test_acs 프로젝트 변경

AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -179,4 +179,7 @@ namespace AGVNavigationCore.Models
         Complete,
 
     }
+
+
+
 }

HMI/Project/AGV4.csproj

@@ -311,7 +311,7 @@
     <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_CHARGE_GOFF.cs">
+    <Compile Include="StateMachine\Step\_SM_RUN_CHARGE_OFF.cs">
       <SubType>Form</SubType>
     </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_GOTO.cs">
@@ -320,7 +320,7 @@
     <Compile Include="StateMachine\Step\_SM_RUN_CHARGE_CHECK.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_CHARGE_GO.cs">
+    <Compile Include="StateMachine\Step\_SM_RUN_CHARGE_ON.cs">
       <SubType>Form</SubType>
     </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_READY.cs">

HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -186,7 +186,7 @@ namespace Project
                         PUB.sm.ResetRunStepSeq();
                         PUB.log.Add("충전 명령 시작");
                     }
-                    else if (_SM_RUN_CHARGE_GO(runStepisFirst, PUB.sm.GetRunSteptime))
+                    else if (_SM_RUN_CHARGE_ON(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
                         PUB.XBE.SendActionComplete(PUB.sm.RunStep);
                         PUB.Speak(Lang.충전을시작합니다);
@@ -219,7 +219,7 @@ namespace Project
                     else
                     {
                         //충전 상태가 OFF되어야 동작하게한다
-                        if (_SM_RUN_CHARGE_GOFF(isFirst, stepTime) == true)
+                        if (_SM_RUN_CHARGE_OFF(isFirst, stepTime) == true)
                         {
                             PUB.XBE.SendActionComplete(PUB.sm.RunStep);
                             //충전상태가 활성화되었으므로 대기상태로 전환한다

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -8,6 +8,7 @@ using COMM;
 using AR;
 using System.Windows.Media.Animation;
 using System.Net.Security;
+using AGVNavigationCore.Models;
 
 namespace Project
 {
@@ -19,7 +20,7 @@ namespace Project
             var idx = 1;
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false) return false;
+            if (_SM_RUN_CHARGE_OFF(isFirst, seqtime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
@@ -137,7 +138,7 @@ namespace Project
                 if (PUB.AGV.signal1.lift_down == false)
                 {
                     VAR.I32[eVarInt32.RetryLift] += 1;
-                    var rlt = PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                    var rlt = PUB.AGV.LiftControl(LiftCommand.DN);
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트 하강 실행:{rlt}");
                 }
                 PUB.sm.UpdateRunStepSeq();
@@ -175,7 +176,7 @@ namespace Project
                 if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
                 {
                     VAR.I32[eVarInt32.RetryManget] += 1;
-                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+                    PUB.AGV.LiftControl(LiftCommand.ON);
                     PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 마그넷ON");
                 }
 
@@ -351,7 +352,7 @@ namespace Project
                 if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
                 {
                     VAR.I32[eVarInt32.RetryManget] += 1;
-                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+                    PUB.AGV.LiftControl(LiftCommand.OFF);
                 }
                 PUB.sm.UpdateRunStepSeq();
                 return false;

HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -6,6 +6,7 @@ using System.Text;
 using Project.StateMachine;
 using COMM;
 using AR;
+using AGVNavigationCore.Models;
 
 namespace Project
 {
@@ -18,7 +19,7 @@ namespace Project
             var idx = 1;
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false) return false;
+            if (_SM_RUN_CHARGE_OFF(isFirst, seqtime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
@@ -53,7 +54,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                arDev.Narumi.LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? arDev.Narumi.LiftCommand.UP : arDev.Narumi.LiftCommand.DN;
+                LiftCommand lift = PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit ? LiftCommand.UP : LiftCommand.DN;
                 PUB.log.Add($"[{funcname}-{PUB.sm.RunStepSeq}] 리프트제어 {lift}");
                 VAR.I32[eVarInt32.RetryLift] += 1;
                 PUB.AGV.LiftControl(lift);

HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_OFF.cs

@@ -18,7 +18,7 @@ namespace Project
         /// <param name="isFirst"></param>
         /// <param name="stepTime"></param>
         /// <returns></returns>
-        public Boolean _SM_RUN_CHARGE_GOFF(bool isFirst, TimeSpan stepTime)
+        public Boolean _SM_RUN_CHARGE_OFF(bool isFirst, TimeSpan stepTime)
         {
           
             //충전중인지 확인한다.

HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs

@@ -12,7 +12,7 @@ namespace Project
     public partial class fMain
     {
         DateTime tm_gocharge_command = DateTime.Now;
-        public Boolean _SM_RUN_CHARGE_GO(bool isFirst, TimeSpan stepTime)
+        public Boolean _SM_RUN_CHARGE_ON(bool isFirst, TimeSpan stepTime)
         {
             var funcname = "GOCHARGE";
             if (runStepisFirst)
@@ -29,7 +29,8 @@ namespace Project
             }
 
             //이미 충전중이라면 바로 완료 처리한다 (사용자 요청)
-            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true ||
+            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || 
+                PUB.AGV.system1.Battery_charging == true ||
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
             {
                 SetRunStepError(ENIGProtocol.AGVErrorCode.ALREADY_CHARGE);
@@ -37,7 +38,7 @@ namespace Project
             }
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, stepTime) == false)
+            if (_SM_RUN_CHARGE_OFF(isFirst, stepTime) == false)
                 return false;
 
 
@@ -67,12 +68,19 @@ namespace Project
                 //현재위치가 충전기위치이고 마크센서가 감지되었다면 충전기위치로 인지하고
                 //그렇지 못하면 충전위치가 아니라는 오류를 발생한다
                 var curnode = PUB._virtualAGV.CurrentNode;
-                if (PUB.AGV.signal1.mark_sensor == false || curnode.Id != targetnode.Id)
+                if (curnode.Id != targetnode.Id)
                 {
                     SetRunStepError(ENIGProtocol.AGVErrorCode.NO_CHARGEPOINT, $"충전기위치가 아니므로 충전을 시작할 수 없습니다(현재위치:{curnode.RfidId})");
                     return false;
                 }
 
+                //마크센서가 들어와있어야한다
+                if (PUB.AGV.signal1.mark_sensor == false)
+                {
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.MARK_SENSOR_FAIL, $"충전기위치에서 마크센서가 확인되지 않습니다");
+                    return false;
+                }
+
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs

@@ -6,6 +6,7 @@ using System.Text;
 using Project.StateMachine;
 using COMM;
 using AR;
+using AGVNavigationCore.Models;
 
 namespace Project
 {
@@ -20,7 +21,7 @@ namespace Project
             var funcname = PUB.sm.RunStep.ToString();
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, seqTime) == false) return false;
+            if (_SM_RUN_CHARGE_OFF(isFirst, seqTime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
@@ -78,7 +79,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //pick off/on 상관없이 리프트는 내려서 이동한다
-                var liftCmd = arDev.Narumi.LiftCommand.DN;
+                var liftCmd = LiftCommand.DN;
                 PUB.AGV.LiftControl(liftCmd);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
@@ -109,7 +110,7 @@ namespace Project
                 if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
                 {
                     VAR.I32[eVarInt32.RetryManget] += 1;
-                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+                    PUB.AGV.LiftControl(LiftCommand.ON);
                 }
                 PUB.sm.UpdateRunStepSeq();
                 return false;
@@ -249,7 +250,7 @@ namespace Project
                 if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOffEnter)
                 {
                     VAR.I32[eVarInt32.RetryManget] += 1;
-                    PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+                    PUB.AGV.LiftControl(LiftCommand.OFF);
                 }
                 PUB.sm.UpdateRunStepSeq();
                 return false;

HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs

@@ -6,6 +6,7 @@ using System.Text;
 using Project.StateMachine;
 using COMM;
 using AR;
+using AGVNavigationCore.Models;
 
 namespace Project
 {
@@ -20,7 +21,7 @@ namespace Project
             var funcname = $"[EXIT-{PUB.sm.RunStep}]";
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false) return false;
+            if (_SM_RUN_CHARGE_OFF(isFirst, seqtime) == false) return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다
             if (CheckLiderStop() == false) return false;
@@ -37,8 +38,8 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //작업형태에 따라서. 리프트를 제어한다.
-                var liftCmd = arDev.Narumi.LiftCommand.DN;
+                var liftCmd = LiftCommand.DN;
-                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = LiftCommand.UP;
                 VAR.I32[eVarInt32.RetryLift] += 1;
                 PUB.AGV.LiftControl(liftCmd);
                 PUB.sm.UpdateRunStepSeq();
@@ -46,18 +47,18 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                var liftCmd = arDev.Narumi.LiftCommand.DN;
+                var liftCmd = LiftCommand.DN;
-                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = arDev.Narumi.LiftCommand.UP;
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnExit) liftCmd = LiftCommand.UP;
 
                 //리프트 센서 확인 
                 var liftdnok = (PUB.AGV.signal1.lift_down == true && PUB.AGV.signal1.lift_up == false);
                 var liiftupok = (PUB.AGV.signal1.lift_up == true && PUB.AGV.signal1.lift_down == false);
 
-                if (liftCmd == arDev.Narumi.LiftCommand.DN && liftdnok)
+                if (liftCmd == LiftCommand.DN && liftdnok)
                 {
                     //정상조건
                 }
-                else if (liftCmd == arDev.Narumi.LiftCommand.UP && liftdnok)
+                else if (liftCmd == LiftCommand.UP && liftdnok)
                 {
                     //정상조건
                 }

HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -20,7 +20,7 @@ namespace Project
             var funcname = "_SM_RUN_GOTO";
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, seqtime) == false)
+            if (_SM_RUN_CHARGE_OFF(isFirst, seqtime) == false)
                 return false;
 
             //최초시작이라면 시간변수 초기화

HMI/Project/StateMachine/Step/_SM_RUN_GOTO_HOME.cs

@@ -27,7 +27,7 @@ namespace Project
             }
 
             //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHARGE_GOFF(isFirst, stepTime) == false)
+            if (_SM_RUN_CHARGE_OFF(isFirst, stepTime) == false)
                 return false;
 
             //라이더멈춤이 설정되어있다면 음성으로 알려준다 200409

HMI/Project/StateMachine/_DIO.cs

@@ -47,7 +47,7 @@ namespace Project
         //                        if (VAR.BOOL[eVarBool.WAIT_COVER_UP])
         //                        {
         //                            PUB.log.Add($"버튼({diName}) 눌림");
-        //                            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.UP);
+        //                            PUB.AGV.LiftControl(LiftCommand.UP);
         //                            PUB.Result.NextPos = ePosition.QC;
         //                        }
         //                        else PUB.Speak(Lang.커버업대기상태가아닙니다);
@@ -93,7 +93,7 @@ namespace Project
         //                        if (VAR.BOOL[eVarBool.WAIT_COVER_UP])
         //                        {
         //                            PUB.log.Add($"버튼({diName}) 눌림");
-        //                            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.UP);
+        //                            PUB.AGV.LiftControl(LiftCommand.UP);
         //                            PUB.Result.NextPos = ePosition.QA;
         //                        }
         //                        else PUB.Speak(Lang.커버업대기상태가아닙니다);
@@ -121,7 +121,7 @@ namespace Project
         //            {
         //                //Z-up기능으로 업데이트 230119
         //                PUB.log.Add($"버튼({diName}) 눌림");
-        //                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.UP);
+        //                PUB.AGV.LiftControl(LiftCommand.UP);
         //            }
         //        }
         //        else if (diName == arDev.FakePLC.DIName.PINI_EMG)

HMI/Project/StateMachine/_Xbee.cs

@@ -75,6 +75,7 @@ namespace Project
 
                                 PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
                                 PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
+                                PUB.SaveLastPosition(); //위치저장 260205
                             }
                             else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Value Errorr:{data}");
                         }
@@ -353,25 +354,25 @@ namespace Project
                         break;
 
                     case ENIGProtocol.AGVCommandHE.LiftControl: //Lift Control
-                        var LiftCommand = data[1];    //0=stop, 1=up, 2=down
+                        var LiftCommand = (LiftCommand)data[1]; 
-
+                        PUB.log.Add($"[{logPrefix}-LiftControl] {LiftCommand}");
-                        arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
+                        PUB.AGV.LiftControl(LiftCommand);  //리프트제어
-                        if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
-                        else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
-
-                        PUB.log.Add($"[{logPrefix}-LiftControl] {LCmd}");
-                        PUB.AGV.LiftControl(LCmd);  //리프트제어
                         break;
 
                     case ENIGProtocol.AGVCommandHE.ChargeControl:   //충전을 제어한다
                         var chargeAction = data[1] == 1; //0= off, 1=on 
 
                         //충전시퀀스가 진행되지 않았다면 진행한다
-                        if (PUB.sm.RunStep == StateMachine.ERunStep.GOCHARGE && PUB.sm.RunStepNew != StateMachine.ERunStep.GOCHARGE)
+                        if(chargeAction==true)
                         {
                             PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOCHARGE);
                             PUB.log.AddI($"충전을 시작합니다");
                         }
+                        else
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.CHARGEOFF);
+                            PUB.log.AddI($"충전을 해제 합니다");
+                        }
                         break;
 
                     default:

HMI/Project/ViewForm/fAgv.cs

@@ -7,6 +7,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
+using AGVNavigationCore.Models;
 using COMM;
 
 namespace Project.ViewForm
@@ -170,27 +171,27 @@ namespace Project.ViewForm
 
         private void button14_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+            PUB.AGV.LiftControl(LiftCommand.ON);
         }
 
         private void button15_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+            PUB.AGV.LiftControl(LiftCommand.OFF);
         }
 
         private void button11_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.UP);
+            PUB.AGV.LiftControl(LiftCommand.UP);
         }
 
         private void button13_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+            PUB.AGV.LiftControl(LiftCommand.DN);
         }
 
         private void button12_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+            PUB.AGV.LiftControl(LiftCommand.STP);
         }
 
         private void button17_Click(object sender, EventArgs e)

HMI/Project/ViewForm/fIO.cs

@@ -1,4 +1,5 @@
-using System;
+using AGVNavigationCore.Models;
+using System;
 using System.Collections.Generic;
 using System.ComponentModel;
 using System.Data;
@@ -135,28 +136,28 @@ namespace Project.ViewForm
 
         private void button1_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.UP);
+            PUB.AGV.LiftControl(LiftCommand.UP);
         }
 
      
         private void button2_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+            PUB.AGV.LiftControl(LiftCommand.STP);
         }
 
         private void button3_Click_1(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+            PUB.AGV.LiftControl(LiftCommand.DN);
         }
 
         private void button4_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);
+            PUB.AGV.LiftControl(LiftCommand.ON);
         }
 
         private void button5_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+            PUB.AGV.LiftControl(LiftCommand.OFF);
         }
     }
 }

HMI/Project/ViewForm/fManual.cs

@@ -7,6 +7,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
+using AGVNavigationCore.Models;
 using AR;
 using arDev;
 using COMM;
@@ -399,12 +400,12 @@ namespace Project.ViewForm
         private void btBack180_Click(object sender, EventArgs e)
         {
             //[STX]		C	T	B	0	0	0	0	9	9	[ETX]
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);// (;// (true);
+            PUB.AGV.LiftControl(LiftCommand.ON);// (;// (true);
         }
 
         private void button2_Click(object sender, EventArgs e)
         {
-            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF);
+            PUB.AGV.LiftControl(LiftCommand.OFF);
         }
     }
 }

HMI/SubProject/AGV/Command.cs

@@ -63,11 +63,11 @@ namespace arDev
         Wait = 2,
         Error = 100,
         Timeout,
-        
+
     }
     public enum eNarmiPBSSensor : byte
     {
-        notset=0,
+        notset = 0,
         on = 1,
         off = 2
     }
@@ -383,9 +383,9 @@ namespace arDev
 
 
                 case eAgvCmd.MoveSet:
-                    cmdString = $"CBR{param}";                    
+                    cmdString = $"CBR{param}";
                     retval = AddCommand(cmdString);
-                    if(retval == eNarumiCommandResult.Success)
+                    if (retval == eNarumiCommandResult.Success)
                     {
                         if (param.Length > 3)
                         {

HMI/SubProject/AGV/Dataframe.cs

@@ -1,6 +1,5 @@
 using System;
 using System.Linq;
-using AR;
 
 namespace arDev
 {

HMI/SubProject/AGV/EnumData.cs

@@ -216,6 +216,78 @@ namespace arDev
             EditRoute,
         }
 
-        
+
+        public enum LiftCommand
+        {
+            /// <summary>
+            /// lift up
+            /// </summary>
+            UP,
+            /// <summary>
+            /// lift down
+            /// </summary>
+            DN,
+            /// <summary>
+            /// lift 동작 정지
+            /// </summary>
+            STP,
+            /// <summary>
+            /// magnet holder on
+            /// </summary>
+            ON,
+            /// <summary>
+            /// magnet holder off
+            /// </summary>
+            OFF
+        }
+
+        public enum eflag
+        {
+            Emergency = 0,
+            Overcurrent,
+            Charger_run_error,
+            Charger_pos_error,
+            line_out_error = 4,
+
+            /// <summary>
+            /// 기동시 자석 감지 에러
+            /// </summary>
+            runerror_by_no_magent_line = 5,
+            /// <summary>
+            /// 호출제어기 통신 오류
+            /// </summary>
+            controller_comm_error = 6,
+
+            /// <summary>
+            /// 배터리 저전압
+            /// </summary>
+            battery_low_voltage = 7,
+
+            spare08 = 8,
+
+            lift_timeout = 9,
+            lift_driver_overcurrent = 10,
+            lift_driver_emergency = 11,
+
+            /// <summary>
+            /// 도착경보기 통신 오류 
+            /// </summary>
+            arrive_ctl_comm_error,
+
+            /// <summary>
+            /// 자동문제어기 통신 오류
+            /// </summary>
+            door_ctl_comm_error,
+
+            /// <summary>
+            /// 자동충전기 통신 오류
+            /// </summary>
+            charger_comm_error,
+
+            /// <summary>
+            /// 교차로 제어기 통신 오류
+            /// </summary>
+            cross_ctrl_comm_error,
+        }
     }
 }

HMI/SubProject/AGV/Narumi.cs

@@ -475,30 +475,7 @@ namespace arDev
             Mid,
             Low,
         }
-        public enum LiftCommand
+       
-        {
-            /// <summary>
-            /// lift up
-            /// </summary>
-            UP,
-            /// <summary>
-            /// lift down
-            /// </summary>
-            DN,
-            /// <summary>
-            /// lift 동작 정지
-            /// </summary>
-            STP,
-            /// <summary>
-            /// magnet holder on
-            /// </summary>
-            ON,
-            /// <summary>
-            /// magnet holder off
-            /// </summary>
-            OFF
-        }
-
 
         private bool CheckSum(byte[] bData)
         {

HMI/SubProject/AGV/Structure/ErrorFlag.cs

@@ -4,7 +4,6 @@ namespace arDev
 {
     public partial class Narumi
     {
-
         public class ErrorFlag
         {
             private COMM.Flag _value { get; set; } = new COMM.Flag(16);
@@ -16,54 +15,7 @@ namespace arDev
                     return (UInt16)_value.Value;
                 }
             }
-            public enum eflag 
+            
-            {
-                Emergency = 0,
-                Overcurrent,
-                Charger_run_error,
-                Charger_pos_error,
-                line_out_error = 4,
-
-                /// <summary>
-                /// 기동시 자석 감지 에러
-                /// </summary>
-                runerror_by_no_magent_line=5,
-                /// <summary>
-                /// 호출제어기 통신 오류
-                /// </summary>
-                controller_comm_error =6,
-
-                /// <summary>
-                /// 배터리 저전압
-                /// </summary>
-                battery_low_voltage=7,
-
-                spare08=8,
-
-                lift_timeout=9,
-                lift_driver_overcurrent=10,
-                lift_driver_emergency = 11,
-
-                /// <summary>
-                /// 도착경보기 통신 오류 
-                /// </summary>
-                arrive_ctl_comm_error,
-
-                /// <summary>
-                /// 자동문제어기 통신 오류
-                /// </summary>
-                door_ctl_comm_error,
-
-                /// <summary>
-                /// 자동충전기 통신 오류
-                /// </summary>
-                charger_comm_error,
-
-                /// <summary>
-                /// 교차로 제어기 통신 오류
-                /// </summary>
-                cross_ctrl_comm_error,
-            }
 
             public bool GetValue(eflag idx)
             {

HMI/TestProject/Test.sln

@@ -15,7 +15,7 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Library", "Library", "{530A
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CommData", "..\SubProject\CommData\CommData.csproj", "{14E8C9A5-013E-49BA-B435-EFEFC77DD623}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\..\AGVLogic\EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "NARUMI", "..\SubProject\AGV\NARUMI.csproj", "{8BAE0EAC-3D25-402F-9A65-2BA1ECFE28B7}"
 EndProject

HMI/TestProject/Test_ACS/MainForm.Designer.cs

@@ -29,7 +29,12 @@ namespace Test_ACS
             this.rbAGV2 = new System.Windows.Forms.RadioButton();
             this.rbAGV1 = new System.Windows.Forms.RadioButton();
             this.grpCommands = new System.Windows.Forms.GroupBox();
+            this.button11 = new System.Windows.Forms.Button();
+            this.button12 = new System.Windows.Forms.Button();
+            this.btnLiftStop = new System.Windows.Forms.Button();
             this.button8 = new System.Windows.Forms.Button();
+            this.btnLiftDown = new System.Windows.Forms.Button();
+            this.btnLiftUp = new System.Windows.Forms.Button();
             this.button10 = new System.Windows.Forms.Button();
             this.button7 = new System.Windows.Forms.Button();
             this.button9 = new System.Windows.Forms.Button();
@@ -50,13 +55,13 @@ namespace Test_ACS
             this.radForw = new System.Windows.Forms.RadioButton();
             this.radBack = new System.Windows.Forms.RadioButton();
             this.btAMove = new System.Windows.Forms.Button();
+            this.btnMarkStop = new System.Windows.Forms.Button();
             this.grpManual = new System.Windows.Forms.GroupBox();
             this.button5 = new System.Windows.Forms.Button();
             this.button4 = new System.Windows.Forms.Button();
             this.button3 = new System.Windows.Forms.Button();
             this.button2 = new System.Windows.Forms.Button();
             this.button1 = new System.Windows.Forms.Button();
-            this.btnMarkStop = new System.Windows.Forms.Button();
             this.btnReset = new System.Windows.Forms.Button();
             this.btnStop = new System.Windows.Forms.Button();
             this.btnGotoAlias = new System.Windows.Forms.Button();
@@ -66,11 +71,6 @@ namespace Test_ACS
             this.lblAlias = new System.Windows.Forms.Label();
             this.txtRFID = new System.Windows.Forms.NumericUpDown();
             this.lblRFID = new System.Windows.Forms.Label();
-            this.grpLift = new System.Windows.Forms.GroupBox();
-            this.btnLiftStop = new System.Windows.Forms.Button();
-            this.btnLiftDown = new System.Windows.Forms.Button();
-            this.btnLiftUp = new System.Windows.Forms.Button();
-            this.lblDirection = new System.Windows.Forms.Label();
             this.grpLogs = new System.Windows.Forms.GroupBox();
             this.tabLogs = new System.Windows.Forms.TabControl();
             this.tabRX = new System.Windows.Forms.TabPage();
@@ -84,22 +84,10 @@ namespace Test_ACS
             this.tabPage1 = new System.Windows.Forms.TabPage();
             this.richTextBox1 = new System.Windows.Forms.RichTextBox();
             this.grpAGVStatus = new System.Windows.Forms.GroupBox();
-            this.lblLastTagValue = new System.Windows.Forms.Label();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
-            this.lblLastTag = new System.Windows.Forms.Label();
+            this.rtStatus = new System.Windows.Forms.TextBox();
-            this.lblLiftStValue = new System.Windows.Forms.Label();
+            this.tbErCode = new System.Windows.Forms.TextBox();
-            this.lblLiftSt = new System.Windows.Forms.Label();
+            this.tbErmsg = new System.Windows.Forms.TextBox();
-            this.lblCartStValue = new System.Windows.Forms.Label();
-            this.lblCartSt = new System.Windows.Forms.Label();
-            this.lblChargeStValue = new System.Windows.Forms.Label();
-            this.lblChargeSt = new System.Windows.Forms.Label();
-            this.lblInpositionValue = new System.Windows.Forms.Label();
-            this.lblInposition = new System.Windows.Forms.Label();
-            this.lblDirectionValue = new System.Windows.Forms.Label();
-            this.lblRunStValue = new System.Windows.Forms.Label();
-            this.lblRunSt = new System.Windows.Forms.Label();
-            this.lblModeValue = new System.Windows.Forms.Label();
-            this.lblMode = new System.Windows.Forms.Label();
-            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
             this.grpConnection.SuspendLayout();
             this.grpAGV.SuspendLayout();
             this.grpCommands.SuspendLayout();
@@ -110,7 +98,6 @@ namespace Test_ACS
             this.panel1.SuspendLayout();
             this.grpManual.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).BeginInit();
-            this.grpLift.SuspendLayout();
             this.grpLogs.SuspendLayout();
             this.tabLogs.SuspendLayout();
             this.tabRX.SuspendLayout();
@@ -118,7 +105,7 @@ namespace Test_ACS
             this.tabInfo.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.grpAGVStatus.SuspendLayout();
-            this.tableLayoutPanel2.SuspendLayout();
+            this.groupBox3.SuspendLayout();
             this.SuspendLayout();
             // 
             // grpConnection
@@ -231,7 +218,12 @@ namespace Test_ACS
             // 
             // grpCommands
             // 
+            this.grpCommands.Controls.Add(this.button11);
+            this.grpCommands.Controls.Add(this.button12);
+            this.grpCommands.Controls.Add(this.btnLiftStop);
             this.grpCommands.Controls.Add(this.button8);
+            this.grpCommands.Controls.Add(this.btnLiftDown);
+            this.grpCommands.Controls.Add(this.btnLiftUp);
             this.grpCommands.Controls.Add(this.button10);
             this.grpCommands.Controls.Add(this.button7);
             this.grpCommands.Controls.Add(this.button9);
@@ -249,11 +241,41 @@ namespace Test_ACS
             this.grpCommands.Controls.Add(this.lblRFID);
             this.grpCommands.Location = new System.Drawing.Point(12, 98);
             this.grpCommands.Name = "grpCommands";
-            this.grpCommands.Size = new System.Drawing.Size(433, 307);
+            this.grpCommands.Size = new System.Drawing.Size(535, 307);
             this.grpCommands.TabIndex = 2;
             this.grpCommands.TabStop = false;
             this.grpCommands.Text = "ACS 명령";
             // 
+            // button11
+            // 
+            this.button11.Location = new System.Drawing.Point(431, 198);
+            this.button11.Name = "button11";
+            this.button11.Size = new System.Drawing.Size(100, 43);
+            this.button11.TabIndex = 18;
+            this.button11.Text = "전자석 OFF";
+            this.button11.UseVisualStyleBackColor = true;
+            this.button11.Click += new System.EventHandler(this.button11_Click);
+            // 
+            // button12
+            // 
+            this.button12.Location = new System.Drawing.Point(431, 153);
+            this.button12.Name = "button12";
+            this.button12.Size = new System.Drawing.Size(100, 43);
+            this.button12.TabIndex = 17;
+            this.button12.Text = "전자석 ON";
+            this.button12.UseVisualStyleBackColor = true;
+            this.button12.Click += new System.EventHandler(this.button12_Click);
+            // 
+            // btnLiftStop
+            // 
+            this.btnLiftStop.Location = new System.Drawing.Point(431, 108);
+            this.btnLiftStop.Name = "btnLiftStop";
+            this.btnLiftStop.Size = new System.Drawing.Size(100, 43);
+            this.btnLiftStop.TabIndex = 2;
+            this.btnLiftStop.Text = "리프트 정지";
+            this.btnLiftStop.UseVisualStyleBackColor = true;
+            this.btnLiftStop.Click += new System.EventHandler(this.btnLiftStop_Click);
+            // 
             // button8
             // 
             this.button8.Location = new System.Drawing.Point(102, 264);
@@ -264,6 +286,26 @@ namespace Test_ACS
             this.button8.UseVisualStyleBackColor = true;
             this.button8.Click += new System.EventHandler(this.button8_Click);
             // 
+            // btnLiftDown
+            // 
+            this.btnLiftDown.Location = new System.Drawing.Point(431, 63);
+            this.btnLiftDown.Name = "btnLiftDown";
+            this.btnLiftDown.Size = new System.Drawing.Size(100, 43);
+            this.btnLiftDown.TabIndex = 1;
+            this.btnLiftDown.Text = "리프트 DN";
+            this.btnLiftDown.UseVisualStyleBackColor = true;
+            this.btnLiftDown.Click += new System.EventHandler(this.btnLiftDown_Click);
+            // 
+            // btnLiftUp
+            // 
+            this.btnLiftUp.Location = new System.Drawing.Point(431, 18);
+            this.btnLiftUp.Name = "btnLiftUp";
+            this.btnLiftUp.Size = new System.Drawing.Size(100, 43);
+            this.btnLiftUp.TabIndex = 0;
+            this.btnLiftUp.Text = "리프트 UP";
+            this.btnLiftUp.UseVisualStyleBackColor = true;
+            this.btnLiftUp.Click += new System.EventHandler(this.btnLiftUp_Click);
+            // 
             // button10
             // 
             this.button10.Location = new System.Drawing.Point(102, 229);
@@ -310,6 +352,7 @@ namespace Test_ACS
             // radSpdL
             // 
             this.radSpdL.AutoSize = true;
+            this.radSpdL.Checked = true;
             this.radSpdL.Location = new System.Drawing.Point(9, 20);
             this.radSpdL.Name = "radSpdL";
             this.radSpdL.Size = new System.Drawing.Size(30, 16);
@@ -326,7 +369,6 @@ namespace Test_ACS
             this.radSpdM.Name = "radSpdM";
             this.radSpdM.Size = new System.Drawing.Size(34, 16);
             this.radSpdM.TabIndex = 7;
-            this.radSpdM.TabStop = true;
             this.radSpdM.Tag = "1";
             this.radSpdM.Text = "M";
             this.radSpdM.UseVisualStyleBackColor = true;
@@ -338,7 +380,6 @@ namespace Test_ACS
             this.radSpdH.Name = "radSpdH";
             this.radSpdH.Size = new System.Drawing.Size(31, 16);
             this.radSpdH.TabIndex = 7;
-            this.radSpdH.TabStop = true;
             this.radSpdH.Tag = "2";
             this.radSpdH.Text = "H";
             this.radSpdH.UseVisualStyleBackColor = true;
@@ -417,13 +458,13 @@ namespace Test_ACS
             this.radRight.Name = "radRight";
             this.radRight.Size = new System.Drawing.Size(31, 16);
             this.radRight.TabIndex = 1;
-            this.radRight.TabStop = true;
             this.radRight.Text = "R";
             this.radRight.UseVisualStyleBackColor = true;
             // 
             // radLeft
             // 
             this.radLeft.AutoSize = true;
+            this.radLeft.Checked = true;
             this.radLeft.Location = new System.Drawing.Point(51, 9);
             this.radLeft.Name = "radLeft";
             this.radLeft.Size = new System.Drawing.Size(30, 16);
@@ -439,7 +480,6 @@ namespace Test_ACS
             this.radStraight.Name = "radStraight";
             this.radStraight.Size = new System.Drawing.Size(31, 16);
             this.radStraight.TabIndex = 0;
-            this.radStraight.TabStop = true;
             this.radStraight.Text = "S";
             this.radStraight.UseVisualStyleBackColor = true;
             // 
@@ -459,13 +499,13 @@ namespace Test_ACS
             this.radForw.Name = "radForw";
             this.radForw.Size = new System.Drawing.Size(30, 16);
             this.radForw.TabIndex = 0;
-            this.radForw.TabStop = true;
             this.radForw.Text = "F";
             this.radForw.UseVisualStyleBackColor = true;
             // 
             // radBack
             // 
             this.radBack.AutoSize = true;
+            this.radBack.Checked = true;
             this.radBack.Location = new System.Drawing.Point(12, 9);
             this.radBack.Name = "radBack";
             this.radBack.Size = new System.Drawing.Size(31, 16);
@@ -484,6 +524,16 @@ namespace Test_ACS
             this.btAMove.UseVisualStyleBackColor = true;
             this.btAMove.Click += new System.EventHandler(this.btAMove_Click);
             // 
+            // btnMarkStop
+            // 
+            this.btnMarkStop.Location = new System.Drawing.Point(10, 137);
+            this.btnMarkStop.Name = "btnMarkStop";
+            this.btnMarkStop.Size = new System.Drawing.Size(139, 40);
+            this.btnMarkStop.TabIndex = 6;
+            this.btnMarkStop.Text = "마크 정지";
+            this.btnMarkStop.UseVisualStyleBackColor = true;
+            this.btnMarkStop.Click += new System.EventHandler(this.btnMarkStop_Click);
+            // 
             // grpManual
             // 
             this.grpManual.Controls.Add(this.button5);
@@ -553,16 +603,6 @@ namespace Test_ACS
             this.button1.UseVisualStyleBackColor = true;
             this.button1.Click += new System.EventHandler(this.btnManual_Click);
             // 
-            // btnMarkStop
-            // 
-            this.btnMarkStop.Location = new System.Drawing.Point(10, 137);
-            this.btnMarkStop.Name = "btnMarkStop";
-            this.btnMarkStop.Size = new System.Drawing.Size(139, 40);
-            this.btnMarkStop.TabIndex = 6;
-            this.btnMarkStop.Text = "마크 정지";
-            this.btnMarkStop.UseVisualStyleBackColor = true;
-            this.btnMarkStop.Click += new System.EventHandler(this.btnMarkStop_Click);
-            // 
             // btnReset
             // 
             this.btnReset.Location = new System.Drawing.Point(193, 81);
@@ -662,62 +702,10 @@ namespace Test_ACS
             this.lblRFID.TabIndex = 0;
             this.lblRFID.Text = "RFID 번호:";
             // 
-            // grpLift
-            // 
-            this.grpLift.Controls.Add(this.tableLayoutPanel2);
-            this.grpLift.Location = new System.Drawing.Point(12, 535);
-            this.grpLift.Name = "grpLift";
-            this.grpLift.Size = new System.Drawing.Size(433, 79);
-            this.grpLift.TabIndex = 9;
-            this.grpLift.TabStop = false;
-            this.grpLift.Text = "리프트 제어";
-            // 
-            // btnLiftStop
-            // 
-            this.btnLiftStop.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btnLiftStop.Location = new System.Drawing.Point(287, 3);
-            this.btnLiftStop.Name = "btnLiftStop";
-            this.btnLiftStop.Size = new System.Drawing.Size(137, 53);
-            this.btnLiftStop.TabIndex = 2;
-            this.btnLiftStop.Text = "정지";
-            this.btnLiftStop.UseVisualStyleBackColor = true;
-            this.btnLiftStop.Click += new System.EventHandler(this.btnLiftStop_Click);
-            // 
-            // btnLiftDown
-            // 
-            this.btnLiftDown.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btnLiftDown.Location = new System.Drawing.Point(145, 3);
-            this.btnLiftDown.Name = "btnLiftDown";
-            this.btnLiftDown.Size = new System.Drawing.Size(136, 53);
-            this.btnLiftDown.TabIndex = 1;
-            this.btnLiftDown.Text = "하강";
-            this.btnLiftDown.UseVisualStyleBackColor = true;
-            this.btnLiftDown.Click += new System.EventHandler(this.btnLiftDown_Click);
-            // 
-            // btnLiftUp
-            // 
-            this.btnLiftUp.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btnLiftUp.Location = new System.Drawing.Point(3, 3);
-            this.btnLiftUp.Name = "btnLiftUp";
-            this.btnLiftUp.Size = new System.Drawing.Size(136, 53);
-            this.btnLiftUp.TabIndex = 0;
-            this.btnLiftUp.Text = "상승";
-            this.btnLiftUp.UseVisualStyleBackColor = true;
-            this.btnLiftUp.Click += new System.EventHandler(this.btnLiftUp_Click);
-            // 
-            // lblDirection
-            // 
-            this.lblDirection.AutoSize = true;
-            this.lblDirection.Location = new System.Drawing.Point(10, 48);
-            this.lblDirection.Name = "lblDirection";
-            this.lblDirection.Size = new System.Drawing.Size(33, 12);
-            this.lblDirection.TabIndex = 4;
-            this.lblDirection.Text = "방향:";
-            // 
             // grpLogs
             // 
             this.grpLogs.Controls.Add(this.tabLogs);
-            this.grpLogs.Location = new System.Drawing.Point(451, 12);
+            this.grpLogs.Location = new System.Drawing.Point(553, 12);
             this.grpLogs.Name = "grpLogs";
             this.grpLogs.Size = new System.Drawing.Size(520, 602);
             this.grpLogs.TabIndex = 3;
@@ -816,7 +804,7 @@ namespace Test_ACS
             this.tabInfo.Controls.Add(this.txtInfoLog);
             this.tabInfo.Location = new System.Drawing.Point(4, 22);
             this.tabInfo.Name = "tabInfo";
-            this.tabInfo.Size = new System.Drawing.Size(506, 518);
+            this.tabInfo.Size = new System.Drawing.Size(506, 556);
             this.tabInfo.TabIndex = 2;
             this.tabInfo.Text = "정보";
             this.tabInfo.UseVisualStyleBackColor = true;
@@ -830,7 +818,7 @@ namespace Test_ACS
             this.txtInfoLog.Name = "txtInfoLog";
             this.txtInfoLog.ReadOnly = true;
             this.txtInfoLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtInfoLog.Size = new System.Drawing.Size(506, 518);
+            this.txtInfoLog.Size = new System.Drawing.Size(506, 556);
             this.txtInfoLog.TabIndex = 0;
             // 
             // tabPage1
@@ -838,7 +826,7 @@ namespace Test_ACS
             this.tabPage1.Controls.Add(this.richTextBox1);
             this.tabPage1.Location = new System.Drawing.Point(4, 22);
             this.tabPage1.Name = "tabPage1";
-            this.tabPage1.Size = new System.Drawing.Size(506, 518);
+            this.tabPage1.Size = new System.Drawing.Size(506, 556);
             this.tabPage1.TabIndex = 3;
             this.tabPage1.Text = "프레임구조";
             this.tabPage1.UseVisualStyleBackColor = true;
@@ -851,201 +839,63 @@ namespace Test_ACS
             this.richTextBox1.Location = new System.Drawing.Point(0, 0);
             this.richTextBox1.Margin = new System.Windows.Forms.Padding(10);
             this.richTextBox1.Name = "richTextBox1";
-            this.richTextBox1.Size = new System.Drawing.Size(506, 518);
+            this.richTextBox1.Size = new System.Drawing.Size(506, 556);
             this.richTextBox1.TabIndex = 0;
             this.richTextBox1.Text = resources.GetString("richTextBox1.Text");
             // 
             // grpAGVStatus
             // 
-            this.grpAGVStatus.Controls.Add(this.lblLastTagValue);
+            this.grpAGVStatus.Controls.Add(this.rtStatus);
-            this.grpAGVStatus.Controls.Add(this.lblLastTag);
-            this.grpAGVStatus.Controls.Add(this.lblLiftStValue);
-            this.grpAGVStatus.Controls.Add(this.lblLiftSt);
-            this.grpAGVStatus.Controls.Add(this.lblCartStValue);
-            this.grpAGVStatus.Controls.Add(this.lblCartSt);
-            this.grpAGVStatus.Controls.Add(this.lblChargeStValue);
-            this.grpAGVStatus.Controls.Add(this.lblChargeSt);
-            this.grpAGVStatus.Controls.Add(this.lblInpositionValue);
-            this.grpAGVStatus.Controls.Add(this.lblInposition);
-            this.grpAGVStatus.Controls.Add(this.lblDirectionValue);
-            this.grpAGVStatus.Controls.Add(this.lblDirection);
-            this.grpAGVStatus.Controls.Add(this.lblRunStValue);
-            this.grpAGVStatus.Controls.Add(this.lblRunSt);
-            this.grpAGVStatus.Controls.Add(this.lblModeValue);
-            this.grpAGVStatus.Controls.Add(this.lblMode);
             this.grpAGVStatus.Location = new System.Drawing.Point(12, 409);
             this.grpAGVStatus.Name = "grpAGVStatus";
-            this.grpAGVStatus.Size = new System.Drawing.Size(433, 120);
+            this.grpAGVStatus.Size = new System.Drawing.Size(535, 120);
             this.grpAGVStatus.TabIndex = 4;
             this.grpAGVStatus.TabStop = false;
             this.grpAGVStatus.Text = "AGV 상태";
             // 
-            // lblLastTagValue
+            // groupBox3
             // 
-            this.lblLastTagValue.AutoSize = true;
+            this.groupBox3.Controls.Add(this.tbErCode);
-            this.lblLastTagValue.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Bold);
+            this.groupBox3.Controls.Add(this.tbErmsg);
-            this.lblLastTagValue.Location = new System.Drawing.Point(221, 98);
+            this.groupBox3.Location = new System.Drawing.Point(12, 535);
-            this.lblLastTagValue.Name = "lblLastTagValue";
+            this.groupBox3.Name = "groupBox3";
-            this.lblLastTagValue.Size = new System.Drawing.Size(14, 14);
+            this.groupBox3.Size = new System.Drawing.Size(535, 79);
-            this.lblLastTagValue.TabIndex = 15;
+            this.groupBox3.TabIndex = 16;
-            this.lblLastTagValue.Text = "-";
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "Error 상태";
             // 
-            // lblLastTag
+            // rtStatus
             // 
-            this.lblLastTag.AutoSize = true;
+            this.rtStatus.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblLastTag.Location = new System.Drawing.Point(151, 98);
+            this.rtStatus.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblLastTag.Name = "lblLastTag";
+            this.rtStatus.Location = new System.Drawing.Point(3, 17);
-            this.lblLastTag.Size = new System.Drawing.Size(57, 12);
+            this.rtStatus.Multiline = true;
-            this.lblLastTag.TabIndex = 14;
+            this.rtStatus.Name = "rtStatus";
-            this.lblLastTag.Text = "현재태그:";
+            this.rtStatus.ReadOnly = true;
+            this.rtStatus.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
+            this.rtStatus.Size = new System.Drawing.Size(529, 100);
+            this.rtStatus.TabIndex = 1;
             // 
-            // lblLiftStValue
+            // tbErCode
             // 
-            this.lblLiftStValue.AutoSize = true;
+            this.tbErCode.Location = new System.Drawing.Point(6, 20);
-            this.lblLiftStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
+            this.tbErCode.Name = "tbErCode";
-            this.lblLiftStValue.Location = new System.Drawing.Point(80, 98);
+            this.tbErCode.Size = new System.Drawing.Size(523, 21);
-            this.lblLiftStValue.Name = "lblLiftStValue";
+            this.tbErCode.TabIndex = 3;
-            this.lblLiftStValue.Size = new System.Drawing.Size(12, 12);
-            this.lblLiftStValue.TabIndex = 13;
-            this.lblLiftStValue.Text = "-";
             // 
-            // lblLiftSt
+            // tbErmsg
             // 
-            this.lblLiftSt.AutoSize = true;
+            this.tbErmsg.Location = new System.Drawing.Point(7, 47);
-            this.lblLiftSt.Location = new System.Drawing.Point(10, 98);
+            this.tbErmsg.Name = "tbErmsg";
-            this.lblLiftSt.Name = "lblLiftSt";
+            this.tbErmsg.Size = new System.Drawing.Size(523, 21);
-            this.lblLiftSt.Size = new System.Drawing.Size(45, 12);
+            this.tbErmsg.TabIndex = 2;
-            this.lblLiftSt.TabIndex = 12;
-            this.lblLiftSt.Text = "리프트:";
-            // 
-            // lblCartStValue
-            // 
-            this.lblCartStValue.AutoSize = true;
-            this.lblCartStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblCartStValue.Location = new System.Drawing.Point(221, 73);
-            this.lblCartStValue.Name = "lblCartStValue";
-            this.lblCartStValue.Size = new System.Drawing.Size(12, 12);
-            this.lblCartStValue.TabIndex = 11;
-            this.lblCartStValue.Text = "-";
-            // 
-            // lblCartSt
-            // 
-            this.lblCartSt.AutoSize = true;
-            this.lblCartSt.Location = new System.Drawing.Point(151, 73);
-            this.lblCartSt.Name = "lblCartSt";
-            this.lblCartSt.Size = new System.Drawing.Size(33, 12);
-            this.lblCartSt.TabIndex = 10;
-            this.lblCartSt.Text = "카트:";
-            // 
-            // lblChargeStValue
-            // 
-            this.lblChargeStValue.AutoSize = true;
-            this.lblChargeStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblChargeStValue.Location = new System.Drawing.Point(80, 73);
-            this.lblChargeStValue.Name = "lblChargeStValue";
-            this.lblChargeStValue.Size = new System.Drawing.Size(12, 12);
-            this.lblChargeStValue.TabIndex = 9;
-            this.lblChargeStValue.Text = "-";
-            // 
-            // lblChargeSt
-            // 
-            this.lblChargeSt.AutoSize = true;
-            this.lblChargeSt.Location = new System.Drawing.Point(10, 73);
-            this.lblChargeSt.Name = "lblChargeSt";
-            this.lblChargeSt.Size = new System.Drawing.Size(33, 12);
-            this.lblChargeSt.TabIndex = 8;
-            this.lblChargeSt.Text = "충전:";
-            // 
-            // lblInpositionValue
-            // 
-            this.lblInpositionValue.AutoSize = true;
-            this.lblInpositionValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblInpositionValue.Location = new System.Drawing.Point(221, 48);
-            this.lblInpositionValue.Name = "lblInpositionValue";
-            this.lblInpositionValue.Size = new System.Drawing.Size(12, 12);
-            this.lblInpositionValue.TabIndex = 7;
-            this.lblInpositionValue.Text = "-";
-            // 
-            // lblInposition
-            // 
-            this.lblInposition.AutoSize = true;
-            this.lblInposition.Location = new System.Drawing.Point(151, 48);
-            this.lblInposition.Name = "lblInposition";
-            this.lblInposition.Size = new System.Drawing.Size(57, 12);
-            this.lblInposition.TabIndex = 6;
-            this.lblInposition.Text = "도달완료:";
-            // 
-            // lblDirectionValue
-            // 
-            this.lblDirectionValue.AutoSize = true;
-            this.lblDirectionValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblDirectionValue.Location = new System.Drawing.Point(80, 48);
-            this.lblDirectionValue.Name = "lblDirectionValue";
-            this.lblDirectionValue.Size = new System.Drawing.Size(12, 12);
-            this.lblDirectionValue.TabIndex = 5;
-            this.lblDirectionValue.Text = "-";
-            // 
-            // lblRunStValue
-            // 
-            this.lblRunStValue.AutoSize = true;
-            this.lblRunStValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblRunStValue.Location = new System.Drawing.Point(221, 23);
-            this.lblRunStValue.Name = "lblRunStValue";
-            this.lblRunStValue.Size = new System.Drawing.Size(12, 12);
-            this.lblRunStValue.TabIndex = 3;
-            this.lblRunStValue.Text = "-";
-            // 
-            // lblRunSt
-            // 
-            this.lblRunSt.AutoSize = true;
-            this.lblRunSt.Location = new System.Drawing.Point(151, 23);
-            this.lblRunSt.Name = "lblRunSt";
-            this.lblRunSt.Size = new System.Drawing.Size(57, 12);
-            this.lblRunSt.TabIndex = 2;
-            this.lblRunSt.Text = "실행상태:";
-            // 
-            // lblModeValue
-            // 
-            this.lblModeValue.AutoSize = true;
-            this.lblModeValue.Font = new System.Drawing.Font("굴림", 9F, System.Drawing.FontStyle.Bold);
-            this.lblModeValue.Location = new System.Drawing.Point(80, 23);
-            this.lblModeValue.Name = "lblModeValue";
-            this.lblModeValue.Size = new System.Drawing.Size(12, 12);
-            this.lblModeValue.TabIndex = 1;
-            this.lblModeValue.Text = "-";
-            // 
-            // lblMode
-            // 
-            this.lblMode.AutoSize = true;
-            this.lblMode.Location = new System.Drawing.Point(10, 23);
-            this.lblMode.Name = "lblMode";
-            this.lblMode.Size = new System.Drawing.Size(33, 12);
-            this.lblMode.TabIndex = 0;
-            this.lblMode.Text = "모드:";
-            // 
-            // tableLayoutPanel2
-            // 
-            this.tableLayoutPanel2.ColumnCount = 3;
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel2.Controls.Add(this.btnLiftStop, 2, 0);
-            this.tableLayoutPanel2.Controls.Add(this.btnLiftUp, 0, 0);
-            this.tableLayoutPanel2.Controls.Add(this.btnLiftDown, 1, 0);
-            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 17);
-            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
-            this.tableLayoutPanel2.RowCount = 1;
-            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(427, 59);
-            this.tableLayoutPanel2.TabIndex = 0;
             // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(979, 621);
+            this.ClientSize = new System.Drawing.Size(1083, 621);
-            this.Controls.Add(this.grpLift);
+            this.Controls.Add(this.groupBox3);
             this.Controls.Add(this.grpAGVStatus);
             this.Controls.Add(this.grpLogs);
             this.Controls.Add(this.grpCommands);
@@ -1073,7 +923,6 @@ namespace Test_ACS
             this.panel1.PerformLayout();
             this.grpManual.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).EndInit();
-            this.grpLift.ResumeLayout(false);
             this.grpLogs.ResumeLayout(false);
             this.tabLogs.ResumeLayout(false);
             this.tabRX.ResumeLayout(false);
@@ -1084,7 +933,8 @@ namespace Test_ACS
             this.tabPage1.ResumeLayout(false);
             this.grpAGVStatus.ResumeLayout(false);
             this.grpAGVStatus.PerformLayout();
-            this.tableLayoutPanel2.ResumeLayout(false);
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox3.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -1109,7 +959,6 @@ namespace Test_ACS
         private System.Windows.Forms.Button btnReset;
         private System.Windows.Forms.Button btnMarkStop;
         private System.Windows.Forms.GroupBox grpManual;
-        private System.Windows.Forms.GroupBox grpLift;
         private System.Windows.Forms.Button btnLiftStop;
         private System.Windows.Forms.Button btnLiftDown;
         private System.Windows.Forms.Button btnLiftUp;
@@ -1125,22 +974,6 @@ namespace Test_ACS
         private System.Windows.Forms.TextBox txtAlias;
         private System.Windows.Forms.Label lblAlias;
         private System.Windows.Forms.GroupBox grpAGVStatus;
-        private System.Windows.Forms.Label lblLastTagValue;
-        private System.Windows.Forms.Label lblLastTag;
-        private System.Windows.Forms.Label lblLiftStValue;
-        private System.Windows.Forms.Label lblLiftSt;
-        private System.Windows.Forms.Label lblCartStValue;
-        private System.Windows.Forms.Label lblCartSt;
-        private System.Windows.Forms.Label lblChargeStValue;
-        private System.Windows.Forms.Label lblChargeSt;
-        private System.Windows.Forms.Label lblInpositionValue;
-        private System.Windows.Forms.Label lblInposition;
-        private System.Windows.Forms.Label lblDirectionValue;
-        private System.Windows.Forms.Label lblDirection;
-        private System.Windows.Forms.Label lblRunStValue;
-        private System.Windows.Forms.Label lblRunSt;
-        private System.Windows.Forms.Label lblModeValue;
-        private System.Windows.Forms.Label lblMode;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.Label label1;
         private System.Windows.Forms.Label label2;
@@ -1172,6 +1005,11 @@ namespace Test_ACS
         private System.Windows.Forms.Panel panel3;
         private System.Windows.Forms.RadioButton radLidarOff;
         private System.Windows.Forms.RadioButton radLidarOn;
-        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
+        private System.Windows.Forms.Button button11;
+        private System.Windows.Forms.Button button12;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.TextBox rtStatus;
+        private System.Windows.Forms.TextBox tbErCode;
+        private System.Windows.Forms.TextBox tbErmsg;
     }
 }

HMI/TestProject/Test_ACS/MainForm.cs

@@ -55,16 +55,35 @@ namespace Test_ACS
             // AGV 상태 수신 처리 (cmd = 3)
             var device = e.ReceivedPacket.ID;
             var command = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;
+            var data = e.ReceivedPacket.Data;
 
             switch (command)
             {
                 case AGVCommandEH.Status:
-                    UpdateAGVStatus(e.ReceivedPacket.Data);
+                    _remoteStatus.Mode = data[0];
+                    _remoteStatus.RunSt = data[1];
+                    _remoteStatus.HWError = BitConverter.ToUInt16(data, 2);
+                    _remoteStatus.RunStep = data[4];
+                    _remoteStatus.RunStepSeq = data[5];
+                    _remoteStatus.MotorDir = data[6];
+                    _remoteStatus.MagnetDir = data[7];
+                    _remoteStatus.ChargeSt = data[8];
+                    _remoteStatus.CartSt = data[9];
+                    _remoteStatus.LiftSt = data[10];
+                    _remoteStatus.ErrorCode = data[11];
+                    _remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[11];
+                    _remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
+                    _remoteStatus.LastTag = Encoding.ASCII.GetString(data, 12, 4);
+
+                    UpdateUIStatus();
                     break;
                 case AGVCommandEH.Error:
-                    var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
+
-                    var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
+                    _remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[0];
-                    AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
+                    // _remoteErrorMessage = ... Error 메시지 자체는 패킷에 포함되지 않으므로 유틸리티 사용 가능
+                    _remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
+                    UpdateUIStatus();
+                    AddLog($"Error Received : {_remoteErrorCode} ID:{e.ReceivedPacket.ID} MSG:{_remoteErrorMessage}", LogType.Info);
                     break;
                 default:
                     AddLog($"unknown command:{command}", LogType.Error);
@@ -305,20 +324,21 @@ namespace Test_ACS
 
         private void btnLiftUp_Click(object sender, EventArgs e)
         {
-            SendLiftCommand(1); // Up
+            SendLiftCommand( arDev.Narumi.LiftCommand.UP); // Up
         }
 
         private void btnLiftDown_Click(object sender, EventArgs e)
         {
-            SendLiftCommand(2); // Down
+            SendLiftCommand( arDev.Narumi.LiftCommand.DN); // Down
         }
 
         private void btnLiftStop_Click(object sender, EventArgs e)
         {
-            SendLiftCommand(0); // Stop
+            SendLiftCommand( arDev.Narumi.LiftCommand.STP); // Stop
         }
 
-        private void SendLiftCommand(byte liftCmd)
+      
+        private void SendLiftCommand(arDev.Narumi.LiftCommand liftCmd)
         {
             // LiftControl: data = TargetID(2 hex) + LiftCommand(1 byte)
             var targetID = selectedAGV.ToString("X2");
@@ -372,124 +392,56 @@ namespace Test_ACS
                 AddLog($"전송 실패: {ex.Message}", LogType.Error);
             }
         }
-
+        public ENIGProtocol.AGVErrorCode _remoteErrorCode = ENIGProtocol.AGVErrorCode.None;
-        private void UpdateAGVStatus(byte[] data)
+        public string _remoteErrorMessage = "";
+        public RemoteStatus _remoteStatus = new RemoteStatus();
+        private void UpdateUIStatus()
         {
-            if (data.Length < 12)
+            if (this.InvokeRequired)
             {
-                AddLog($"AGV 상태 데이터 길이 오류: {data.Length} bytes", LogType.Error);
+                this.BeginInvoke(new Action(UpdateUIStatus));
-                return;
-            }
-
-            if (InvokeRequired)
-            {
-                BeginInvoke(new Action(() => UpdateAGVStatus(data)));
                 return;
             }
 
             try
             {
-                // Mode[1]: 0=manual, 1=auto
-                lblModeValue.Text = data[0] == 0 ? "수동" : "자동";
-                lblModeValue.ForeColor = data[0] == 0 ? Color.Blue : Color.Green;
 
-                // RunSt[1]: 0=stop, 1=run, 2=error
+                rtStatus.Text = _remoteStatus.ToString();
-                switch (data[1])
+
+                string errCode = _remoteErrorCode.ToString();
+                string errMsg = _remoteErrorMessage;
+
+                if (_remoteStatus.HWError > 0)
                 {
-                    case 0:
+                    errCode = $"HW:{_remoteStatus.HWError:X4}" + (errCode == "None" ? "" : $" | {errCode}");
-                        lblRunStValue.Text = "정지";
+
-                        lblRunStValue.ForeColor = Color.Gray;
+                    StringBuilder sbHw = new StringBuilder();
-                        break;
+                    for (int i = 0; i < 16; i++)
-                    case 1:
+                    {
-                        lblRunStValue.Text = "실행";
+                        if (((ushort)_remoteStatus.HWError & (1 << i)) != 0)
-                        lblRunStValue.ForeColor = Color.Green;
+                        {
-                        break;
+                            sbHw.Append($"{(arDev.Narumi.eflag)i}, ");
-                    case 2:
+                        }
-                        lblRunStValue.Text = "에러";
+                    }
-                        lblRunStValue.ForeColor = Color.Red;
+                    errMsg = $"[HW] {sbHw}" + (string.IsNullOrEmpty(errMsg) ? "" : $" | {errMsg}");
-                        break;
-                    default:
-                        lblRunStValue.Text = "알 수 없음";
-                        lblRunStValue.ForeColor = Color.Black;
-                        break;
                 }
 
-                // Mot Direction[1]: 0=forward, 1:backward
+                tbErCode.Text = errCode;
-                switch (data[2])
+                tbErmsg.Text = errMsg;
+
+                if (_remoteErrorCode != ENIGProtocol.AGVErrorCode.None || _remoteStatus.HWError > 0)
                 {
-                    case 0:
+                    tbErCode.BackColor = Color.Red;
-                        lblDirectionValue.Text = "전진";
+                    tbErCode.ForeColor = Color.White;
-                        break;
+                }
-                    case 1:
+                else
-                        lblDirectionValue.Text = "후진";
+                {
-                        break;
+                    tbErCode.BackColor = SystemColors.Window;
-                    default:
+                    tbErCode.ForeColor = SystemColors.WindowText;
-                        lblDirectionValue.Text = "??";
-                        break;
                 }
 
-                // Direction[1]: 0=straight, 1=left, 2=right, 3=markstop
-                switch (data[3])
-                {
-                    case 0:
-                        lblDirectionValue.Text += "/직진";
-                        break;
-                    case 1:
-                        lblDirectionValue.Text += "/좌회전";
-                        break;
-                    case 2:
-                        lblDirectionValue.Text += "/우회전";
-                        break;
-                    default:
-                        lblDirectionValue.Text += "/??";
-                        break;
-                }
 
-                // Inposition[1]: 0=off, 1=on
-                lblInpositionValue.Text = data[4] == 0 ? "OFF" : "ON";
-                lblInpositionValue.ForeColor = data[4] == 0 ? Color.Gray : Color.Green;
 
-                // ChargeSt[1]: 0=off, 1=on
-                lblChargeStValue.Text = data[5] == 0 ? "OFF" : "ON";
-                lblChargeStValue.ForeColor = data[5] == 0 ? Color.Gray : Color.Orange;
-
-                // CartSt[1]: 0=off, 1=on, 2=unknown
-                switch (data[6])
-                {
-                    case 0:
-                        lblCartStValue.Text = "없음";
-                        lblCartStValue.ForeColor = Color.Gray;
-                        break;
-                    case 1:
-                        lblCartStValue.Text = "있음";
-                        lblCartStValue.ForeColor = Color.Green;
-                        break;
-                    default:
-                        lblCartStValue.Text = "??";
-                        lblCartStValue.ForeColor = Color.Red;
-                        break;
-                }
-
-                // LiftSt[1]: 0=down, 1=up, 2=unknown
-                switch (data[7])
-                {
-                    case 0:
-                        lblLiftStValue.Text = "하강";
-                        lblLiftStValue.ForeColor = Color.Blue;
-                        break;
-                    case 1:
-                        lblLiftStValue.Text = "상승";
-                        lblLiftStValue.ForeColor = Color.Green;
-                        break;
-                    default:
-                        lblLiftStValue.Text = "??";
-                        lblLiftStValue.ForeColor = Color.Red;
-                        break;
-                }
-
-                string lastTag = Encoding.ASCII.GetString(data, 8, 4);
-                lblLastTagValue.Text = lastTag;
-                lblLastTagValue.ForeColor = Color.Black;
             }
             catch (Exception ex)
             {
@@ -585,6 +537,8 @@ namespace Test_ACS
         private void button7_Click(object sender, EventArgs e)
         {
             //lt180
+            var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
+            if (dlg != DialogResult.Yes) return;
             var targetID = selectedAGV.ToString("X2");
             SendCommand(AGVCommandHE.LTurn180, targetID);
         }
@@ -592,6 +546,8 @@ namespace Test_ACS
         private void button8_Click(object sender, EventArgs e)
         {
             //rt180
+            var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
+            if (dlg != DialogResult.Yes) return;
             var targetID = selectedAGV.ToString("X2");
             SendCommand(AGVCommandHE.RTurn180, targetID);
         }
@@ -599,6 +555,8 @@ namespace Test_ACS
         private void button9_Click(object sender, EventArgs e)
         {
             //l turn
+            var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
+            if (dlg != DialogResult.Yes) return;
             var targetID = selectedAGV.ToString("X2");
             SendCommand(AGVCommandHE.LTurn, targetID);
         }
@@ -606,8 +564,20 @@ namespace Test_ACS
         private void button10_Click(object sender, EventArgs e)
         {
             ///r-turn
+            var dlg = MessageBox.Show("턴작업을 실행할까요? 회전반경에 장애물이 없어야 합니다", "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
+            if (dlg != DialogResult.Yes) return;
             var targetID = selectedAGV.ToString("X2");
             SendCommand(AGVCommandHE.RTurn, targetID);
         }
+
+        private void button12_Click(object sender, EventArgs e)
+        {
+            SendLiftCommand(arDev.Narumi.LiftCommand.ON);
+        }
+
+        private void button11_Click(object sender, EventArgs e)
+        {
+            SendLiftCommand(arDev.Narumi.LiftCommand.OFF);
+        }
     }
 }

HMI/TestProject/Test_ACS/RemoteStatus.cs

@@ -0,0 +1,49 @@
+using System.Text;
+
+namespace Test_ACS
+{
+    public partial class MainForm
+    {
+        public class RemoteStatus
+        {
+            public byte Mode { get; set; } // 0=manual, 1=auto
+            public byte RunSt { get; set; } // 0=stop, 1=run, 2=error
+            public byte RunStep { get; set; }
+            public byte RunStepSeq { get; set; }
+            public ushort HWError { get; set; }
+            public byte MotorDir { get; set; } // 0=F, 1=B
+            public byte MagnetDir { get; set; } // 0=S, 1=L, 2=R
+            public byte ChargeSt { get; set; } // 0=off, 1=on
+            public byte CartSt { get; set; } // 0=off, 1=on, 2=unknown
+            public byte LiftSt { get; set; } // 0=down, 1=up, 2=unknown
+            public byte ErrorCode { get; set; }
+            public string LastTag { get; set; }
+
+            public override string ToString()
+            {
+                StringBuilder sb = new StringBuilder();
+                sb.AppendLine($"Mode: {(Mode == 1 ? "Auto" : "Manual")}");
+                sb.AppendLine($"RunSt: {(RunSt == 0 ? "Stop" : (RunSt == 1 ? "Run" : "Error"))}");
+                if (HWError > 0)
+                {
+                    sb.Append(" [HW ERR: ");
+                    for (int i = 0; i < 16; i++)
+                    {
+                        if ((HWError & (1 << i)) != 0)
+                        {
+                            sb.Append($"{(arDev.Narumi.eflag)i},");
+                        }
+                    }
+                    sb.AppendLine("]");
+                }
+                sb.AppendLine($"Step: {RunStep}, Seq: {RunStepSeq}");
+                sb.AppendLine($"Dir: {(MotorDir == 1 ? "B" : "F")}, Mag: {(MagnetDir == 1 ? "L" : (MagnetDir == 2 ? "R" : "S"))}");
+                sb.AppendLine($"Charge: {(ChargeSt == 1 ? "ON" : "OFF")}");
+                sb.AppendLine($"Cart: {(CartSt == 1 ? "ON" : (CartSt == 0 ? "OFF" : "Unk"))}");
+                sb.AppendLine($"Lift: {(LiftSt == 1 ? "UP" : (LiftSt == 0 ? "DOWN" : "Unk"))}");
+                sb.Append($"Tag: {LastTag}");
+                return sb.ToString();
+            }
+        }
+    }
+}

HMI/TestProject/Test_ACS/Test_ACS.csproj

@@ -69,6 +69,9 @@
       <DesignTimeSharedInput>True</DesignTimeSharedInput>
       <DependentUpon>Settings.settings</DependentUpon>
     </Compile>
+    <Compile Include="RemoteStatus.cs">
+      <SubType>Form</SubType>
+    </Compile>
     <EmbeddedResource Include="MainForm.resx">
       <DependentUpon>MainForm.cs</DependentUpon>
     </EmbeddedResource>
@@ -84,10 +87,14 @@
     </None>
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\..\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
+    <ProjectReference Include="..\..\..\AGVLogic\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
-      <Project>{499d8912-4b96-41e5-a70d-cfe797883d65}</Project>
+      <Project>{9365803b-933d-4237-93c7-b502c855a71c}</Project>
       <Name>ENIGProtocol</Name>
     </ProjectReference>
+    <ProjectReference Include="..\..\SubProject\AGV\NARUMI.csproj">
+      <Project>{8bae0eac-3d25-402f-9a65-2ba1ecfe28b7}</Project>
+      <Name>NARUMI</Name>
+    </ProjectReference>
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>