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backuppc
2026-01-29 14:53:22 +09:00
parent e99edbe04d
commit cce51478be
14 changed files with 3399 additions and 462 deletions
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AGVLogic/AGVNavigationCore/AGVNavigationCore.csproj
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<ItemGroup>
<Reference Include="Microsoft.VisualBasic" />
<Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
<HintPath>..\..\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
<HintPath>..\..\HMI\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />

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DLL/arCommUtil.dll
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Document/통신프로토콜/.~lock.통신 프로토콜_AGV_V350_LF_25.01.10_r2.xlsx# Normal file
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,BACKUPPC/1,backuppc,29.01.2026 14:26,file:///C:/Users/1/AppData/Roaming/LibreOffice/4;

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HMI/Data/29/20260129.txt Normal file
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2026-01-29 14:12:55 NORMAL 가상 AGV 생성: N001 위치
2026-01-29 14:12:55 NORMAL 맵 파일 로드 완료: NewMap.json, 노드 수: 25
2026-01-29 14:12:56 INFO Clear Resultclear
2026-01-29 14:12:56 NORMAL State Machine Start
2026-01-29 14:12:56 StateMachine 객체 생성 완료 - Type: Project.StateMachine.StateMachine
2026-01-29 14:12:56 StateMachine Public Properties: 12개
2026-01-29 14:12:56 StateMachine Public Methods: 36개
2026-01-29 14:12:56 StateMachine SM 이벤트 등록 완료
2026-01-29 14:12:56 SM Start
2026-01-29 14:12:56 NORMAL S/M Initialize Start
2026-01-29 14:12:56 StateMachine 스레드 시작 확인됨 (0ms 소요)
2026-01-29 14:12:56 Display Display Timer 시작 완료
2026-01-29 14:12:56 NORMAL Program Start
2026-01-29 14:12:56 NORMAL 프로그램 실행 기록 추가
2026-01-29 14:12:56 INFO Socket Listen : 7979
2026-01-29 14:12:56 NORMAL 초기화 완료
2026-01-29 14:12:57 NORMAL 스피치컴파일상수OFF
2026-01-29 14:12:57 NORMAL Connect to COM1:57600
2026-01-29 14:12:57 COM1 [COM1:57600] 연결 완료
2026-01-29 14:12:57 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:13:02 NORMAL 스피치컴파일상수OFF
2026-01-29 14:13:02 NORMAL Connect to COM10:9600
2026-01-29 14:13:02 COM10 [COM10:9600] 연결 완료
2026-01-29 14:13:02 NORMAL BMS 연결 시도: COM6
2026-01-29 14:13:02 INFO BMS 연결 완료(COM6)
2026-01-29 14:13:02 NORMAL 스피치컴파일상수OFF
2026-01-29 14:13:04 ATTENTION 배터리 부족 경고 활성화
2026-01-29 14:13:05 NORMAL AGV 태그수신 : 33 LastTag:33
2026-01-29 14:13:08 NORMAL 마크스탑이 확인되어 최종위치를 PASS 처리 합니다
2026-01-29 14:13:08 ATTENTION 마크스탑이 확인되었으나 현재 노드가없어 PASS를 설정하지 못함
2026-01-29 14:13:08 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:13:08 NORMAL AGV 태그수신 : 34 LastTag:34
2026-01-29 14:13:09 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:13:11 NORMAL User Click : Start
2026-01-29 14:13:11 INFO Clear Resultclear
2026-01-29 14:13:11 INFO System Error Reset
2026-01-29 14:13:13 NORMAL 스피치컴파일상수OFF
2026-01-29 14:13:13 NORMAL 자동전환 이전스텝:READY,IDX:1]
2026-01-29 14:14:49 NORMAL User Click : Start
2026-01-29 14:14:49 NORMAL 스피치컴파일상수OFF
2026-01-29 14:14:50 NORMAL Program Close
2026-01-29 14:14:50 SM Stop - LoopCount:7238
2026-01-29 14:15:30 NORMAL 가상 AGV 생성: N001 위치
2026-01-29 14:15:30 NORMAL 맵 파일 로드 완료: NewMap.json, 노드 수: 25
2026-01-29 14:15:30 INFO Clear Resultclear
2026-01-29 14:15:30 NORMAL State Machine Start
2026-01-29 14:15:30 StateMachine 객체 생성 완료 - Type: Project.StateMachine.StateMachine
2026-01-29 14:15:30 StateMachine Public Properties: 12개
2026-01-29 14:15:30 StateMachine Public Methods: 36개
2026-01-29 14:15:30 StateMachine SM 이벤트 등록 완료
2026-01-29 14:15:30 SM Start
2026-01-29 14:15:30 NORMAL S/M Initialize Start
2026-01-29 14:15:30 StateMachine 스레드 시작 확인됨 (0ms 소요)
2026-01-29 14:15:30 Display Display Timer 시작 완료
2026-01-29 14:15:30 NORMAL Program Start
2026-01-29 14:15:30 NORMAL 프로그램 실행 기록 추가
2026-01-29 14:15:31 INFO Socket Listen : 7979
2026-01-29 14:15:31 NORMAL 초기화 완료
2026-01-29 14:15:31 NORMAL 스피치컴파일상수OFF
2026-01-29 14:15:31 NORMAL Connect to COM1:57600
2026-01-29 14:15:31 COM1 [COM1:57600] 연결 완료
2026-01-29 14:15:32 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:15:36 NORMAL 스피치컴파일상수OFF
2026-01-29 14:15:36 NORMAL Connect to COM10:9600
2026-01-29 14:15:36 COM10 [COM10:9600] 연결 완료
2026-01-29 14:15:36 NORMAL BMS 연결 시도: COM6
2026-01-29 14:15:36 INFO BMS 연결 완료(COM6)
2026-01-29 14:15:36 NORMAL 스피치컴파일상수OFF
2026-01-29 14:15:39 ATTENTION 배터리 부족 경고 활성화
2026-01-29 14:15:49 NORMAL AGV 태그수신 : 2 LastTag:2
2026-01-29 14:17:08 NORMAL User Click : Start
2026-01-29 14:17:08 INFO Clear Resultclear
2026-01-29 14:17:08 INFO System Error Reset
2026-01-29 14:17:08 NORMAL 스피치컴파일상수OFF
2026-01-29 14:17:08 NORMAL 자동전환 이전스텝:READY,IDX:1]
2026-01-29 14:17:31 INFO Clear Resultclear
2026-01-29 14:17:31 NORMAL [ACS-Goto] 2 -> 34
2026-01-29 14:17:31 NORMAL [>>] _SM_RUN_GOTO
2026-01-29 14:17:31 INFO 경로생성 2 -> 34
2026-01-29 14:17:31 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:17:45 NORMAL 스피치컴파일상수OFF
2026-01-29 14:18:00 NORMAL 스피치컴파일상수OFF
2026-01-29 14:18:08 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:18:09 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:18:11 SM-LOOP Loop alive - Count:10000, bLoop:True, Step:RUN
2026-01-29 14:18:15 NORMAL 스피치컴파일상수OFF
2026-01-29 14:18:22 NORMAL AGV 태그수신 : 33 LastTag:33
2026-01-29 14:18:22 ERROR 경로이탈감지 시작노드를 현재위치로 설정합니다 START:RFID:2(NODE:1): AS: (Normal) at (285, 628),CURRENT:RFID:33(NODE:N005): AS: (Normal) at (113, 629)
2026-01-29 14:18:22 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:22 INFO 경로생성 33 -> 34
2026-01-29 14:18:22 NORMAL Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:23 NORMAL Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:27 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:18:29 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:18:29 NORMAL AGV 태그수신 : 34 LastTag:34
2026-01-29 14:18:29 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:30 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:31 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:32 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:33 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:34 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:35 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:36 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:36 NORMAL AGV 태그수신 : 2 LastTag:2
2026-01-29 14:18:36 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:36 INFO 경로생성 2 -> 34
2026-01-29 14:18:36 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:37 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:46 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:18:47 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:18:48 NORMAL 스피치컴파일상수OFF
2026-01-29 14:18:51 NORMAL AGV 태그수신 : 33 LastTag:33
2026-01-29 14:18:51 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:51 INFO 경로생성 33 -> 34
2026-01-29 14:18:51 NORMAL Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:52 NORMAL Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:56 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:18:57 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:18:58 NORMAL AGV 태그수신 : 34 LastTag:34
2026-01-29 14:18:58 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:59 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:00 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:01 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:02 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:03 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:04 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:05 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:05 NORMAL AGV 태그수신 : 2 LastTag:2
2026-01-29 14:19:05 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:05 INFO 경로생성 2 -> 34
2026-01-29 14:19:05 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:06 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:15 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:19:16 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:19:18 NORMAL AGV 태그수신 : 33 LastTag:33
2026-01-29 14:19:18 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:18 INFO 경로생성 33 -> 34
2026-01-29 14:19:18 NORMAL Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:19:23 NORMAL MARK_SENSOROFF 변경(False)
2026-01-29 14:19:24 NORMAL MARK_SENSOROFF 변경(True)
2026-01-29 14:19:24 NORMAL AGV 태그수신 : 34 LastTag:34
2026-01-29 14:19:24 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:25 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:26 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:27 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:28 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:29 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:30 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:31 NORMAL Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:31 NORMAL AGV 태그수신 : 2 LastTag:2
2026-01-29 14:19:31 NORMAL 경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:31 INFO 경로생성 2 -> 34

3121
HMI/Data/29/20260129_agv.txt Normal file
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HMI/Data/29/20260129_cal.txt Normal file
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2026-01-29 14:13:02 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 30 E7 1A 03
2026-01-29 14:13:05 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 33 33 65 77 03
2026-01-29 14:13:07 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 33 33 65 77 03
2026-01-29 14:13:08 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 33 34 29 51 03
2026-01-29 14:13:12 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 33 34 29 51 03
2026-01-29 14:13:17 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:22 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:27 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:32 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:37 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:42 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:47 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:52 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:13:57 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:02 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:07 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:12 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:17 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:22 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:27 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:32 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:37 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:42 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:14:47 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 33 34 49 38 03
2026-01-29 14:15:36 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 30 E7 1A 03
2026-01-29 14:15:41 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 30 E7 1A 03
2026-01-29 14:15:46 INFO Send status [O] : 21 02 10 0C 09 00 01 00 00 00 00 00 00 00 00 30 30 30 30 22 65 03
2026-01-29 14:15:49 INFO Send status [O] : 21 02 10 0C 09 00 01 00 00 00 00 00 00 00 00 30 30 30 32 CD 16 03
2026-01-29 14:15:51 INFO Send status [O] : 21 02 10 0C 09 00 01 00 00 00 00 00 00 00 00 30 30 30 32 CD 16 03
2026-01-29 14:15:56 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:01 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:06 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:11 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:16 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:21 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:26 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:31 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:36 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:41 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:46 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:51 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:16:56 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:17:01 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:17:06 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 00 00 00 00 00 00 30 30 30 32 08 69 03
2026-01-29 14:17:11 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 30 32 68 00 03
2026-01-29 14:17:16 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 30 32 68 00 03
2026-01-29 14:17:21 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 30 32 68 00 03
2026-01-29 14:17:26 INFO Send status [O] : 21 02 10 0C 09 01 00 00 00 00 00 00 00 00 00 30 30 30 32 68 00 03
2026-01-29 14:17:31 RX 02 07 00 64 0C 30 30 33 34 ED 5C 03
ID:00,CMD:64,DATA:0C 30 30 33 34
2026-01-29 14:17:31 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:17:36 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:17:41 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:17:46 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:17:51 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:17:56 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:01 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:06 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:12 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:17 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:22 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:22 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 33 33 B0 4B 03
2026-01-29 14:18:27 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 33 7D 3D 03
2026-01-29 14:18:29 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:18:32 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:18:36 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 30 32 10 23 03
2026-01-29 14:18:37 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 30 32 10 23 03
2026-01-29 14:18:42 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:47 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:18:51 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 33 33 B0 4B 03
2026-01-29 14:18:52 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 33 33 B0 4B 03
2026-01-29 14:18:57 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 33 7D 3D 03
2026-01-29 14:18:58 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:19:02 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:19:05 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 30 32 10 23 03
2026-01-29 14:19:07 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:19:12 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:19:17 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:19:18 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 33 33 B0 4B 03
2026-01-29 14:19:22 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 33 7D 3D 03
2026-01-29 14:19:24 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:19:27 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 33 34 31 1B 03
2026-01-29 14:19:31 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 30 32 10 23 03
2026-01-29 14:19:32 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 00 00 00 00 00 00 30 30 30 32 10 23 03
2026-01-29 14:19:37 INFO Send status [O] : 21 02 10 0C 09 01 01 3B 00 01 00 00 00 00 00 30 30 30 32 DD 55 03
2026-01-29 14:19:42 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:19:47 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:19:52 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:19:57 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:02 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:07 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:12 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:17 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:22 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:27 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:32 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:37 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:42 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:47 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:52 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:20:57 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:02 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:07 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:12 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:17 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:22 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:27 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:32 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:37 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:42 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:47 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:52 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03
2026-01-29 14:21:57 INFO Send status [O] : 21 02 10 0C 09 00 00 00 00 01 00 00 00 00 00 30 30 30 32 C5 1F 03

BIN
HMI/Data/29/AutoUpdate_20260129.txt Normal file
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Binary file not shown.

9
HMI/Project/PUB.cs
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@@ -206,10 +206,19 @@ namespace Project
//log
log = new AR.Log();
log.Textenc = System.Text.Encoding.UTF8;
logagv = new AR.Log();
logagv.Textenc = System.Text.Encoding.UTF8;
logplc = new AR.Log();
logplc.Textenc = System.Text.Encoding.UTF8;
logbms = new AR.Log();
logbms.Textenc = System.Text.Encoding.UTF8;
logxbee = new AR.Log();
logxbee.Textenc = System.Text.Encoding.UTF8;
logagv.FileNameFormat = "{yyyyMMdd}_agv";
logplc.FileNameFormat = "{yyyyMMdd}_plc";

0
gitpull.bat → git-pull.bat
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2
git-push.bat Normal file
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@@ -0,0 +1,2 @@
git push
pause

273
경로계산백업.md
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@@ -1,273 +0,0 @@
ML 0001 0001 0001(FS) 0016(FS) 0012(FS) 0010(BL) 0012(BL) 0016(BS) 0001(BS) [MARKSTOP]
ML 0016 0001 0016(BS) 0001(BS) [MARKSTOP]
ML 0012 0001 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0010 0001 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0009 0001 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0015 0001 0015(BS) 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0017 0001 0017(BS) 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0007 0001 0007(FR) 0009(BR) 0010(BL) 0012(BL) 0016(BS) 0001(BS) [MARKSTOP]
ML 0013 0001 [G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
ML 0019 0001 0019(FS) [G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
ML 0008 0001 0008(FS) 0019(FS) [G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
ML 0011 0001 0011(BS) [G0601ML] [MARKSTOP]
ML 0006 0001 [G0601ML] [MARKSTOP]
ML 0005 0001 0005(BR) [G0601ML] [MARKSTOP]
ML 0003 0001 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0004 0001 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0002 0001 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0034 0001 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0033 0001 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0032 0001 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0031 0001 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
ML 0001 0019 0001(FS) 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
ML 0016 0019 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
ML 0012 0019 [G1213ML] 0019(BS) [MARKSTOP]
ML 0010 0019 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0009 0019 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0015 0019 0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0017 0019 0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0007 0019 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0013 0019 0013(BL) 0019(BS) [MARKSTOP]
ML 0019 0019 [동작없음] [MARKSTOP]
ML 0008 0019 0008(FS) 0019(BS) [MARKSTOP]
ML 0011 0019 0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0006 0019 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0005 0019 [G0519ML] [MARKSTOP]
ML 0003 0019 0003(BL) [G0519ML] [MARKSTOP]
ML 0004 0019 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0002 0019 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0034 0019 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0033 0019 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0032 0019 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0031 0019 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0001 0034 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
ML 0001 0008 0001(FS) 0016(FS) [G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
ML 0016 0008 0016(FS) [G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
ML 0012 0008 [G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
ML 0010 0008 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0009 0008 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0015 0008 0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0017 0008 0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0007 0008 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0013 0008 0013(BS) 0019(FS) 0008(BS) [MARKSTOP]
ML 0019 0008 0019(BS) 0008(BS) [MARKSTOP]
ML 0008 0008 [마크센서가 감지안되는 경우] 0008(FS) 0019(BS) 0008(BS) [MARKSTOP]
ML 0011 0008 0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0006 0008 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0005 0008 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0003 0008 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0004 0008 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0002 0008 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0034 0008 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0033 0008 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0032 0008 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0031 0008 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
ML 0001 0015 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
ML 0016 0015 0016(FS) 0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
ML 0012 0015 0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
ML 0010 0015 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
ML 0009 0015 0009(FS) 0015(FS) [MARKSTOP]
ML 0015 0015 [동작없음] [MARKSTOP]
ML 0017 0015 0017(BS) 0009(FS) 0015(FS) [MARKSTOP]
ML 0007 0015 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0013 0015 [G1309ML] 0015(FS) [MARKSTOP]
ML 0019 0015 0019(FS) [G1309ML] 0015(FS) [MARKSTOP]
ML 0008 0015 0008(FS) 0019(FS) [G1309ML] 0015(FS) [MARKSTOP]
ML 0011 0015 0011(BS) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0006 0015 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0005 0015 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0003 0015 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0004 0015 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0002 0015 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0034 0015 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0033 0015 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0032 0015 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0031 0015 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
ML 0001 0011 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0016 0011 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0012 0011 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0010 0011 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0009 0011 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0015 0011 0015(BS) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0017 0011 0017(BS) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0007 0011 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
ML 0013 0011 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0019 0011 0019(FS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0008 0011 0008(FS) 0019(FS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0011 0011 [동작없음] [MARKSTOP]
ML 0006 0011 0006(BR) 0011(BS) [MARKSTOP]
ML 0005 0011 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0003 0011 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0004 0011 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0002 0011 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0034 0011 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0033 0011 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0032 0011 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0031 0011 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
ML 0001 0019 0001(FS) 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
ML 0016 0019 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
ML 0012 0019 [G1213ML] 0019(BS) [MARKSTOP]
ML 0010 0019 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0009 0019 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0015 0019 0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0017 0019 0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0007 0019 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0013 0019 0013(BL) 0019(BS) [MARKSTOP]
ML 0019 0019 [동작없음] [MARKSTOP]
ML 0008 0019 0008(FS) 0019(BS) [MARKSTOP]
ML 0011 0019 0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0006 0019 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
ML 0005 0019 [G0519ML] [MARKSTOP]
ML 0003 0019 0003(BL) [G0519ML] [MARKSTOP]
ML 0004 0019 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0002 0019 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0034 0019 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0033 0019 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0032 0019 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0031 0019 0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
ML 0001 0034 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0016 0034 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0012 0034 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0010 0034 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0009 0034 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0015 0034 0015(BS) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0017 0034 0017(BS) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0007 0034 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0013 0034 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0019 0034 0019(FS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0008 0034 0008(FS) 0019(FS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0011 0034 0011(BS) 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0006 0034 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0005 0034 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0003 0034 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0004 0034 0004(BS) 0002(BS) 0034 [MARKSTOP]
ML 0002 0034 0002(BS) 0034 [MARKSTOP]
ML 0034 0034 [동작없음] [MARKSTOP]
ML 0033 0034 0033(FS) 0034 [MARKSTOP]
ML 0032 0034 0032(FS) 0033(FS) 0034 [MARKSTOP]
ML 0031 0034 0031(FS) 0032(FS) 0033(FS) 0034 [MARKSTOP]
MR 0001 0001 0001(BS) 0016(BS) 0012(BS) 0010(FS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0016 0001 0016(FS) 0001(BS) [MARKSTOP]
MR 0012 0001 0012(FS) 0016(FS) 0001(BS) [MARKSTOP]
MR 0010 0001 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0009 0001 0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0015 0001 0015(BS) 0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0017 0001 0017(FS) 0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0007 0001 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0013 0001 [G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
MR 0019 0001 0019(BS) [G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
MR 0008 0001 0008(BS) 0019(BS) [G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
MR 0011 0001 0011(FS) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0006 0001 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0005 0001 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0003 0001 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0004 0001 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0002 0001 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0034 0001 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0033 0001 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0032 0001 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0031 0001 0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
MR 0001 0019 [G1610MR] 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0016 0019 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0012 0019 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0010 0019 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0009 0019 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0015 0019 0015(BS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0017 0019 0017(FS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0007 0019 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0013 0019 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0019 0019 [동작없음] [MARKSTOP]
MR 0008 0019 0008(BS) 0019(BS) [MARKSTOP]
MR 0011 0019 0011(FS) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0006 0019 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0005 0019 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0003 0019 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0004 0019 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0002 0019 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0034 0019 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0033 0019 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0032 0019 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0031 0019 0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0001 0011 [G1610MR] 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0016 0011 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0012 0011 0012(BS) 0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0010 0011 0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0009 0011 0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0015 0011 0015(BS) 0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0017 0011 0017(FS) 0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0007 0011 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
MR 0013 0011 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0019 0011 0019(BS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0008 0011 0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0011 0011 [동작없음] [MARKSTOP]
MR 0006 0011 0006(BR) 0011(BS) [MARKSTOP]
MR 0005 0011 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0003 0011 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0004 0011 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0002 0011 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0034 0011 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0033 0011 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0032 0011 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0031 0011 0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
MR 0001 0019 [G1610MR] 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0016 0019 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0012 0019 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0010 0019 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0009 0019 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0015 0019 0015(BS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0017 0019 0017(FS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0007 0019 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0013 0019 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0019 0019 [동작없음] [MARKSTOP]
MR 0008 0019 0008(BS) 0019(BS) [MARKSTOP]
MR 0011 0019 0011(FS) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0006 0019 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0005 0019 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0003 0019 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0004 0019 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0002 0019 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0034 0019 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0033 0019 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0032 0019 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0031 0019 0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
MR 0001 0034 [G1610MR] 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0016 0034 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0012 0034 0012(BS) 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0010 0034 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0009 0034 0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0015 0034 0015(BS) 0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0017 0034 0017(FS) 0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0007 0034 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0013 0034 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0019 0034 0019(BS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0008 0034 0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0011 0034 0011(FS) 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0006 0034 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0005 0034 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0003 0034 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0004 0034 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
MR 0002 0034 0002(FS) 0034(BS) [MARKSTOP]
MR 0034 0034 [동작없음] [MARKSTOP]
MR 0033 0034 0033(BS) 0034(BS) [MARKSTOP]
MR 0032 0034 0032(BS) 0033(BS) 0034(BS) [MARKSTOP]
MR 0031 0034 0031(BS) 0032(BS) 0033(BS) 0034(BS) [MARKSTOP]

158
경로수동계산.md
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AGV는 아래 태그사이에 존재한다면 해당 라인으로 간주하고
각 라인별 목적지에 대한 경우의 수를 미리 계산 해본다
*1~10 : unloader line
*17~9 : charger 1
*11~6 : cleanner
6~2 : buffer14 line
*8~13 : Loader Line
충전기 #1 : 전진도킹
충전기 #2 : 후진도킹
로더,언로더,클리너,버퍼 : 후진도킹
AGV는 모니터반대방향에 리프트가 설치되어있고. 모니터쪽으로 이동하는 방향이 F방향이다.
충전소1(Chg#1)을 제외하고 나머지 포인트는 모두 리프트쪽으로 도킹을 해야한다(후면)
AGV에는 마그넷센서가달려있고 이 센서를 이용하여 좌/우/직진을 수행한다 L/R/S 로 명명함
Unloader line (모니터:우 -> F)
chg#1 : 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(FS) 0015 [MARKSTOP]
chg#2 : 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019 [MARKSTOP]
loader : 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
unloader : 0012(FS) 0016(FS) 0001 [MARKSTOP]
cleanner : 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011 [MARKSTOP]
buffer14 : 0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) 0034 [MARKSTOP]
Unloader line (모니터:좌 <- F)
chg#1 : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0007(FR) 0009(FS) 0015 [MARKSTOP]
chg#2 : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BL) 0019 [MARKSTOP]
loader : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
unloader : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0009(FL) 0007(BR) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
cleanner : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BR) 0011 [MARKSTOP]
buffer14 : 0001(BS) 0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
Charger #1 Line (모니터:우 ->F)
Chg#1: 0017(FS) 0009(FR) 0007(BR) 0010(FR) 0009(FS) 0015 [MARKSTOP]
Chg#2 : 0017(FS) 0009(FR) 0010(BR) 0007(BS) 0013(BL) 0019 [MARKSTOP]
Loader: 0017(FS) 0009(FR) 0010(BR) 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
Unloader: 0017(FS) 0009(FR) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner: 0017(FS) 0009(FR) 0010(BR) 0007(BS) 0006(BR) 0011 [MARKSTOP]
Buffer14: 0017(FS) 0009(FR) 0010(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
Charger #1 Line (모니터:좌 <-F )
Chg#1: 0017(BS) 0009(BL) 0015 [MARKSTOP]
Chg#2: 0017(BS) 0009(BS) 0007(FS) 0013(BL) 0019 [MARKSTOP]
Loader: 0017(BS) 0009(BS) 0007(FS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader: 0017(BS) 0009(BL) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner: 0017(BS) 0009(BS) 0007(FR) 0006(BR) 0011 [MARKSTOP]
Buffer: 0017(BS) 0009(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) 0034 ~ 0031 [MARKSTOP]
Cleanner Line (모니터:우 ->F)
Chg#1: 0011(FS) 0006(FL) 0007(FL) 0009(FL) 0015 [MARKSTOP]
Chg#2: 0011(FS) 0006(FL) 0007(BR) 0013(BL) 0019 [MARKSTOP]
Loader: 0011(FS) 0006(FL) 0007(BR) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader: 0011(FS) 0006(FR) 0013(BL) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner: 0006 0011 [MARKSTOP]
Buffer: 0011(FS) 0006(FL) 0007(BR) 0006(FR) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
Cleanner Line (모니터:좌 <- F)
Chg#1 0011(BS) 0006(BR) 0007(BL) 0010(BL) 0009(FL) 0015 [MARKSTOP]
Chg#2 0011(BS) 0006(BR) 0013(BS) 0019 [MARKSTOP]
Loader: 0011(BS) 0006(BR) 0013(BS) 0019(BR) 0008 [MARKSTOP]
UnLoader: 0011(BS) 0006(BR) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0011(BS) 0006(BR) 0007(FL) 0013(BR) 0006(BR) 0011 [MARKSTOP]
Buffer 0011(BS) 0006(BR) 0007(FL) 0013(BR) 0006(FR) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
Buffer Line (모니터:우 -> F) - 교차로 : 0006
Chg#1 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FS) 0007(FL) 0009(FL) 0015 [MARKSTOP]
Chg#2 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FS) 0007(BR) 0013(BL) 0019 [MARKSTOP]
Loader 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FS) 0007(BR) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0006(BR) 0011 [MARKSTOP]
Buffer 0005(B) 0003 0004 0002 0034 ~ 0031 [MARKSTOP]
Buffer Line(모니터:좌 <- F) - 교차로 : 0006
Chg#1 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0013(FL) 0007(FL) 0009(FL) 0015 [MARKSTOP]
Chg#2 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0013(BS) 0019 [MARKSTOP]
Loader 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0013(BS) 0019(BR) 0008 [MARKSTOP]
UnLoader 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0013(FL) 0007(BR) 0006(BR) 0011 [MARKSTOP]
Buffer 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0013(FL) 0007(BR) 0006(FR) 0005(BL) 0003(BS) ~ 0034 [MARKSTOP]
10 노드 시작 (모니터:우 -> F)
Chg#1 0010(FS) 0009(FL) 0015 [MARKSTOP]
Chg#2 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019 [MARKSTOP]
Loader 0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader 0010(BS) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011 [MARKSTOP]
Buffer 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
10 노드 시작 (모니터:좌 <- F)
Chg#1 0010(BL) 0007(FR) 0009(FS) 0015 [MARKSTOP]
Chg#2 0010(BL) 0007(BS) 0013(BL) 0019 [MARKSTOP]
Loader 0010(BL) 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader 0010(BL) 0009(FL) 0007(BS) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0010(BL) 0007(BS) 0006(BR) 0011 [MARKSTOP]
Buffer 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
7 노드 시작 (모니터:우 -> F)
Chg#1 0007(BR) 0010(FR) 0009(FS) 0015 [MARKSTOP]
Chg#2 0007(BS) 0013(BL) 0019 [MARKSTOP]
Loader 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader 0007(BR) 0009(FL) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0007(BS) 0013(BL) 0006(BR) 0011 [MARKSTOP]
Buffer 0007(BS) 0013(BL) 0006(FR) 0005(BL) 0003(BS) 0004(BR) 0002(FS) [MARKSTOP]
7 노드 시작 (모니터:좌 <- F)
Chg#1 0007(FR) 0009(FL) 0015 [MARKSTOP]
Chg#2 0007(BS) 0013(BL) 0019 [MARKSTOP]
Loader 0007(BS) 0013(BL) 0019(BR) 0008 [MARKSTOP]
UnLoader 0007(FR) 0009(BR) 0010(BL) 0012(BL) 0016(BS) 0001 [MARKSTOP]
Cleanner 0007(BS) 0006(BR) 0011 [MARKSTOP]
Buffer 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BR) 0002(FS) 0034 [MARKSTOP]
Buffer Internal Move 목표버퍼가 우측에 있는 경우 (모니터:우 -> F) : 도킹방향은 맞음
Buf1->Buf4 0031(FS) 0032(FS) 0033(FS) 0034(FS) : 목표 노드까지는 전진방향으로 이동(전진은 우측으로 이동함)
이동완료 후 R방향(반대)으로 MARSTOP 신호를 통해서 멈춤
Buffer Internal Move 목표버퍼가 좌측에 있는 경우 (모니터:우 -> F) : 도킹방향은 맞음
Buf4->Buf1 목표 노드까지는 후진방향으로 이동(후진은 좌측으로 이동함)
이동완료 후 MARKSTOP 신호를 통해서 멈춤
* NOTE: 정지 정밀도를 높이기 위해 항상 목표지점의 우측에서 좌측방향으로 진입하며 멈추도록 설계됨. (센서 히스테리시스 고려)
Buffer Internal Move (모니터:좌 <- F) : 도킹방향 맞지않음 (방향전환 필요하니 6에서 전환 필요)
~ 0006(BS) 0005(BR) 0013(FS) 0007(BR) 0006(BL) 0005(BS) ~ 목표노드까지 이동한 후 MARKSTOP
#노드범위 [0008,0019,0013]
Loader Line (모니터:우 -> F) : 전진(F)은 0008 -> 좌측/하단 방향. 따라서 19번(우측/상단)으로 가려면 후진(B)해야 함.
Chg#1 0008(BS) 0019(BS) 0013(BS) 0007(BS) 0010(FR) 0009(FS) 0015 [MARKSTOP]
Chg#2 0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019 [MARKSTOP]
Loader 0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) 0008 [MARKSTOP]
UnLoader 0008(BS) 0019(BS) 0013(BS) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001 [MARKSTOP]
Cleanner 0008(BS) 0019(BS) 0013(BL) 0006(BS) 0011 [MARKSTOP]
Buffer 0008(BS) 0019(BS) 0013(BL) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034 [MARKSTOP]
Loader Line (모니터:좌 <- F) : 전진(F)은 0008 -> 우측/상단(19번) 방향. 따라서 19번으로 가려면 전진(F)해야 함.
Chg#1 0008(FS) 0019(FS) 0013(FS) 0007(FL) 0009(FS) 0015 [MARKSTOP]
Chg#2 0008(FS) 0019(FS) BS(반대방향으로) [MARKSTOP]
Loader 0013(BS) 0019(BS) 0008(BS) [MARKSTOP]
UnLoader 0008(FS) 0019(FS) 0013(FS) 0007(FL) 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001 [MARKSTOP]
Cleanner 0008(FS) 0019(FS) 0013(FS) 0007(BR) 0006(BS) 0011 [MARKSTOP]
Buffer 0008(FS) 0019(FS) 0013(FS) 0007(BR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
============ 각 노드별 모든 경우의 수를 표시한다 ========================================================
도킹위치에따른 방향 : 0001(B),0015(F),0011(B),0019(B),0008(B),0034(B),0033(B),0032(B),0031(B)
====================================================================================================
공용그룹이동 (해당 목표까지의 중요 사이의 경로)
[모니터방향:좌/상] -
[G1312ML] 0013(FS) 0007(FL) 0009(BL) 0010(BS) 0012(BS)
[G1913ML] 0019(FS) 0013(FS) 0007(FL) 0009(FS)
[G1309ML] 0013(FS) 0007(FL) 0009(FS)
[G0110ML] 0001(BS) 0016(BS) 0012(BS) 0010(BL)
[G0601ML] 0006(BR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS)
[G0519ML] 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BS)
[G1213ML] 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0013(BL)
[모니터방향:우/하]
[G1312MR] 0013(BS) 0007(BS) 0010(BS) 0012(BS)
[G1309MR] 0013(BS) 0007(BS) 0010(FR) 0009(FS)
[G1610MR] 0001(BS) 0016(BS) 0012(BS) 0010(BL)
====================================================================================================
모든 경우의 수 데이터 나열 값 순서 모니터방향(ML,MR) | 시작노드 | 목표노드 | 경로
====================================================================================================

30
길목재계산.md
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모든 길목(10,9,6,13) 에 대한 정/역 방향에 대한 로직을 정의하고, 나머지 모든위치에서는 해당 길목으로 이동을 한다.
목적지에 따라서 길목을 지정한다
0001 10 역방향 : 0010(BS) 0012(BS) 0016(BS) 0001(BS), 정방향(회전필요) : [ 0010(BR) 0009(FR) 0007(BS) 0010(BS) : 방향전환 완료] - 동일
0015 09 정방향 : 0009(FS), 역방향(회전필요) : [ 0009(FL) 0010(BS) 0007(FL) 0009(FS) ] - 동일
0011 06 역방향 : 0006(BS) 0011(BS), 정방향(회전필요) : [ 0006(BL) 0007(FS) 00013(BL) 0006(BS) ] - 동일
버퍼 06 역방향 : 0006(BL) 0005(BS) ~ 나머지 0031까지는 BS상태로 계속 이동, 정방향(회전필요) : [ 0006(BL) 0007(FS) 0013(BL) 0006(BL) ] - 동일
0008 13 역방향 : 0013(BS) 0019(BS) 0008(BS), 정방향(회전필요) : [ 0013(BL) 0006(FL) 0007(BS) 0013(BS) ] - 동일
0019 13 역방향 : 0013(BS) 0019(BS), 정방향(회전필요) : [ 0013(BL) 0006(FL) 0007(BS) 0013(BS) ] - 동일
나머지 모든 경유는 각 경유지로 해당 방향으로 그대로 길을 찾는다
목적지를 보고 목적지의 경유지까지 경로로를 계산한다 (A*)
동일노드가 목적지 일때에는
도킹방향이 맞고 마크센서가 ON 되어있는 경우에만 완료처리를 한다.
도킹방향이 맞고 마크센서가 OFF되어있다면 반대방향으로 한번 이동하고, 다시 역방향 이동하면서 MARK STOP 처리한다.
도킹방향이 맞지 않는 경우 일반 노드 검색처럼 경유지 처리한다
버퍼에서 버퍼로 이동하는 경우에는 별도 로직으로 처리한다
모니터가 좌측에 있는 경우라면 도킹방향이 맞지 않으므로 0006까지 이동을 완료 한 후 기존 로직을 적용
모니터가 우측에 있는 방향이라면 도킹방향이 맞는 경우이다
목표가 현재 기준 좌측이라면?
BACK으로 이동하면 좌측이동이므로 목적지 노드까지 A*로 계산하여 이동 후 MARK STOP 한다
목표가 현재 기준 우측이라면?
위치 정밀도를 높이기 위해서 목표 지점을 벗어난 후 다시 좌측으로 마크스탑한다
A* -> Back -> MARKSTOP
* 인식된 위치가 전체 경로상에 존재하지 않는 노드라면 모든 경로계산을 다시 계산 한다
* 경로상 노드에 포함되어있다 해도 진입방향등을 고려하여 일치하지 않으면 경로 이탈로 간주하고 다시 계산 한다