수")]
-        [ReadOnly(true)]
-        public int SelectedCount => _nodes.Count;
-
-        [Category("표시")]
-        [DisplayName("노드 배경색")]
-        [Description("선택된 모든 노드의 배경색을 일괄 변경")]
-        public Color DisplayColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].DisplayColor : Color.Blue;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.DisplayColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 색상")]
-        [Description("선택된 모든 노드의 글자 색상을 일괄 변경")]
-        public Color ForeColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].ForeColor : Color.Black;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.ForeColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 크기")]
-        [Description("선택된 모든 노드의 글자 크기를 일괄 변경 (5~20 픽셀)")]
-        public float TextFontSize
-        {
-            get => _nodes.Count > 0 ? _nodes[0].TextFontSize : 7.0f;
-            set
-            {
-                var validValue = Math.Max(5.0f, Math.Min(20.0f, value));
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 시작: {validValue}, 노드 수: {_nodes.Count}");
-
-                foreach (var node in _nodes)
-                {
-                    System.Diagnostics.Debug.WriteLine($"  - 노드 {node.NodeId}: {node.TextFontSize} → {validValue}");
-                    node.TextFontSize = validValue;
-                    node.ModifiedDate = DateTime.Now;
-                    System.Diagnostics.Debug.WriteLine($"  - 변경 후: {node.TextFontSize}");
-                }
-
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 완료");
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 굵게")]
-        [Description("선택된 모든 노드의 글자 굵기를 일괄 변경")]
-        public bool TextFontBold
-        {
-            get
-            {
-                var result = _nodes.Count > 0 ? _nodes[0].TextFontBold : true;
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold GET: {result}");
-                return result;
-            }
-            set
-            {
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 시작: {value}, 노드 수: {_nodes.Count}");
-
-                foreach (var node in _nodes)
-                {
-                    System.Diagnostics.Debug.WriteLine($"  - 노드 {node.NodeId}: {node.TextFontBold} → {value}");
-                    node.TextFontBold = value;
-                    node.ModifiedDate = DateTime.Now;
-                    System.Diagnostics.Debug.WriteLine($"  - 변경 후: {node.TextFontBold}");
-                }
-
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 완료");
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 배경색")]
-        [Description("선택된 모든 노드의 이름 말풍선(하단 표시) 배경색을 일괄 변경")]
-        public Color NameBubbleBackColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].NameBubbleBackColor : Color.Gold;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.NameBubbleBackColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 글자색")]
-        [Description("선택된 모든 노드의 이름 말풍선(하단 표시) 글자색을 일괄 변경")]
-        public Color NameBubbleForeColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].NameBubbleForeColor : Color.Black;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.NameBubbleForeColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("고급")]
-        [DisplayName("활성화")]
-        [Description("선택된 모든 노드의 활성화 상태를 일괄 변경")]
-        public bool IsActive
-        {
-            get => _nodes.Count > 0 ? _nodes[0].IsActive : true;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.IsActive = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("안내")]
-        [Description("다중 선택 시 공통 속성만 변경할 수 있습니다")]
-        [ReadOnly(true)]
-        public string HelpText => "위 속성을 변경하면 선택된 모든 노드에 일괄 적용됩니다.";
-    }
-
-    /// <summary>
-    /// 캔버스 속성 래퍼 (배경색 등 캔버스 전체 속성 편집)
-    /// </summary>
-    public class CanvasPropertyWrapper
-    {
-        private UnifiedAGVCanvas _canvas;
-
-        public CanvasPropertyWrapper(UnifiedAGVCanvas canvas)
-        {
-            _canvas = canvas;
-        }
-
-        [Category("배경")]
-        [DisplayName("배경색")]
-        [Description("맵 캔버스 배경색")]
-        public Color BackgroundColor
-        {
-            get => _canvas.BackColor;
-            set
-            {
-                _canvas.BackColor = value;
-                _canvas.Invalidate();
-            }
-        }
-
-        [Category("그리드")]
-        [DisplayName("그리드 표시")]
-        [Description("그리드 표시 여부")]
-        public bool ShowGrid
-        {
-            get => _canvas.ShowGrid;
-            set
-            {
-                _canvas.ShowGrid = value;
-                _canvas.Invalidate();
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("설명")]
-        [Description("맵 캔버스 전체 속성")]
-        [ReadOnly(true)]
-        public string Description
-        {
-            get => "빈 공간을 클릭하면 캔버스 전체 속성을 편집할 수 있습니다.";
-        }
-    }
-
-}

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

@@ -416,10 +416,10 @@ namespace AGVNavigationCore.Controls
                 case NodeType.Normal:
                     ghostBrush = new SolidBrush(Color.FromArgb(120, 100, 149, 237)); // 반투명 파란색
                     break;
-                case NodeType.Rotation:
+                case NodeType.Loader:
-                    ghostBrush = new SolidBrush(Color.FromArgb(120, 255, 165, 0)); // 반투명 주황색
+                case NodeType.UnLoader:
-                    break;
+                case NodeType.Clearner:
-                case NodeType.Docking:
+                case NodeType.Buffer:
                     ghostBrush = new SolidBrush(Color.FromArgb(120, 50, 205, 50)); // 반투명 초록색
                     break;
                 case NodeType.Charging:
@@ -439,7 +439,10 @@ namespace AGVNavigationCore.Controls
                 case NodeType.Image:
                     DrawImageGhost(g);
                     break;
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     DrawPentagonGhost(g, ghostBrush);
                     break;
                 case NodeType.Charging:
@@ -646,7 +649,10 @@ namespace AGVNavigationCore.Controls
 
             switch (node.Type)
             {
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     DrawPentagonNodeShape(g, node, brush);
                     break;
                 case NodeType.Charging:
@@ -723,6 +729,13 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==true)
+            {
+                var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawEllipse(new Pen(Color.DeepSkyBlue, 3), crossRect);
+            }
         }
 
         private void DrawPentagonNodeShape(Graphics g, MapNode node, Brush brush)
@@ -826,6 +839,21 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==false)
+            {
+                var crossPoints = new Point[5];
+                for (int i = 0; i < 5; i++)
+                {
+                    var angle = (Math.PI * 2 * i / 5) - Math.PI / 2;
+                    crossPoints[i] = new Point(
+                        (int)(center.X + (radius + 4) * Math.Cos(angle)),
+                        (int)(center.Y + (radius + 4) * Math.Sin(angle))
+                    );
+                }
+                g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
+            }
         }
 
         private void DrawTriangleNodeShape(Graphics g, MapNode node, Brush brush)
@@ -929,6 +957,21 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==false)
+            {
+                var crossPoints = new Point[3];
+                for (int i = 0; i < 3; i++)
+                {
+                    var angle = (Math.PI * 2 * i / 3) - Math.PI / 2;
+                    crossPoints[i] = new Point(
+                        (int)(center.X + (radius + 4) * Math.Cos(angle)),
+                        (int)(center.Y + (radius + 4) * Math.Sin(angle))
+                    );
+                }
+                g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
+            }
         }
 
         private void DrawNodeLabel(Graphics g, MapNode node)

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

@@ -108,8 +108,10 @@ namespace AGVNavigationCore.Controls
                 switch (hitNode.Type)
                 {
                     case NodeType.Normal:
-                    case NodeType.Rotation:
+                    case NodeType.Loader:
-                    case NodeType.Docking:
+                    case NodeType.UnLoader:
+                    case NodeType.Clearner:
+                    case NodeType.Buffer:
                     case NodeType.Charging:
                         HandleNormalNodeDoubleClick(hitNode);
                         break;
@@ -429,7 +431,10 @@ namespace AGVNavigationCore.Controls
         {
             switch (node.Type)
             {
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     return IsPointInPentagon(point, node);
                 case NodeType.Charging:
                     return IsPointInTriangle(point, node);

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -11,10 +11,20 @@ namespace AGVNavigationCore.Models
     {
         /// <summary>일반 경로 노드</summary>
         Normal,
-        /// <summary>회전 가능 지점</summary>
+        /// <summary>로더</summary>
-        Rotation,
+        Loader,
-        /// <summary>도킹 스테이션</summary>
+        /// <summary>
-        Docking,
+        /// 언로더
+        /// </summary>
+        UnLoader,
+        /// <summary>
+        /// 클리너
+        /// </summary>
+        Clearner,
+        /// <summary>
+        /// 버퍼
+        /// </summary>
+        Buffer,
         /// <summary>충전 스테이션</summary>
         Charging,
         /// <summary>라벨 (UI 요소)</summary>
@@ -58,6 +68,10 @@ namespace AGVNavigationCore.Models
     /// </summary>
     public enum StationType
     {
+        /// <summary>
+        /// 일반노드
+        /// </summary>
+        Node,
         /// <summary>로더</summary>
         Loader,
         /// <summary>클리너</summary>
@@ -70,6 +84,24 @@ namespace AGVNavigationCore.Models
         Charger
     }
 
+    /// <summary>
+    /// AGV턴상태
+    /// </summary>
+    public enum AGVTurn
+    {
+        None=0,
+
+        /// <summary>
+        /// left turn 90"
+        /// </summary>
+        L90,
+        /// <summary>
+        /// right turn 90"
+        /// </summary>
+        R90
+    }
+
+
     /// <summary>
     /// 모터 명령 열거형 (실제 AGV 제어용)
     /// </summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs

@@ -226,7 +226,10 @@ namespace AGVNavigationCore.Models
                         case NodeType.Charging:
                             node.DockDirection = DockingDirection.Forward;
                             break;
-                        case NodeType.Docking:
+                        case NodeType.Loader:
+                        case NodeType.UnLoader:
+                        case NodeType.Clearner:
+                        case NodeType.Buffer:
                             node.DockDirection = DockingDirection.Backward;
                             break;
                         default:

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -34,6 +34,19 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public NodeType Type { get; set; } = NodeType.Normal;
 
+        public bool CanDocking
+        {
+            get
+            {
+                if (Type == NodeType.Buffer) return true;
+                if (Type == NodeType.Loader) return true;
+                if (Type == NodeType.UnLoader) return true;
+                if (Type == NodeType.Clearner) return true;
+                if (Type == NodeType.Charging) return true;
+                return false;
+            }
+        }
+
         /// <summary>
         /// 도킹 방향 (도킹/충전 노드인 경우에만 Forward/Backward, 일반 노드는 DontCare)
         /// </summary>
@@ -53,18 +66,38 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 회전 가능 여부 (180도 회전 가능한 지점)
         /// </summary>
-        public bool CanRotate { get; set; } = false;
+        public bool CanTurnLeft { get; set; } = true;
+
+        /// <summary>
+        /// 회전 가능 여부 (180도 회전 가능한 지점)
+        /// </summary>
+        public bool CanTurnRight { get; set; } = true;
+
+        /// <summary>
+        /// 교차로로 이용가능한지
+        /// </summary>
+        public bool DisableCross
+        {
+            get
+            {
+                if (Type != NodeType.Normal) return true;
+                return _disablecross;
+            }
+            set { _disablecross = value; }
+        }
+
+        private bool _disablecross = false;
 
         /// <summary>
         /// 장비 ID (도킹/충전 스테이션인 경우)
         /// 예: "LOADER1", "CLEANER1", "BUFFER1", "CHARGER1"
         /// </summary>
-        public string StationId { get; set; } = string.Empty;
+        public string NodeAlias { get; set; } = string.Empty;
 
         /// <summary>
         /// 장비 타입 (도킹/충전 스테이션인 경우)
         /// </summary>
-        public StationType? StationType { get; set; } = null;
+       // public StationType? StationType { get; set; } = null;
 
         /// <summary>
         /// 노드 생성 일자
@@ -224,7 +257,7 @@ namespace AGVNavigationCore.Models
             Type = type;
             CreatedDate = DateTime.Now;
             ModifiedDate = DateTime.Now;
-            
+
             // 타입별 기본 색상 설정
             SetDefaultColorByType(type);
         }
@@ -240,10 +273,10 @@ namespace AGVNavigationCore.Models
                 case NodeType.Normal:
                     DisplayColor = Color.Blue;
                     break;
-                case NodeType.Rotation:
+                case NodeType.UnLoader:
-                    DisplayColor = Color.Orange;
+                case NodeType.Clearner:
-                    break;
+                case NodeType.Buffer:
-                case NodeType.Docking:
+                case NodeType.Loader:
                     DisplayColor = Color.Green;
                     break;
                 case NodeType.Charging:
@@ -283,21 +316,20 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        /// <summary>
+        ///// <summary>
-        /// 도킹 스테이션 설정
+        ///// 도킹 스테이션 설정
-        /// </summary>
+        ///// </summary>
-        /// <param name="stationId">장비 ID</param>
+        ///// <param name="stationId">장비 ID</param>
-        /// <param name="stationType">장비 타입</param>
+        ///// <param name="stationType">장비 타입</param>
-        /// <param name="dockDirection">도킹 방향</param>
+        ///// <param name="dockDirection">도킹 방향</param>
-        public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
+        //public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
-        {
+        //{
-            Type = NodeType.Docking;
+        //    Type = NodeType.Docking;
-            StationId = stationId;
+        //    NodeAlias = stationId;
-            StationType = stationType;
+        //    DockDirection = dockDirection;
-            DockDirection = dockDirection;
+        //    SetDefaultColorByType(NodeType.Docking);
-            SetDefaultColorByType(NodeType.Docking);
+        //    ModifiedDate = DateTime.Now;
-            ModifiedDate = DateTime.Now;
+        //}
-        }
 
         /// <summary>
         /// 충전 스테이션 설정
@@ -306,8 +338,7 @@ namespace AGVNavigationCore.Models
         public void SetChargingStation(string stationId)
         {
             Type = NodeType.Charging;
-            StationId = stationId;
+            NodeAlias = stationId;
-            StationType = Models.StationType.Charger;
             DockDirection = DockingDirection.Forward; // 충전기는 항상 전진 도킹
             SetDefaultColorByType(NodeType.Charging);
             ModifiedDate = DateTime.Now;
@@ -329,17 +360,17 @@ namespace AGVNavigationCore.Models
             get
             {
                 var displayText = NodeId;
-                
+
                 if (!string.IsNullOrEmpty(Name))
                 {
                     displayText += $" - {Name}";
                 }
-                
+
                 if (!string.IsNullOrEmpty(RfidId))
                 {
                     displayText += $" - [{RfidId}]";
                 }
-                
+
                 return displayText;
             }
         }
@@ -358,9 +389,12 @@ namespace AGVNavigationCore.Models
                 Type = Type,
                 DockDirection = DockDirection,
                 ConnectedNodes = new List<string>(ConnectedNodes),
-                CanRotate = CanRotate,
+
-                StationId = StationId,
+                CanTurnLeft = CanTurnLeft,
-                StationType = StationType,
+                CanTurnRight = CanTurnRight,
+                DisableCross = DisableCross,
+
+                NodeAlias = NodeAlias,
                 CreatedDate = CreatedDate,
                 ModifiedDate = ModifiedDate,
                 IsActive = IsActive,
@@ -475,7 +509,7 @@ namespace AGVNavigationCore.Models
         public Size GetDisplaySize()
         {
             if (Type != NodeType.Image || LoadedImage == null) return Size.Empty;
-            
+
             return new Size(
                 (int)(LoadedImage.Width * Scale.Width),
                 (int)(LoadedImage.Height * Scale.Height)

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -61,12 +61,12 @@ namespace AGVNavigationCore.Models
         private int _currentNodeIndex;
         private MapNode _currentNode;
         private MapNode _prevNode;
+        private AGVTurn _turn;
 
         // 이동 관련
         private DateTime _lastUpdateTime;
         private Point _moveStartPosition;
         private Point _moveTargetPosition;
-        private float _moveProgress;
 
         // 도킹 관련
         private DockingDirection _dockingDirection;
@@ -89,7 +89,6 @@ namespace AGVNavigationCore.Models
         public AgvDirection PrevDirection => _prevDirection;
 
 
-
         /// <summary>
         /// AGV ID
         /// </summary>
@@ -158,6 +157,11 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public MapNode PrevNode => _prevNode;
 
+        /// <summary>
+        /// Turn 상태값
+        /// </summary>
+        public AGVTurn Turn { get; set; }
+
         /// <summary>
         /// 도킹 방향
         /// </summary>
@@ -527,10 +531,10 @@ namespace AGVNavigationCore.Models
             _prevPosition = targetPosition;
             _moveStartPosition = _currentPosition;
             _moveTargetPosition = targetPosition;
-            _moveProgress = 0;
 
             SetState(AGVState.Moving);
             _isMoving = true;
+            Turn = AGVTurn.None;
         }
 
         /// <summary>
@@ -620,7 +624,6 @@ namespace AGVNavigationCore.Models
                 if (item != null)
                 {
                     //item.IsPass = true;
-
                     //이전노드는 모두 지나친걸로 한다
                     CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
                 }
@@ -865,7 +868,10 @@ namespace AGVNavigationCore.Models
             {
                 case NodeType.Charging:
                     return DockingDirection.Forward;
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     return DockingDirection.Backward;
                 default:
                     return DockingDirection.Forward;
@@ -880,8 +886,6 @@ namespace AGVNavigationCore.Models
 
         #endregion
 
-
-
         #region Cleanup
 
         /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -101,7 +101,7 @@ namespace AGVNavigationCore.PathFinding.Core
         /// <param name="startNodeId">시작 노드 ID</param>
         /// <param name="endNodeId">목적지 노드 ID</param>
         /// <returns>경로 계산 결과</returns>
-        public AGVPathResult FindPath(string startNodeId, string endNodeId)
+        public AGVPathResult FindPathAStar(string startNodeId, string endNodeId)
         {
             var stopwatch = System.Diagnostics.Stopwatch.StartNew();
 
@@ -126,7 +126,6 @@ namespace AGVNavigationCore.PathFinding.Core
 
                 var startNode = _nodeMap[startNodeId];
                 var endNode = _nodeMap[endNodeId];
-
                 var openSet = new List<PathNode>();
                 var closedSet = new HashSet<string>();
                 var exploredCount = 0;
@@ -199,7 +198,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 // 경유지가 없으면 기본 FindPath 호출
                 if (waypointNodeIds == null || waypointNodeIds.Length == 0)
                 {
-                    return FindPath(startNodeId, endNodeId);
+                    return FindPathAStar(startNodeId, endNodeId);
                 }
 
                 // 경유지 유효성 검증
@@ -220,7 +219,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 // 경유지가 없으면 기본 경로 계산
                 if (validWaypoints.Count == 0)
                 {
-                    return FindPath(startNodeId, endNodeId);
+                    return FindPathAStar(startNodeId, endNodeId);
                 }
 
                 // 첫 번째 경유지가 시작노드와 같은지 검사
@@ -267,7 +266,7 @@ namespace AGVNavigationCore.PathFinding.Core
                     string waypoint = validWaypoints[i];
 
                     // 현재 위치에서 경유지까지의 경로 계산
-                    var segmentResult = FindPath(currentStart, waypoint);
+                    var segmentResult = FindPathAStar(currentStart, waypoint);
 
                     if (!segmentResult.Success)
                     {
@@ -295,7 +294,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 }
 
                 // 2단계: 마지막 경유지에서 최종 목적지까지의 경로 계산
-                var finalSegmentResult = FindPath(currentStart, endNodeId);
+                var finalSegmentResult = FindPathAStar(currentStart, endNodeId);
 
                 if (!finalSegmentResult.Success)
                 {
@@ -442,7 +441,7 @@ namespace AGVNavigationCore.PathFinding.Core
             AGVPathResult bestResult = null;
             foreach (var targetId in targetNodeIds)
             {
-                var result = FindPath(startNodeId, targetId);
+                var result = FindPathAStar(startNodeId, targetId);
                 if (result.Success && (bestResult == null || result.TotalDistance < bestResult.TotalDistance))
                 {
                     bestResult = result;

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

@@ -22,8 +22,6 @@ namespace AGVNavigationCore.PathFinding.Planning
         private readonly JunctionAnalyzer _junctionAnalyzer;
         private readonly DirectionChangePlanner _directionChangePlanner;
 
-
-
         public AGVPathfinder(List<MapNode> mapNodes)
         {
             _mapNodes = mapNodes ?? new List<MapNode>();
@@ -49,8 +47,9 @@ namespace AGVNavigationCore.PathFinding.Planning
                 n.IsActive &&
                 n.IsNavigationNode() &&
                 n.ConnectedNodes != null &&
+                n.DisableCross == false &&
                 n.ConnectedNodes.Count >= 3 &&
-                n.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false &&
+                n.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false &&
                 n.NodeId != startNode.NodeId
             ).ToList();
 
@@ -99,9 +98,10 @@ namespace AGVNavigationCore.PathFinding.Planning
                 if (pathNode != null &&
                     pathNode.IsActive &&
                     pathNode.IsNavigationNode() &&
+                    pathNode.DisableCross == false &&
                     pathNode.ConnectedNodes != null &&
                     pathNode.ConnectedNodes.Count >= 3 &&
-                    pathNode.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false)
+                    pathNode.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false)
                 {
                     if (pathNode.NodeId.Equals(StartNode.NodeId) == false)
                         return pathNode;
@@ -122,12 +122,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (prevNode == null)
                 return AGVPathResult.CreateFailure("이전위치 노드가 null입니다.", 0, 0);
             if (startNode.NodeId == targetNode.NodeId && targetNode.DockDirection.MatchAGVDirection(prevDirection))
-                return AGVPathResult.CreateSuccess(new List<MapNode> { startNode,startNode }, new List<AgvDirection>(), 0, 0);
+                return AGVPathResult.CreateSuccess(new List<MapNode> { startNode, startNode }, new List<AgvDirection>(), 0, 0);
 
             var ReverseDirection = (currentDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
 
             //1.목적지까지의 최단거리 경로를 찾는다.
-            var pathResult = _basicPathfinder.FindPath(startNode.NodeId, targetNode.NodeId);
+            var pathResult = _basicPathfinder.FindPathAStar(startNode.NodeId, targetNode.NodeId);
             pathResult.PrevNode = prevNode;
             pathResult.PrevDirection = prevDirection;
             if (!pathResult.Success || pathResult.Path == null || pathResult.Path.Count == 0)
@@ -221,7 +221,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 //진행방향으로 이동했을때 나오는 노드를 사용한다.
                 if (nextNodeForward != null)
                 {
-                    var Path0 = _basicPathfinder.FindPath(startNode.NodeId, nextNodeForward.NodeId);
+                    var Path0 = _basicPathfinder.FindPathAStar(startNode.NodeId, nextNodeForward.NodeId);
                     Path0.PrevNode = prevNode;
                     Path0.PrevDirection = prevDirection;
                     MakeDetailData(Path0, prevDirection);
@@ -267,7 +267,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //경유지를 포함하여 경로를 다시 계산한다.
 
             //1.시작위치 - 교차로(여기까지는 현재 방향으로 그대로 이동을 한다)
-            var path1 = _basicPathfinder.FindPath(startNode.NodeId, JunctionInPath.NodeId);
+            var path1 = _basicPathfinder.FindPathAStar(startNode.NodeId, JunctionInPath.NodeId);
             path1.PrevNode = prevNode;
             path1.PrevDirection = prevDirection;
 
@@ -295,7 +295,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.교차로 - 종료위치
-            var path2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, targetNode.NodeId);
+            var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, targetNode.NodeId);
             path2.PrevNode = prevNode;
             path2.PrevDirection = prevDirection;
 
@@ -332,7 +332,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //if (tempNode != null)
             {
                 // 교차로 → 대체노드 경로 계산
-                var pathToTemp = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode.NodeId);
+                var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode.NodeId);
                 pathToTemp.PrevNode = JunctionInPath;
                 pathToTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathToTemp.Success)
@@ -348,7 +348,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 combinedResult = _basicPathfinder.CombineResults(combinedResult, pathToTemp);
 
                 // 대체노드 → 교차로 경로 계산 (역방향)
-                var pathFromTemp = _basicPathfinder.FindPath(tempNode.NodeId, JunctionInPath.NodeId);
+                var pathFromTemp = _basicPathfinder.FindPathAStar(tempNode.NodeId, JunctionInPath.NodeId);
                 pathFromTemp.PrevNode = JunctionInPath;
                 pathFromTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathFromTemp.Success)
@@ -362,7 +362,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 //현재까지 노드에서 목적지까지의 방향이 일치하면 그대로 사용한다.
                 bool temp3ok = false;
-                var TempCheck3 = _basicPathfinder.FindPath(combinedResult.Path.Last().NodeId, targetNode.NodeId);
+                var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().NodeId, targetNode.NodeId);
                 if (TempCheck3.Path.First().NodeId.Equals(combinedResult.Path.Last().NodeId))
                 {
                     if (targetNode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
@@ -385,7 +385,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                combinedResult.Path[combinedResult.Path.Count - 2].NodeId,
                path2.Path[1].NodeId);
 
-                    var pathToTemp2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode2.NodeId);
+                    var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode2.NodeId);
                     if (ReverseCheck) MakeDetailData(pathToTemp2, currentDirection);
                     else MakeDetailData(pathToTemp2, ReverseDirection);
 
@@ -400,7 +400,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                             combinedResult.DetailedPath[combinedResult.DetailedPath.Count - 1].MotorDirection = currentDirection;
                     }
 
-                    var pathToTemp3 = _basicPathfinder.FindPath(tempNode2.NodeId, JunctionInPath.NodeId);
+                    var pathToTemp3 = _basicPathfinder.FindPathAStar(tempNode2.NodeId, JunctionInPath.NodeId);
                     if (ReverseCheck) MakeDetailData(pathToTemp3, ReverseDirection);
                     else MakeDetailData(pathToTemp3, currentDirection);
 
@@ -438,7 +438,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
-                    var nodeInfo = new NodeMotorInfo(i+1,
+                    var nodeInfo = new NodeMotorInfo(i + 1,
                         nodeId, RfidId,
                         currentDirection,
                         nextNodeId,

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

@@ -73,7 +73,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             // 방향이 같으면 직접 경로 계산
             if (currentDirection == requiredDirection)
             {
-                var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+                var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
                 if (directPath.Success)
                 {
                     return DirectionChangePlan.CreateSuccess(
@@ -85,7 +85,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 방향 전환이 필요한 경우 - 먼저 간단한 직접 경로 확인
-            var directPath2 = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath2 = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             if (directPath2.Success)
             {
                 // 직접 경로에 갈림길이 포함된 경우 그 갈림길에서 방향 전환
@@ -160,7 +160,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 2. 직진 경로상의 갈림길들도 검색 (단, 되돌아가기 방지)
-            var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             if (directPath.Success)
             {
                 foreach (var node in directPath.Path.Skip(2)) // 시작점과 다음 노드는 제외
@@ -261,7 +261,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             foreach (var junction in junctions)
             {
-                var path = _pathfinder.FindPath(startNodeId, junction);
+                var path = _pathfinder.FindPathAStar(startNodeId, junction);
                 double distance = path.Success ? path.TotalDistance : double.MaxValue;
                 distances.Add((junction, distance));
             }
@@ -313,12 +313,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지의 경로
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
             // 2. 인근 갈림길을 통한 우회인지, 직진 경로상 갈림길인지 판단
-            var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.NodeId == junctionNodeId);
 
             if (isNearbyDetour)
@@ -341,7 +341,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지 직진 (현재 방향 유지)
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
@@ -349,7 +349,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 2. 갈림길에서 방향 전환 후 목적지로
             // 이때 마그넷 센서를 이용해 목적지 방향으로 진입
-            var fromJunctionPath = _pathfinder.FindPath(junctionNodeId, targetNodeId);
+            var fromJunctionPath = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
                 fullPath.AddRange(fromJunctionPath.Path.Skip(1)); // 중복 노드 제거
@@ -366,7 +366,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지의 경로
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
@@ -387,7 +387,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 3. 갈림길에서 목표점까지의 경로
             string lastNode = fullPath.LastOrDefault()?.NodeId ?? junctionNodeId;
-            var fromJunctionPath = _pathfinder.FindPath(lastNode, targetNodeId);
+            var fromJunctionPath = _pathfinder.FindPathAStar(lastNode, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
                 fullPath.AddRange(fromJunctionPath.Path.Skip(1));
@@ -609,7 +609,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         private bool CanReachTargetViaJunction(string junctionNodeId, string targetNodeId)
         {
             // 갈림길에서 목적지까지의 경로가 존재하는지 확인
-            var pathToTarget = _pathfinder.FindPath(junctionNodeId, targetNodeId);
+            var pathToTarget = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
             return pathToTarget.Success;
         }
 

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs

@@ -153,7 +153,7 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine($"이름: {node.Name}");
             Console.WriteLine($"위치: {node.Position}");
             Console.WriteLine($"타입: {GetNodeTypeName(node.Type)}");
-            Console.WriteLine($"회전 가능: {node.CanRotate}");
+            Console.WriteLine($"TurnLeft/Right/교차로 : {(node.CanTurnLeft ? "O":"X")}/{(node.CanTurnRight ? "O" : "X")}/{(node.DisableCross ? "X" : "O")}");
             Console.WriteLine($"활성: {node.IsActive}");
             Console.WriteLine($"연결된 노드:");
 

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -338,6 +338,17 @@ namespace AGVSimulator.Forms
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
                 }
 
+                //마지막대상이 버퍼라면 시퀀스처리를 해야한다
+                if(targetNode.Type == NodeType.Buffer)
+                {
+                    var lastDetailPath = advancedResult.DetailedPath.Last();
+                    if(lastDetailPath.NodeId == targetNode.NodeId)
+                    {
+
+                    }
+                }
+
+
                 _simulatorCanvas.CurrentPath = advancedResult;
                 _pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 _statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
@@ -1443,7 +1454,7 @@ namespace AGVSimulator.Forms
 
             // 도킹 타겟 노드 찾기
             var dockingTargets = _mapNodes.Where(n =>
-                n.Type == NodeType.Charging || n.Type == NodeType.Docking).ToList();
+                n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).ToList();
 
             if (dockingTargets.Count == 0)
             {

Cs_HMI/Data/NewMap.agvmap

@@ -9,11 +9,13 @@
       "ConnectedNodes": [
         "N002"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 3,
       "CreatedDate": "2025-09-11T08:34:44.9548285+09:00",
-      "ModifiedDate": "2025-12-08T11:54:03.1730939+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0001",
@@ -47,11 +49,13 @@
         "N003",
         "N001"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:48.2957516+09:00",
-      "ModifiedDate": "2025-12-08T11:54:05.9083675+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0002",
@@ -85,11 +89,13 @@
         "N004",
         "N002"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:49.2226656+09:00",
-      "ModifiedDate": "2025-12-08T11:54:07.7966472+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0003",
@@ -125,11 +131,13 @@
         "N011",
         "N003"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:50.1681027+09:00",
-      "ModifiedDate": "2025-12-08T11:54:09.4014966+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0004",
@@ -163,11 +171,13 @@
         "N007",
         "N022"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:51.1111368+09:00",
-      "ModifiedDate": "2025-12-08T11:54:49.3718611+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0013",
@@ -201,11 +211,13 @@
         "N019",
         "N006"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:51.9266982+09:00",
-      "ModifiedDate": "2025-12-08T11:54:51.4185821+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0014",
@@ -239,11 +251,13 @@
         "N009",
         "N031"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:53.9595825+09:00",
-      "ModifiedDate": "2025-12-08T11:54:13.626916+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0009",
@@ -277,11 +291,13 @@
         "N010",
         "N008"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:54.5035702+09:00",
-      "ModifiedDate": "2025-12-08T11:54:15.2395639+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0010",
@@ -314,11 +330,13 @@
       "ConnectedNodes": [
         "N009"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 2,
       "CreatedDate": "2025-09-11T08:34:55.0563237+09:00",
-      "ModifiedDate": "2025-12-08T11:54:17.075895+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0011",
@@ -353,11 +371,13 @@
         "N015",
         "N004"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:55.8875335+09:00",
-      "ModifiedDate": "2025-12-08T11:54:30.5451017+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0005",
@@ -391,11 +411,13 @@
         "N013",
         "N011"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:56.3678144+09:00",
-      "ModifiedDate": "2025-12-08T11:54:32.3566504+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0006",
@@ -429,11 +451,13 @@
         "N014",
         "N012"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:34:56.8390845+09:00",
-      "ModifiedDate": "2025-12-08T11:54:34.1608589+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0007",
@@ -466,11 +490,13 @@
       "ConnectedNodes": [
         "N013"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 1,
       "CreatedDate": "2025-09-11T08:34:57.2549726+09:00",
-      "ModifiedDate": "2025-12-08T11:54:36.2103863+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0008",
@@ -503,11 +529,13 @@
       "ConnectedNodes": [
         "N007"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 5,
       "CreatedDate": "2025-09-11T08:35:56.5359098+09:00",
-      "ModifiedDate": "2025-12-08T11:54:53.4706808+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Magenta",
       "RfidId": "0015",
@@ -542,11 +570,13 @@
         "N004",
         "N006"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T08:36:48.0311551+09:00",
-      "ModifiedDate": "2025-12-08T11:54:47.1279261+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0012",
@@ -580,11 +610,13 @@
         "N024",
         "N022"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T09:41:36.8738794+09:00",
-      "ModifiedDate": "2025-12-08T11:55:02.2993636+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0016",
@@ -618,11 +650,13 @@
         "N025",
         "N023"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T09:41:37.4551853+09:00",
-      "ModifiedDate": "2025-12-08T11:55:00.0899323+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0017",
@@ -656,11 +690,13 @@
         "N026",
         "N024"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T09:41:38.0142374+09:00",
-      "ModifiedDate": "2025-12-08T11:54:57.8459375+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0018",
@@ -693,11 +729,13 @@
       "ConnectedNodes": [
         "N025"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 5,
       "CreatedDate": "2025-09-11T09:41:38.5834487+09:00",
-      "ModifiedDate": "2025-12-08T11:54:55.6038784+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Magenta",
       "RfidId": "0019",
@@ -728,11 +766,13 @@
       "Type": 4,
       "DockDirection": 0,
       "ConnectedNodes": [],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T11:08:22.4048927+09:00",
-      "ModifiedDate": "2025-10-30T17:14:35.0184087+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Purple",
       "RfidId": "",
@@ -763,11 +803,13 @@
       "Type": 5,
       "DockDirection": 0,
       "ConnectedNodes": [],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-11T11:08:44.7897541+09:00",
-      "ModifiedDate": "2025-10-23T12:21:16.7786615+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Brown",
       "RfidId": "",
@@ -801,11 +843,13 @@
         "N016",
         "N011"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:47.8065756+09:00",
-      "ModifiedDate": "2025-12-08T11:54:28.0157957+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0037",
@@ -839,11 +883,13 @@
         "N017",
         "N015"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:48.6628848+09:00",
-      "ModifiedDate": "2025-12-08T11:54:26.4584771+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0036",
@@ -877,11 +923,13 @@
         "N018",
         "N016"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:49.8138877+09:00",
-      "ModifiedDate": "2025-12-08T11:54:24.9652264+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0035",
@@ -916,11 +964,13 @@
         "N017",
         "N005"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:50.6790623+09:00",
-      "ModifiedDate": "2025-12-08T11:54:23.246666+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0034",
@@ -955,11 +1005,13 @@
         "N029",
         "N018"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:51.5267199+09:00",
-      "ModifiedDate": "2025-12-08T11:54:21.6078399+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0033",
@@ -994,11 +1046,13 @@
         "N028",
         "N005"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:52.3666114+09:00",
-      "ModifiedDate": "2025-12-08T11:54:20.2707567+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0032",
@@ -1032,11 +1086,13 @@
         "N027",
         "N020"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-12T17:22:53.0958619+09:00",
-      "ModifiedDate": "2025-12-08T11:54:18.362104+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0031",
@@ -1069,11 +1125,13 @@
       "ConnectedNodes": [
         "N021"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 4,
       "CreatedDate": "2025-09-12T17:22:54.7345704+09:00",
-      "ModifiedDate": "2025-12-08T11:54:43.1573737+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0041",
@@ -1106,11 +1164,13 @@
       "ConnectedNodes": [
         "N020"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 4,
       "CreatedDate": "2025-09-12T17:22:55.5263512+09:00",
-      "ModifiedDate": "2025-12-08T11:54:41.5219283+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0040",
@@ -1143,11 +1203,13 @@
       "ConnectedNodes": [
         "N005"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 4,
       "CreatedDate": "2025-09-12T17:22:56.6623294+09:00",
-      "ModifiedDate": "2025-12-08T11:54:39.9945926+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0039",
@@ -1180,11 +1242,13 @@
       "ConnectedNodes": [
         "N018"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
       "StationId": "",
-      "StationType": null,
+      "StationType": 4,
       "CreatedDate": "2025-09-12T17:22:57.5510908+09:00",
-      "ModifiedDate": "2025-12-08T11:54:38.3326835+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0038",
@@ -1218,11 +1282,13 @@
         "N004",
         "N008"
       ],
-      "CanRotate": false,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
       "StationId": "",
       "StationType": null,
       "CreatedDate": "2025-09-15T11:18:40.5366059+09:00",
-      "ModifiedDate": "2025-12-08T11:54:12.0214781+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0030",
@@ -1251,6 +1317,6 @@
     "BackgroundColorArgb": -14671840,
     "ShowGrid": false
   },
-  "CreatedDate": "2025-12-08T11:55:04.9060276+09:00",
+  "CreatedDate": "2025-12-09T11:45:02.0324252+09:00",
   "Version": "1.1"
 }

Cs_HMI/Project/CSetting.cs

@@ -246,6 +246,11 @@ namespace Project
 
         public bool AutoModeOffAndClearPosition { get; set; }
 
+
+        [Browsable(false)]
+        public UInt16 GDSValue { get; set; }
+
+
         [Browsable(false)]
         public string musicfile { get; set; }
 
@@ -366,6 +371,7 @@ namespace Project
             if (StatusInterval < 10) StatusInterval = 300; //5분간격
             if (XBE_ID < 1) XBE_ID = 0xFF; //0은 acs 이므로 쓰지못하게한다.
             if (SAD == 0) SAD = 999;
+            if (GDSValue == 0) GDSValue = 1000;
             if (TAGF1A == 0)
             {
                 TAGNOT = 9000;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs

@@ -79,6 +79,10 @@ namespace Project
                 synlist.Add("STT", PUB.setting.STT.ToString("0000"));
                 //synlist.Add("SBN", PUB.setting.ChargerID.ToString("0000"));
 
+                synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
+
+                
+
                 PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
 
                 synidx = 0;

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -197,7 +197,7 @@ namespace Project
                                     NodeId = newNodeId,
                                     RfidId = PUB.Result.LastTAG,
                                     Name = $"자동추가_{PUB.Result.LastTAG}",
-                                    Type = NodeType.Normal,
+                                    Type = NodeType.Normal,                                    
                                     Position = new Point(100, 100), // 기본 위치
                                     IsActive = true,
                                     DisplayColor = Color.Orange, // 자동 추가된 노드는 오렌지색으로 표시

Cs_HMI/Project/ViewForm/fAgv.cs

@@ -138,7 +138,10 @@ namespace Project.ViewForm
 
         private void button9_Click(object sender, EventArgs e)
         {
-            PUB.AGV.TurnGDSCenterScope(); 
+            var inputbox = AR.UTIL.InputBox("input value", "1000");
+            if (inputbox.Item1 == false) return;
+            if (UInt16.TryParse(inputbox.Item2, out UInt16 value) == false) return;
+            PUB.AGV.TurnGDSCenterScope(value); 
             if (PUB.sm.Step == StateMachine.eSMStep.RUN)
                 PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
         }

Cs_HMI/Project/ViewForm/fManual.Designer.cs

@@ -41,46 +41,45 @@
             this.btErrReset = new System.Windows.Forms.Button();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.panel2 = new System.Windows.Forms.Panel();
-            this.groupBox3 = new System.Windows.Forms.GroupBox();
-            this.btBack180 = new System.Windows.Forms.Button();
-            this.panel1 = new System.Windows.Forms.Panel();
             this.btRight180 = new System.Windows.Forms.Button();
-            this.panel10 = new System.Windows.Forms.Panel();
             this.btLeft180 = new System.Windows.Forms.Button();
             this.button1 = new System.Windows.Forms.Button();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
-            this.radpbs2 = new AGVControl.MyRadioButton();
             this.panel9 = new System.Windows.Forms.Panel();
-            this.radpbs1 = new AGVControl.MyRadioButton();
             this.panel3 = new System.Windows.Forms.Panel();
-            this.radpbs0 = new AGVControl.MyRadioButton();
             this.grpSpeed = new System.Windows.Forms.GroupBox();
-            this.radspdh = new AGVControl.MyRadioButton();
             this.panel8 = new System.Windows.Forms.Panel();
-            this.radspdm = new AGVControl.MyRadioButton();
             this.panel4 = new System.Windows.Forms.Panel();
-            this.radspdl = new AGVControl.MyRadioButton();
             this.grpBunki = new System.Windows.Forms.GroupBox();
-            this.radright = new AGVControl.MyRadioButton();
             this.panel7 = new System.Windows.Forms.Panel();
-            this.radstrai = new AGVControl.MyRadioButton();
             this.panel5 = new System.Windows.Forms.Panel();
-            this.radleft = new AGVControl.MyRadioButton();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.arLabel1 = new arCtl.arLabel();
             this.panel12 = new System.Windows.Forms.Panel();
-            this.radbackward = new AGVControl.MyRadioButton();
             this.panel6 = new System.Windows.Forms.Panel();
-            this.radforward = new AGVControl.MyRadioButton();
             this.label1 = new System.Windows.Forms.Label();
+            this.radpbs2 = new AGVControl.MyRadioButton();
+            this.radpbs1 = new AGVControl.MyRadioButton();
+            this.radpbs0 = new AGVControl.MyRadioButton();
+            this.radspdh = new AGVControl.MyRadioButton();
+            this.radspdm = new AGVControl.MyRadioButton();
+            this.radspdl = new AGVControl.MyRadioButton();
+            this.radright = new AGVControl.MyRadioButton();
+            this.radstrai = new AGVControl.MyRadioButton();
+            this.radleft = new AGVControl.MyRadioButton();
+            this.radbackward = new AGVControl.MyRadioButton();
+            this.radforward = new AGVControl.MyRadioButton();
             this.guideSensor1 = new Narumi.UC.GuideSensor();
+            this.btBack180 = new System.Windows.Forms.Button();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
+            this.button2 = new System.Windows.Forms.Button();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel2.SuspendLayout();
-            this.groupBox3.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.grpSpeed.SuspendLayout();
             this.grpBunki.SuspendLayout();
             this.groupBox2.SuspendLayout();
+            this.tableLayoutPanel2.SuspendLayout();
             this.SuspendLayout();
             // 
             // tableLayoutPanel1
@@ -105,7 +104,7 @@
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 555);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 594);
             this.tableLayoutPanel1.TabIndex = 7;
             // 
             // btStart
@@ -125,7 +124,7 @@
             this.btStart.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btStart.GradientRepeatBG = false;
             this.btStart.isButton = true;
-            this.btStart.Location = new System.Drawing.Point(204, 188);
+            this.btStart.Location = new System.Drawing.Point(204, 201);
             this.btStart.MouseDownColor = System.Drawing.Color.Yellow;
             this.btStart.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btStart.msg = new string[] {
@@ -147,7 +146,7 @@
             this.btStart.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btStart.SignColor = System.Drawing.Color.Yellow;
             this.btStart.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btStart.Size = new System.Drawing.Size(195, 179);
+            this.btStart.Size = new System.Drawing.Size(195, 192);
             this.btStart.TabIndex = 6;
             this.btStart.Text = "RUN";
             this.btStart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -172,7 +171,7 @@
             this.btRight.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btRight.GradientRepeatBG = false;
             this.btRight.isButton = true;
-            this.btRight.Location = new System.Drawing.Point(405, 188);
+            this.btRight.Location = new System.Drawing.Point(405, 201);
             this.btRight.MouseDownColor = System.Drawing.Color.Yellow;
             this.btRight.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btRight.msg = null;
@@ -192,7 +191,7 @@
             this.btRight.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btRight.SignColor = System.Drawing.Color.Yellow;
             this.btRight.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btRight.Size = new System.Drawing.Size(196, 179);
+            this.btRight.Size = new System.Drawing.Size(196, 192);
             this.btRight.TabIndex = 0;
             this.btRight.Text = "좌회전";
             this.btRight.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -238,7 +237,7 @@
             this.btBack.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btBack.SignColor = System.Drawing.Color.Yellow;
             this.btBack.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btBack.Size = new System.Drawing.Size(195, 179);
+            this.btBack.Size = new System.Drawing.Size(195, 192);
             this.btBack.TabIndex = 0;
             this.btBack.Text = "후진";
             this.btBack.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -263,7 +262,7 @@
             this.btForward.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btForward.GradientRepeatBG = false;
             this.btForward.isButton = true;
-            this.btForward.Location = new System.Drawing.Point(204, 373);
+            this.btForward.Location = new System.Drawing.Point(204, 399);
             this.btForward.MouseDownColor = System.Drawing.Color.Yellow;
             this.btForward.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btForward.msg = null;
@@ -283,7 +282,7 @@
             this.btForward.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btForward.SignColor = System.Drawing.Color.Yellow;
             this.btForward.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btForward.Size = new System.Drawing.Size(195, 179);
+            this.btForward.Size = new System.Drawing.Size(195, 192);
             this.btForward.TabIndex = 0;
             this.btForward.Text = "전진";
             this.btForward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -308,7 +307,7 @@
             this.btLeft.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btLeft.GradientRepeatBG = false;
             this.btLeft.isButton = true;
-            this.btLeft.Location = new System.Drawing.Point(3, 188);
+            this.btLeft.Location = new System.Drawing.Point(3, 201);
             this.btLeft.MouseDownColor = System.Drawing.Color.Yellow;
             this.btLeft.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btLeft.msg = null;
@@ -328,7 +327,7 @@
             this.btLeft.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btLeft.SignColor = System.Drawing.Color.Yellow;
             this.btLeft.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btLeft.Size = new System.Drawing.Size(195, 179);
+            this.btLeft.Size = new System.Drawing.Size(195, 192);
             this.btLeft.TabIndex = 0;
             this.btLeft.Text = "우회전";
             this.btLeft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -342,7 +341,7 @@
             this.btMarkStop.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btMarkStop.Location = new System.Drawing.Point(3, 3);
             this.btMarkStop.Name = "btMarkStop";
-            this.btMarkStop.Size = new System.Drawing.Size(195, 179);
+            this.btMarkStop.Size = new System.Drawing.Size(195, 192);
             this.btMarkStop.TabIndex = 7;
             this.btMarkStop.Text = "마크정지";
             this.btMarkStop.UseVisualStyleBackColor = true;
@@ -352,9 +351,9 @@
             // 
             this.btchargeOff.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btchargeOff.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btchargeOff.Location = new System.Drawing.Point(405, 373);
+            this.btchargeOff.Location = new System.Drawing.Point(405, 399);
             this.btchargeOff.Name = "btchargeOff";
-            this.btchargeOff.Size = new System.Drawing.Size(196, 179);
+            this.btchargeOff.Size = new System.Drawing.Size(196, 192);
             this.btchargeOff.TabIndex = 8;
             this.btchargeOff.Text = "충전해제";
             this.btchargeOff.UseVisualStyleBackColor = true;
@@ -364,9 +363,9 @@
             // 
             this.btChargeOn.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btChargeOn.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btChargeOn.Location = new System.Drawing.Point(3, 373);
+            this.btChargeOn.Location = new System.Drawing.Point(3, 399);
             this.btChargeOn.Name = "btChargeOn";
-            this.btChargeOn.Size = new System.Drawing.Size(195, 179);
+            this.btChargeOn.Size = new System.Drawing.Size(195, 192);
             this.btChargeOn.TabIndex = 9;
             this.btChargeOn.Text = "충전";
             this.btChargeOn.UseVisualStyleBackColor = true;
@@ -378,7 +377,7 @@
             this.btErrReset.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btErrReset.Location = new System.Drawing.Point(405, 3);
             this.btErrReset.Name = "btErrReset";
-            this.btErrReset.Size = new System.Drawing.Size(196, 179);
+            this.btErrReset.Size = new System.Drawing.Size(196, 192);
             this.btErrReset.TabIndex = 10;
             this.btErrReset.Text = "오류소거";
             this.btErrReset.UseVisualStyleBackColor = true;
@@ -391,7 +390,7 @@
             // 
             // panel2
             // 
-            this.panel2.Controls.Add(this.groupBox3);
+            this.panel2.Controls.Add(this.tableLayoutPanel2);
             this.panel2.Controls.Add(this.button1);
             this.panel2.Controls.Add(this.groupBox1);
             this.panel2.Controls.Add(this.grpSpeed);
@@ -400,79 +399,33 @@
             this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.panel2.Location = new System.Drawing.Point(607, 21);
             this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(404, 517);
+            this.panel2.Size = new System.Drawing.Size(404, 556);
             this.panel2.TabIndex = 9;
             this.panel2.Paint += new System.Windows.Forms.PaintEventHandler(this.panel2_Paint);
             // 
-            // groupBox3
-            // 
-            this.groupBox3.Controls.Add(this.btBack180);
-            this.groupBox3.Controls.Add(this.panel1);
-            this.groupBox3.Controls.Add(this.btRight180);
-            this.groupBox3.Controls.Add(this.panel10);
-            this.groupBox3.Controls.Add(this.btLeft180);
-            this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.groupBox3.Location = new System.Drawing.Point(0, 450);
-            this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Padding = new System.Windows.Forms.Padding(10, 5, 5, 10);
-            this.groupBox3.Size = new System.Drawing.Size(404, 67);
-            this.groupBox3.TabIndex = 11;
-            this.groupBox3.TabStop = false;
-            // 
-            // btBack180
-            // 
-            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
-            this.btBack180.ForeColor = System.Drawing.Color.Black;
-            this.btBack180.Location = new System.Drawing.Point(270, 19);
-            this.btBack180.Name = "btBack180";
-            this.btBack180.Size = new System.Drawing.Size(129, 38);
-            this.btBack180.TabIndex = 15;
-            this.btBack180.Text = "백후 180도 회전";
-            this.btBack180.UseVisualStyleBackColor = false;
-            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
-            // 
-            // panel1
-            // 
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel1.Location = new System.Drawing.Point(261, 19);
-            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(9, 38);
-            this.panel1.TabIndex = 14;
-            // 
             // btRight180
             // 
             this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btRight180.Dock = System.Windows.Forms.DockStyle.Left;
+            this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
             this.btRight180.ForeColor = System.Drawing.Color.Black;
-            this.btRight180.Location = new System.Drawing.Point(140, 19);
+            this.btRight180.Location = new System.Drawing.Point(3, 62);
             this.btRight180.Name = "btRight180";
-            this.btRight180.Size = new System.Drawing.Size(121, 38);
+            this.btRight180.Size = new System.Drawing.Size(196, 53);
             this.btRight180.TabIndex = 6;
             this.btRight180.Text = "180도 우회전";
             this.btRight180.UseVisualStyleBackColor = false;
             this.btRight180.Click += new System.EventHandler(this.btRight180_Click);
             // 
-            // panel10
-            // 
-            this.panel10.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel10.Location = new System.Drawing.Point(131, 19);
-            this.panel10.Name = "panel10";
-            this.panel10.Size = new System.Drawing.Size(9, 38);
-            this.panel10.TabIndex = 12;
-            // 
             // btLeft180
             // 
             this.btLeft180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btLeft180.Dock = System.Windows.Forms.DockStyle.Left;
+            this.btLeft180.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btLeft180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
             this.btLeft180.ForeColor = System.Drawing.Color.Black;
-            this.btLeft180.Location = new System.Drawing.Point(10, 19);
+            this.btLeft180.Location = new System.Drawing.Point(3, 3);
             this.btLeft180.Name = "btLeft180";
-            this.btLeft180.Size = new System.Drawing.Size(121, 38);
+            this.btLeft180.Size = new System.Drawing.Size(196, 53);
             this.btLeft180.TabIndex = 7;
             this.btLeft180.Text = "180도 좌회전";
             this.btLeft180.UseVisualStyleBackColor = false;
@@ -484,7 +437,7 @@
             this.button1.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.button1.Location = new System.Drawing.Point(0, 380);
             this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(404, 70);
+            this.button1.Size = new System.Drawing.Size(404, 58);
             this.button1.TabIndex = 10;
             this.button1.Text = "설정 적용";
             this.button1.UseVisualStyleBackColor = true;
@@ -506,25 +459,6 @@
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "근접센서(PBS)";
             // 
-            // radpbs2
-            // 
-            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs2.BorderRadius = 7;
-            this.radpbs2.BorderSize = 2;
-            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs2.CheckWidth = 30;
-            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs2.Location = new System.Drawing.Point(278, 19);
-            this.radpbs2.Name = "radpbs2";
-            this.radpbs2.Size = new System.Drawing.Size(119, 66);
-            this.radpbs2.TabIndex = 10;
-            this.radpbs2.Text = "On(2)";
-            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs2.UseVisualStyleBackColor = false;
-            // 
             // panel9
             // 
             this.panel9.Dock = System.Windows.Forms.DockStyle.Left;
@@ -533,28 +467,6 @@
             this.panel9.Size = new System.Drawing.Size(15, 66);
             this.panel9.TabIndex = 12;
             // 
-            // radpbs1
-            // 
-            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs1.BorderRadius = 7;
-            this.radpbs1.BorderSize = 2;
-            this.radpbs1.Checked = true;
-            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs1.CheckWidth = 30;
-            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
-            this.radpbs1.Location = new System.Drawing.Point(144, 19);
-            this.radpbs1.Name = "radpbs1";
-            this.radpbs1.Size = new System.Drawing.Size(119, 66);
-            this.radpbs1.TabIndex = 9;
-            this.radpbs1.TabStop = true;
-            this.radpbs1.Text = "On(1)";
-            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs1.UseVisualStyleBackColor = false;
-            // 
             // panel3
             // 
             this.panel3.Dock = System.Windows.Forms.DockStyle.Left;
@@ -563,25 +475,6 @@
             this.panel3.Size = new System.Drawing.Size(15, 66);
             this.panel3.TabIndex = 11;
             // 
-            // radpbs0
-            // 
-            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs0.BorderRadius = 7;
-            this.radpbs0.BorderSize = 2;
-            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs0.CheckWidth = 30;
-            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs0.Location = new System.Drawing.Point(10, 19);
-            this.radpbs0.Name = "radpbs0";
-            this.radpbs0.Size = new System.Drawing.Size(119, 66);
-            this.radpbs0.TabIndex = 8;
-            this.radpbs0.Text = "Off(0)";
-            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs0.UseVisualStyleBackColor = false;
-            // 
             // grpSpeed
             // 
             this.grpSpeed.Controls.Add(this.radspdh);
@@ -598,25 +491,6 @@
             this.grpSpeed.TabStop = false;
             this.grpSpeed.Text = "속도";
             // 
-            // radspdh
-            // 
-            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdh.BorderRadius = 7;
-            this.radspdh.BorderSize = 2;
-            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdh.CheckWidth = 30;
-            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdh.Location = new System.Drawing.Point(278, 19);
-            this.radspdh.Name = "radspdh";
-            this.radspdh.Size = new System.Drawing.Size(119, 66);
-            this.radspdh.TabIndex = 2;
-            this.radspdh.Text = "고속";
-            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdh.UseVisualStyleBackColor = false;
-            // 
             // panel8
             // 
             this.panel8.Dock = System.Windows.Forms.DockStyle.Left;
@@ -625,28 +499,6 @@
             this.panel8.Size = new System.Drawing.Size(15, 66);
             this.panel8.TabIndex = 13;
             // 
-            // radspdm
-            // 
-            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdm.BorderRadius = 7;
-            this.radspdm.BorderSize = 2;
-            this.radspdm.Checked = true;
-            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdm.CheckWidth = 30;
-            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdm.ForeColor = System.Drawing.Color.Blue;
-            this.radspdm.Location = new System.Drawing.Point(144, 19);
-            this.radspdm.Name = "radspdm";
-            this.radspdm.Size = new System.Drawing.Size(119, 66);
-            this.radspdm.TabIndex = 1;
-            this.radspdm.TabStop = true;
-            this.radspdm.Text = "중속";
-            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdm.UseVisualStyleBackColor = false;
-            // 
             // panel4
             // 
             this.panel4.Dock = System.Windows.Forms.DockStyle.Left;
@@ -655,25 +507,6 @@
             this.panel4.Size = new System.Drawing.Size(15, 66);
             this.panel4.TabIndex = 12;
             // 
-            // radspdl
-            // 
-            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdl.BorderRadius = 7;
-            this.radspdl.BorderSize = 2;
-            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdl.CheckWidth = 30;
-            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdl.Location = new System.Drawing.Point(10, 19);
-            this.radspdl.Name = "radspdl";
-            this.radspdl.Size = new System.Drawing.Size(119, 66);
-            this.radspdl.TabIndex = 0;
-            this.radspdl.Text = "저속";
-            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdl.UseVisualStyleBackColor = false;
-            // 
             // grpBunki
             // 
             this.grpBunki.Controls.Add(this.radright);
@@ -690,25 +523,6 @@
             this.grpBunki.TabStop = false;
             this.grpBunki.Text = "분기";
             // 
-            // radright
-            // 
-            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radright.Bordercolor = System.Drawing.Color.DimGray;
-            this.radright.BorderRadius = 7;
-            this.radright.BorderSize = 2;
-            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radright.CheckWidth = 30;
-            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radright.Location = new System.Drawing.Point(278, 19);
-            this.radright.Name = "radright";
-            this.radright.Size = new System.Drawing.Size(119, 66);
-            this.radright.TabIndex = 4;
-            this.radright.Text = "우측";
-            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radright.UseVisualStyleBackColor = false;
-            // 
             // panel7
             // 
             this.panel7.Dock = System.Windows.Forms.DockStyle.Left;
@@ -717,28 +531,6 @@
             this.panel7.Size = new System.Drawing.Size(15, 66);
             this.panel7.TabIndex = 13;
             // 
-            // radstrai
-            // 
-            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
-            this.radstrai.BorderRadius = 7;
-            this.radstrai.BorderSize = 2;
-            this.radstrai.Checked = true;
-            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radstrai.CheckWidth = 30;
-            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radstrai.ForeColor = System.Drawing.Color.Blue;
-            this.radstrai.Location = new System.Drawing.Point(144, 19);
-            this.radstrai.Name = "radstrai";
-            this.radstrai.Size = new System.Drawing.Size(119, 66);
-            this.radstrai.TabIndex = 3;
-            this.radstrai.TabStop = true;
-            this.radstrai.Text = "직진";
-            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radstrai.UseVisualStyleBackColor = false;
-            // 
             // panel5
             // 
             this.panel5.Dock = System.Windows.Forms.DockStyle.Left;
@@ -747,25 +539,6 @@
             this.panel5.Size = new System.Drawing.Size(15, 66);
             this.panel5.TabIndex = 12;
             // 
-            // radleft
-            // 
-            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
-            this.radleft.BorderRadius = 7;
-            this.radleft.BorderSize = 2;
-            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radleft.CheckWidth = 30;
-            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radleft.Location = new System.Drawing.Point(10, 19);
-            this.radleft.Name = "radleft";
-            this.radleft.Size = new System.Drawing.Size(119, 66);
-            this.radleft.TabIndex = 5;
-            this.radleft.Text = "좌측";
-            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radleft.UseVisualStyleBackColor = false;
-            // 
             // groupBox2
             // 
             this.groupBox2.Controls.Add(this.arLabel1);
@@ -837,6 +610,208 @@
             this.panel12.Size = new System.Drawing.Size(15, 66);
             this.panel12.TabIndex = 14;
             // 
+            // panel6
+            // 
+            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
+            this.panel6.Location = new System.Drawing.Point(129, 19);
+            this.panel6.Name = "panel6";
+            this.panel6.Size = new System.Drawing.Size(15, 66);
+            this.panel6.TabIndex = 12;
+            // 
+            // label1
+            // 
+            this.label1.BackColor = System.Drawing.Color.Blue;
+            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label1.ForeColor = System.Drawing.Color.White;
+            this.label1.Location = new System.Drawing.Point(607, 577);
+            this.label1.Name = "label1";
+            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
+            this.label1.Size = new System.Drawing.Size(404, 38);
+            this.label1.TabIndex = 9;
+            this.label1.Text = "----------";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // radpbs2
+            // 
+            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs2.BorderRadius = 7;
+            this.radpbs2.BorderSize = 2;
+            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs2.CheckWidth = 30;
+            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs2.Location = new System.Drawing.Point(278, 19);
+            this.radpbs2.Name = "radpbs2";
+            this.radpbs2.Size = new System.Drawing.Size(119, 66);
+            this.radpbs2.TabIndex = 10;
+            this.radpbs2.Text = "On(2)";
+            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs2.UseVisualStyleBackColor = false;
+            // 
+            // radpbs1
+            // 
+            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs1.BorderRadius = 7;
+            this.radpbs1.BorderSize = 2;
+            this.radpbs1.Checked = true;
+            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs1.CheckWidth = 30;
+            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
+            this.radpbs1.Location = new System.Drawing.Point(144, 19);
+            this.radpbs1.Name = "radpbs1";
+            this.radpbs1.Size = new System.Drawing.Size(119, 66);
+            this.radpbs1.TabIndex = 9;
+            this.radpbs1.TabStop = true;
+            this.radpbs1.Text = "On(1)";
+            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs1.UseVisualStyleBackColor = false;
+            // 
+            // radpbs0
+            // 
+            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs0.BorderRadius = 7;
+            this.radpbs0.BorderSize = 2;
+            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs0.CheckWidth = 30;
+            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs0.Location = new System.Drawing.Point(10, 19);
+            this.radpbs0.Name = "radpbs0";
+            this.radpbs0.Size = new System.Drawing.Size(119, 66);
+            this.radpbs0.TabIndex = 8;
+            this.radpbs0.Text = "Off(0)";
+            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs0.UseVisualStyleBackColor = false;
+            // 
+            // radspdh
+            // 
+            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdh.BorderRadius = 7;
+            this.radspdh.BorderSize = 2;
+            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdh.CheckWidth = 30;
+            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdh.Location = new System.Drawing.Point(278, 19);
+            this.radspdh.Name = "radspdh";
+            this.radspdh.Size = new System.Drawing.Size(119, 66);
+            this.radspdh.TabIndex = 2;
+            this.radspdh.Text = "고속";
+            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdh.UseVisualStyleBackColor = false;
+            // 
+            // radspdm
+            // 
+            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdm.BorderRadius = 7;
+            this.radspdm.BorderSize = 2;
+            this.radspdm.Checked = true;
+            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdm.CheckWidth = 30;
+            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdm.ForeColor = System.Drawing.Color.Blue;
+            this.radspdm.Location = new System.Drawing.Point(144, 19);
+            this.radspdm.Name = "radspdm";
+            this.radspdm.Size = new System.Drawing.Size(119, 66);
+            this.radspdm.TabIndex = 1;
+            this.radspdm.TabStop = true;
+            this.radspdm.Text = "중속";
+            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdm.UseVisualStyleBackColor = false;
+            // 
+            // radspdl
+            // 
+            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdl.BorderRadius = 7;
+            this.radspdl.BorderSize = 2;
+            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdl.CheckWidth = 30;
+            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdl.Location = new System.Drawing.Point(10, 19);
+            this.radspdl.Name = "radspdl";
+            this.radspdl.Size = new System.Drawing.Size(119, 66);
+            this.radspdl.TabIndex = 0;
+            this.radspdl.Text = "저속";
+            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdl.UseVisualStyleBackColor = false;
+            // 
+            // radright
+            // 
+            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radright.Bordercolor = System.Drawing.Color.DimGray;
+            this.radright.BorderRadius = 7;
+            this.radright.BorderSize = 2;
+            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radright.CheckWidth = 30;
+            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radright.Location = new System.Drawing.Point(278, 19);
+            this.radright.Name = "radright";
+            this.radright.Size = new System.Drawing.Size(119, 66);
+            this.radright.TabIndex = 4;
+            this.radright.Text = "우측";
+            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radright.UseVisualStyleBackColor = false;
+            // 
+            // radstrai
+            // 
+            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
+            this.radstrai.BorderRadius = 7;
+            this.radstrai.BorderSize = 2;
+            this.radstrai.Checked = true;
+            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radstrai.CheckWidth = 30;
+            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radstrai.ForeColor = System.Drawing.Color.Blue;
+            this.radstrai.Location = new System.Drawing.Point(144, 19);
+            this.radstrai.Name = "radstrai";
+            this.radstrai.Size = new System.Drawing.Size(119, 66);
+            this.radstrai.TabIndex = 3;
+            this.radstrai.TabStop = true;
+            this.radstrai.Text = "직진";
+            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radstrai.UseVisualStyleBackColor = false;
+            // 
+            // radleft
+            // 
+            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
+            this.radleft.BorderRadius = 7;
+            this.radleft.BorderSize = 2;
+            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radleft.CheckWidth = 30;
+            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radleft.Location = new System.Drawing.Point(10, 19);
+            this.radleft.Name = "radleft";
+            this.radleft.Size = new System.Drawing.Size(119, 66);
+            this.radleft.TabIndex = 5;
+            this.radleft.Text = "좌측";
+            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radleft.UseVisualStyleBackColor = false;
+            // 
             // radbackward
             // 
             this.radbackward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -856,14 +831,6 @@
             this.radbackward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radbackward.UseVisualStyleBackColor = false;
             // 
-            // panel6
-            // 
-            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel6.Location = new System.Drawing.Point(129, 19);
-            this.panel6.Name = "panel6";
-            this.panel6.Size = new System.Drawing.Size(15, 66);
-            this.panel6.TabIndex = 12;
-            // 
             // radforward
             // 
             this.radforward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -886,20 +853,6 @@
             this.radforward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radforward.UseVisualStyleBackColor = false;
             // 
-            // label1
-            // 
-            this.label1.BackColor = System.Drawing.Color.Blue;
-            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label1.ForeColor = System.Drawing.Color.White;
-            this.label1.Location = new System.Drawing.Point(607, 538);
-            this.label1.Name = "label1";
-            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
-            this.label1.Size = new System.Drawing.Size(404, 38);
-            this.label1.TabIndex = 9;
-            this.label1.Text = "----------";
-            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // guideSensor1
             // 
             this.guideSensor1.Dock = System.Windows.Forms.DockStyle.Top;
@@ -912,11 +865,59 @@
             this.guideSensor1.TabIndex = 8;
             this.guideSensor1.Text = "guideSensor1";
             // 
+            // btBack180
+            // 
+            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.btBack180.ForeColor = System.Drawing.Color.Black;
+            this.btBack180.Location = new System.Drawing.Point(205, 3);
+            this.btBack180.Name = "btBack180";
+            this.btBack180.Size = new System.Drawing.Size(196, 53);
+            this.btBack180.TabIndex = 15;
+            this.btBack180.Text = "백후 180도 회전 (Left)";
+            this.btBack180.UseVisualStyleBackColor = false;
+            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
+            // 
+            // tableLayoutPanel2
+            // 
+            this.tableLayoutPanel2.ColumnCount = 2;
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1);
+            this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1);
+            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438);
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
+            this.tableLayoutPanel2.RowCount = 2;
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118);
+            this.tableLayoutPanel2.TabIndex = 12;
+            // 
+            // button2
+            // 
+            this.button2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.button2.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.button2.ForeColor = System.Drawing.Color.Black;
+            this.button2.Location = new System.Drawing.Point(205, 62);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(196, 53);
+            this.button2.TabIndex = 15;
+            this.button2.Text = "백후 180도 회전(Right)";
+            this.button2.UseVisualStyleBackColor = false;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
             // fManual
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.SlateGray;
-            this.ClientSize = new System.Drawing.Size(1014, 579);
+            this.ClientSize = new System.Drawing.Size(1014, 618);
             this.Controls.Add(this.panel2);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.tableLayoutPanel1);
@@ -929,11 +930,11 @@
             this.VisibleChanged += new System.EventHandler(this.fManual_VisibleChanged);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.panel2.ResumeLayout(false);
-            this.groupBox3.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.grpSpeed.ResumeLayout(false);
             this.grpBunki.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
+            this.tableLayoutPanel2.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -979,11 +980,10 @@
         private System.Windows.Forms.Button button1;
         private arCtl.arLabel arLabel1;
         private System.Windows.Forms.Panel panel12;
-        private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.Button btBack180;
-        private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Button btRight180;
-        private System.Windows.Forms.Panel panel10;
         private System.Windows.Forms.Button btLeft180;
+        private System.Windows.Forms.Button btBack180;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
+        private System.Windows.Forms.Button button2;
     }
 }

Cs_HMI/Project/ViewForm/fManual.cs

@@ -331,7 +331,7 @@ namespace Project.ViewForm
 
         }
 
-   
+
 
         private void arLabel1_Click_1(object sender, EventArgs e)
         {
@@ -368,7 +368,12 @@ namespace Project.ViewForm
         private void btBack180_Click(object sender, EventArgs e)
         {
             //[STX]		C	T	B	0	0	0	0	9	9	[ETX]
-            PUB.AGV.AGVMoveBack180Turn();
+            PUB.AGV.AGVMoveBack180Turn(true);
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            PUB.AGV.AGVMoveBack180Turn(false);
         }
     }
 }

Cs_HMI/Project/fMain.Designer.cs

@@ -299,7 +299,7 @@ namespace Project
             this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btAutoRun.GradientRepeatBG = false;
             this.btAutoRun.isButton = true;
-            this.btAutoRun.Location = new System.Drawing.Point(0, 288);
+            this.btAutoRun.Location = new System.Drawing.Point(0, 300);
             this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
             this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
             this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
@@ -320,7 +320,7 @@ namespace Project
             this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
             this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoRun.Size = new System.Drawing.Size(259, 145);
+            this.btAutoRun.Size = new System.Drawing.Size(259, 152);
             this.btAutoRun.TabIndex = 22;
             this.btAutoRun.Text = "수동";
             this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -367,7 +367,7 @@ namespace Project
             this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeA.SignColor = System.Drawing.Color.Yellow;
             this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeA.Size = new System.Drawing.Size(143, 144);
+            this.btChargeA.Size = new System.Drawing.Size(143, 150);
             this.btChargeA.TabIndex = 141;
             this.btChargeA.Text = "자동충전";
             this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -393,7 +393,7 @@ namespace Project
             this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.lbTime.GradientRepeatBG = false;
             this.lbTime.isButton = false;
-            this.lbTime.Location = new System.Drawing.Point(5, 574);
+            this.lbTime.Location = new System.Drawing.Point(5, 593);
             this.lbTime.Margin = new System.Windows.Forms.Padding(0);
             this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -982,7 +982,7 @@ namespace Project
             this.panRight.Location = new System.Drawing.Point(1015, 146);
             this.panRight.Name = "panRight";
             this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
-            this.panRight.Size = new System.Drawing.Size(264, 599);
+            this.panRight.Size = new System.Drawing.Size(264, 618);
             this.panRight.TabIndex = 131;
             // 
             // tableLayoutPanel1
@@ -1001,7 +1001,7 @@ namespace Project
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 433);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 452);
             this.tableLayoutPanel1.TabIndex = 0;
             // 
             // btHome
@@ -1043,7 +1043,7 @@ namespace Project
             this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btHome.SignColor = System.Drawing.Color.Yellow;
             this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btHome.Size = new System.Drawing.Size(116, 288);
+            this.btHome.Size = new System.Drawing.Size(116, 300);
             this.btHome.TabIndex = 141;
             this.btHome.Text = "홈";
             this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1068,7 +1068,7 @@ namespace Project
             this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btChargeM.GradientRepeatBG = false;
             this.btChargeM.isButton = true;
-            this.btChargeM.Location = new System.Drawing.Point(116, 144);
+            this.btChargeM.Location = new System.Drawing.Point(116, 150);
             this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
             this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
             this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1089,7 +1089,7 @@ namespace Project
             this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeM.SignColor = System.Drawing.Color.Yellow;
             this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeM.Size = new System.Drawing.Size(143, 144);
+            this.btChargeM.Size = new System.Drawing.Size(143, 150);
             this.btChargeM.TabIndex = 141;
             this.btChargeM.Text = "수동충전";
             this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1498,7 +1498,7 @@ namespace Project
             // 
             this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
             this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.panel5.Location = new System.Drawing.Point(5, 569);
+            this.panel5.Location = new System.Drawing.Point(5, 588);
             this.panel5.Name = "panel5";
             this.panel5.Size = new System.Drawing.Size(259, 5);
             this.panel5.TabIndex = 142;
@@ -1752,7 +1752,7 @@ namespace Project
             // 
             this.pandBottomDIO.Controls.Add(this.panel9);
             this.pandBottomDIO.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.pandBottomDIO.Location = new System.Drawing.Point(1, 745);
+            this.pandBottomDIO.Location = new System.Drawing.Point(1, 764);
             this.pandBottomDIO.Margin = new System.Windows.Forms.Padding(0);
             this.pandBottomDIO.Name = "pandBottomDIO";
             this.pandBottomDIO.Size = new System.Drawing.Size(1278, 35);
@@ -1928,7 +1928,7 @@ namespace Project
             this.panDlg.Location = new System.Drawing.Point(1, 146);
             this.panDlg.Margin = new System.Windows.Forms.Padding(0);
             this.panDlg.Name = "panDlg";
-            this.panDlg.Size = new System.Drawing.Size(1014, 599);
+            this.panDlg.Size = new System.Drawing.Size(1014, 618);
             this.panDlg.TabIndex = 146;
             // 
             // arPanel2
@@ -2200,7 +2200,7 @@ namespace Project
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(15)))), ((int)(((byte)(15)))), ((int)(((byte)(15)))));
-            this.ClientSize = new System.Drawing.Size(1280, 781);
+            this.ClientSize = new System.Drawing.Size(1280, 800);
             this.Controls.Add(this.panDlg);
             this.Controls.Add(this.panRight);
             this.Controls.Add(this.arPanel2);

Cs_HMI/Project/fSetup.Designer.cs

@@ -39,6 +39,8 @@
             this.btAutoCharge = new arCtl.arLabel();
             this.btSpeaker = new arCtl.arLabel();
             this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.label7 = new System.Windows.Forms.Label();
+            this.vcXBID = new AGVControl.ValueSelect();
             this.tbagvchannel = new System.Windows.Forms.TextBox();
             this.tbagvpanid = new System.Windows.Forms.TextBox();
             this.tbagvaddr = new System.Windows.Forms.TextBox();
@@ -202,8 +204,8 @@
             this.bt1 = new arCtl.arLabel();
             this.bt0 = new arCtl.arLabel();
             this.btSave = new arCtl.arLabel();
-            this.label7 = new System.Windows.Forms.Label();
+            this.label13 = new System.Windows.Forms.Label();
-            this.vcXBID = new AGVControl.ValueSelect();
+            this.vcGDS = new AGVControl.ValueSelect();
             this.tabControl1.SuspendLayout();
             this.tabPage6.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -430,6 +432,8 @@
             // tabPage1
             // 
             this.tabPage1.BackColor = System.Drawing.Color.Navy;
+            this.tabPage1.Controls.Add(this.label13);
+            this.tabPage1.Controls.Add(this.vcGDS);
             this.tabPage1.Controls.Add(this.label7);
             this.tabPage1.Controls.Add(this.vcXBID);
             this.tabPage1.Controls.Add(this.tbagvchannel);
@@ -481,6 +485,41 @@
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "AGV";
             // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
+            this.label7.Location = new System.Drawing.Point(162, 524);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(101, 24);
+            this.label7.TabIndex = 79;
+            this.label7.Text = "Xbee ID";
+            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // vcXBID
+            // 
+            this.vcXBID.BackColorButton = System.Drawing.Color.White;
+            this.vcXBID.ButtonWidth = "30";
+            this.vcXBID.ColorBorder = System.Drawing.Color.White;
+            this.vcXBID.DecimalPosition = ((ushort)(0));
+            this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.vcXBID.ForeColor = System.Drawing.Color.White;
+            this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
+            this.vcXBID.Location = new System.Drawing.Point(269, 509);
+            this.vcXBID.MaxValue = 9999D;
+            this.vcXBID.MinValue = 0D;
+            this.vcXBID.Name = "vcXBID";
+            this.vcXBID.NullDisplay = "--";
+            this.vcXBID.SideButtonClickValue = 1D;
+            this.vcXBID.Size = new System.Drawing.Size(164, 54);
+            this.vcXBID.TabIndex = 78;
+            this.vcXBID.Tag = "SDH";
+            this.vcXBID.Text = "30";
+            this.vcXBID.Value = 30D;
+            this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
+            // 
             // tbagvchannel
             // 
             this.tbagvchannel.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold);
@@ -3333,40 +3372,39 @@
             this.btSave.TextVisible = true;
             this.btSave.Click += new System.EventHandler(this.btSave_Click);
             // 
-            // label7
+            // label13
             // 
-            this.label7.AutoSize = true;
+            this.label13.AutoSize = true;
-            this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label13.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
+            this.label13.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.label7.Location = new System.Drawing.Point(162, 524);
+            this.label13.Location = new System.Drawing.Point(526, 524);
-            this.label7.Name = "label7";
+            this.label13.Name = "label13";
-            this.label7.Size = new System.Drawing.Size(101, 24);
+            this.label13.Size = new System.Drawing.Size(101, 24);
-            this.label7.TabIndex = 79;
+            this.label13.TabIndex = 81;
-            this.label7.Text = "Xbee ID";
+            this.label13.Text = "TurnGDS";
-            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label13.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
-            // vcXBID
+            // vcTurnGDS
             // 
-            this.vcXBID.BackColorButton = System.Drawing.Color.White;
+            this.vcGDS.BackColorButton = System.Drawing.Color.White;
-            this.vcXBID.ButtonWidth = "30";
+            this.vcGDS.ButtonWidth = "30";
-            this.vcXBID.ColorBorder = System.Drawing.Color.White;
+            this.vcGDS.ColorBorder = System.Drawing.Color.White;
-            this.vcXBID.DecimalPosition = ((ushort)(0));
+            this.vcGDS.DecimalPosition = ((ushort)(0));
-            this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.vcGDS.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.vcGDS.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.vcXBID.ForeColor = System.Drawing.Color.White;
+            this.vcGDS.ForeColor = System.Drawing.Color.White;
-            this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
+            this.vcGDS.ForeColorButton = System.Drawing.Color.Black;
-            this.vcXBID.Location = new System.Drawing.Point(269, 509);
+            this.vcGDS.Location = new System.Drawing.Point(633, 509);
-            this.vcXBID.MaxValue = 9999D;
+            this.vcGDS.MaxValue = 9999D;
-            this.vcXBID.MinValue = 0D;
+            this.vcGDS.MinValue = 0D;
-            this.vcXBID.Name = "vcXBID";
+            this.vcGDS.Name = "vcTurnGDS";
-            this.vcXBID.NullDisplay = "--";
+            this.vcGDS.NullDisplay = "--";
-            this.vcXBID.SideButtonClickValue = 1D;
+            this.vcGDS.SideButtonClickValue = 1D;
-            this.vcXBID.Size = new System.Drawing.Size(164, 54);
+            this.vcGDS.Size = new System.Drawing.Size(164, 54);
-            this.vcXBID.TabIndex = 78;
+            this.vcGDS.TabIndex = 80;
-            this.vcXBID.Tag = "SDH";
+            this.vcGDS.Tag = "SDH";
-            this.vcXBID.Text = "30";
+            this.vcGDS.Text = "1000";
-            this.vcXBID.Value = 30D;
+            this.vcGDS.Value = 1000D;
-            this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
             // 
             // fSetup
             // 
@@ -3588,5 +3626,7 @@
         private System.Windows.Forms.CheckBox chkClearPos;
         private System.Windows.Forms.Label label7;
         private AGVControl.ValueSelect vcXBID;
+        private System.Windows.Forms.Label label13;
+        private AGVControl.ValueSelect vcGDS;
     }
 }

Cs_HMI/Project/fSetup.cs

@@ -77,6 +77,7 @@ namespace Project
             vcSTT.Value = PUB.setting.STT;
             vcSAD.Value = PUB.setting.SAD;
             vcXBID.Value = PUB.setting.XBE_ID;
+            vcGDS.Value = PUB.setting.GDSValue;
 
             tbagvaddr.Text = PUB.setting.AGV_ADDRESS;
             tbagvpanid.Text = PUB.setting.AGV_PANID;
@@ -262,6 +263,7 @@ namespace Project
             PUB.setting.STT = (int)vcSTT.Value;
             PUB.setting.SAD = (int)vcSAD.Value;
             PUB.setting.XBE_ID = (byte)vcXBID.Value;
+            PUB.setting.GDSValue = (UInt16)vcGDS.Value;
 
             //속도 저/중/고
             PUB.setting.SPD_L = (int)vcSpeedL.Value;

Cs_HMI/SubProject/AGV/Command.cs

@@ -65,7 +65,7 @@ namespace arDev
         {
             return AddCommand(cmd + data);
         }
-        
+
         public bool LiftControl(LiftCommand cmd)
         {
             return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
@@ -86,9 +86,10 @@ namespace arDev
             return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
         }
 
-        public bool TurnGDSCenterScope()
+        public bool TurnGDSCenterScope(UInt16 time)
         {
-            return AddCommand(eAgvCmd.TurnGDSCenterScope);
+            if (time > 2000) time = 2000;
+            return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
         }
         public bool AGVMoveLeft180Turn()
         {
@@ -98,9 +99,10 @@ namespace arDev
         {
             return AddCommand(eAgvCmd.TurnRight);
         }
-        public bool AGVMoveBack180Turn()
+        public bool AGVMoveBack180Turn(bool leftTurn)
         {
-            return AddCommand(eAgvCmd.TurnBack);
+            var dir = leftTurn ? "L" : "R";
+            return AddCommand(eAgvCmd.BackAndTurn, dir);
         }
 
 
@@ -165,7 +167,7 @@ namespace arDev
             return AddCommand(cmds);
         }
 
-        
+
         protected bool AddCommand(params string[] cmds)
         {
             bool ret = true;
@@ -240,8 +242,9 @@ namespace arDev
                     cmdString = $"CTR0000";
                     retval = AddCommand(cmdString);
                     break;
-                case eAgvCmd.TurnBack:
+                case eAgvCmd.BackAndTurn:
-                    cmdString = $"CTB0000";
+                    if (param.isEmpty()) param = "L";
+                    cmdString = $"CTB000{param}";
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.CallCancle:
@@ -270,7 +273,8 @@ namespace arDev
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.TurnGDSCenterScope:
-                    cmdString = "SGS1000";
+                    if (param.isEmpty()) param = "1000";
+                    cmdString = "SGS{param}";
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.BackTrunResumeTime:

Cs_HMI/SubProject/AGV/EnumData.cs

@@ -151,7 +151,7 @@ namespace arDev
             /// <summary>
             /// CMD : CTB0000
             /// </summary>
-            TurnBack,
+            BackAndTurn,
 
             /// <summary>
             /// CMD : CBZ