From af0c32215b7a4bd07c56fc1d867d51bddda7cf8d Mon Sep 17 00:00:00 2001
From: backuppc <backuppc@mail.com>
Date: Thu, 29 Jan 2026 15:13:41 +0900
Subject: [PATCH] =?UTF-8?q?=ED=84=B4=20=EC=A1=B0=EA=B1=B4=20=EB=B3=80?=
 =?UTF-8?q?=EA=B2=BD=20=EC=84=BC=EC=84=9C->=EB=A9=94=EC=84=B8=EC=A7=80?=
MIME-Version: 1.0
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---
 HMI/Project/StateMachine/_AGV.cs |  4 +++-
 HMI/SubProject/AGV/Narumi.cs     | 17 ++++++++++++++---
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/HMI/Project/StateMachine/_AGV.cs b/HMI/Project/StateMachine/_AGV.cs
index b8f4c57..9672d06 100644
--- a/HMI/Project/StateMachine/_AGV.cs
+++ b/HMI/Project/StateMachine/_AGV.cs
@@ -219,6 +219,7 @@ namespace Project
                 //이 후 상황을 예측한다
                 if (PUB._mapCanvas != null && PUB._virtualAGV != null)
                 {
+
                     var nextAction = PUB._virtualAGV.Predict();
                     var message = $"[다음 행동 예측]\n\n";
 
@@ -262,7 +263,8 @@ namespace Project
                      $"---\n" +
                      $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
                      $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
-                     $"턴: {PUB._virtualAGV.Turn}\n" +
+                     $"S/W 턴 상태: {PUB._virtualAGV.Turn}\n" +
+                     $"H/W 턴 상태: {PUB.AGV.TurnInformation?.State}\n" +
                      $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
 
                      $"대상 노드: {targetpos}\n" +
diff --git a/HMI/SubProject/AGV/Narumi.cs b/HMI/SubProject/AGV/Narumi.cs
index da258ad..6a61665 100644
--- a/HMI/SubProject/AGV/Narumi.cs
+++ b/HMI/SubProject/AGV/Narumi.cs
@@ -157,9 +157,19 @@ namespace arDev
             }
             else if (frame.DataString.StartsWith("$"))
             {
+                // [Turn Completion Check]
+                if (frame.DataString.Contains("LEFT-TURN OK"))
+                {
+                    if (TurnInformation != null) { TurnInformation.State = eNarumiTurn.Left; TurnInformation.End = DateTime.Now; }
+                }
+                else if (frame.DataString.Contains("RIGHT-TURN OK"))
+                {
+                    if (TurnInformation != null) { TurnInformation.State = eNarumiTurn.Right; TurnInformation.End = DateTime.Now; }
+                }
                 // $로 시작되는 AGV 상태 표시
                 //var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');   //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
                 //var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
+                //AGV RIGHT-TURN OK
                 RaiseMessage(MessageType.Normal, "$메세지수신:" + frame.DataString);
             }
             else
@@ -266,9 +276,10 @@ namespace arDev
                 nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
                 signal1.SetValue(nDataTemp); idx += 2;
 
-                //agv가 멈춰있고 마크센서가 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
-                if (system1.agv_run == false && system1.agv_stop == true &&
-                    TurnInformation != null && signal1.mark_sensor)
+                //agv가 멈춰있고 들어온경우, 턴 작업이었다면 턴 셋팅을 한다
+                // [REMOVED] Logic replaced by message-based check ($AGV...TURN OK)
+                if (false && system1.agv_run == false && system1.agv_stop == true &&
+                    TurnInformation != null)
                 {
                     if (TurnInformation.Start.Year > 2000)
                     {