..

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

@@ -126,7 +126,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// <summary>
         /// 단순 경로 찾기 (복잡한 제약조건/방향전환 로직 없이 A* 결과만 반환)
         /// </summary>
-        public AGVPathResult FindBasicPath(MapNode startNode, MapNode targetNode, MapNode prevNode, AgvDirection prevDirection)
+        public AGVPathResult FindBasicPath(MapNode startNode, MapNode targetNode, MapNode _prevNode, AgvDirection prevDirection)
         {
             // 1. 입력 검증
             if (startNode == null || targetNode == null)
@@ -134,13 +134,13 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 2. A* 경로 탐색
             var pathResult = _basicPathfinder.FindPathAStar(startNode, targetNode);
-            pathResult.PrevNode = prevNode;
+            pathResult.PrevNode = _prevNode;
             pathResult.PrevDirection = prevDirection;
 
             if (!pathResult.Success)
                 return AGVPathResult.CreateFailure(pathResult.ErrorMessage ?? "경로 없음", 0, 0);
 
-            // 3. 상세 데이터 생성 (단순화: 방향 전환 없이 현재 방향 유지)
+            // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
             if (pathResult.Path != null && pathResult.Path.Count > 0)
             {
                 var detailedPath = new List<NodeMotorInfo>();
@@ -149,8 +149,47 @@ namespace AGVNavigationCore.PathFinding.Planning
                     var node = pathResult.Path[i];
                     string nextNodeId = (i + 1 < pathResult.Path.Count) ? pathResult.Path[i + 1].Id : null;
 
-                    // 단순화: 입력된 현재 방향을 그대로 사용
+                    // 마그넷 방향 계산 (갈림길인 경우)
-                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNodeId, MagnetDirection.Straight);
+                    MagnetDirection magnetDirection = MagnetDirection.Straight;
+                    
+                    if (node.ConnectedNodes != null && node.ConnectedNodes.Count >= 3 && i > 0 && nextNodeId != null)
+                    {
+                        // 갈림길인 경우: 진입 방향과 진출 방향의 각도 계산
+                        var prevNode = pathResult.Path[i - 1];
+                        var nextNode = pathResult.Path[i + 1];
+                        
+                        // 진입 각도 계산 (이전 노드 → 현재 노드)
+                        double entryAngle = Math.Atan2(
+                            node.Position.Y - prevNode.Position.Y,
+                            node.Position.X - prevNode.Position.X
+                        ) * 180.0 / Math.PI;
+                        
+                        // 진출 각도 계산 (현재 노드 → 다음 노드)
+                        double exitAngle = Math.Atan2(
+                            nextNode.Position.Y - node.Position.Y,
+                            nextNode.Position.X - node.Position.X
+                        ) * 180.0 / Math.PI;
+                        
+                        // 각도 차이 계산 (-180~180 범위로 정규화)
+                        double angleDiff = exitAngle - entryAngle;
+                        while (angleDiff > 180) angleDiff -= 360;
+                        while (angleDiff < -180) angleDiff += 360;
+                        
+                        // 10도 이상 차이나면 좌/우회전 처리
+                        if (Math.Abs(angleDiff) >= 10)
+                        {
+                            if (angleDiff > 0)
+                            {
+                                magnetDirection = MagnetDirection.Right;
+                            }
+                            else
+                            {
+                                magnetDirection = MagnetDirection.Left;
+                            }
+                        }
+                    }
+
+                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNodeId, magnetDirection);
 
                     // 속도 설정
                     var mapNode = _mapNodes.FirstOrDefault(n => n.Id == node.Id);
@@ -164,75 +203,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             return pathResult;
         }
 
-        /// <summary>
+       
-        /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
-        /// </summary>
-        /// <param name="path1"></param>
-        /// <param name="currentDirection"></param>
-        public void MakeDetailData(AGVPathResult path1, AgvDirection currentDirection)
-        {
-            if (path1.Success && path1.Path != null && path1.Path.Count > 0)
-            {
-                var detailedPath1 = new List<NodeMotorInfo>();
-                for (int i = 0; i < path1.Path.Count; i++)
-                {
-                    var node = path1.Path[i];
-                    string nodeId = node.Id;
-                    var RfidId = node.RfidId;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
-
-                    // 노드 정보 생성 (현재 방향 유지)
-                    var nodeInfo = new NodeMotorInfo(i + 1,
-                        nodeId, RfidId,
-                        currentDirection,
-                        nextNodeId,
-                        MagnetDirection.Straight
-                    );
-
-                    // [Speed Control] MapNode의 속도 설정 적용
-                    var mapNode = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
-                    if (mapNode != null)
-                    {
-                        nodeInfo.Speed = mapNode.SpeedLimit;
-                    }
-
-                    detailedPath1.Add(nodeInfo);
-                }
-
-                // path1에 상세 경로 정보 설정
-                path1.DetailedPath = detailedPath1;
-            }
-        }
-
-
-        /// <summary>
-        /// Path에 등록된 방향을 확인하여 마그넷정보를 업데이트 합니다
-        /// </summary>
-        /// <param name="path1"></param>
-        private void MakeMagnetDirection(AGVPathResult path1)
-        {
-            if (path1.Success && path1.DetailedPath != null && path1.DetailedPath.Count > 0)
-            {
-                for (int i = 0; i < path1.DetailedPath.Count; i++)
-                {
-                    var detailPath = path1.DetailedPath[i];
-                    string nodeId = path1.Path[i].Id;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
-
-                    // 마그넷 방향 계산 (3개 이상 연결된 교차로에서만 좌/우 가중치 적용)
-                    if (i > 0 && nextNodeId != null)
-                    {
-                        string prevNodeId = path1.Path[i - 1].Id;
-                        if (path1.DetailedPath[i - 1].MotorDirection != detailPath.MotorDirection)
-                            detailPath.MagnetDirection = MagnetDirection.Straight;
-                        else
-                            detailPath.MagnetDirection = _junctionAnalyzer.GetRequiredMagnetDirection(prevNodeId, nodeId, nextNodeId, detailPath.MotorDirection);
-                    }
-                    else detailPath.MagnetDirection = MagnetDirection.Straight;
-                }
-
-            }
-        }
 
 
     }

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs

@@ -120,6 +120,7 @@ namespace AGVSimulator.Forms
             this._liftDirectionLabel = new System.Windows.Forms.Label();
             this._motorDirectionLabel = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.btSelectMapEditor = new System.Windows.Forms.ToolStripMenuItem();
             this._menuStrip.SuspendLayout();
             this._toolStrip.SuspendLayout();
             this._statusStrip.SuspendLayout();
@@ -154,6 +155,7 @@ namespace AGVSimulator.Forms
             this.맵다른이름으로저장ToolStripMenuItem,
             this.toolStripSeparator1,
             this.launchMapEditorToolStripMenuItem,
+            this.btSelectMapEditor,
             this.toolStripSeparator4,
             this.exitToolStripMenuItem});
             this.fileToolStripMenuItem.Name = "fileToolStripMenuItem";
@@ -547,7 +549,7 @@ namespace AGVSimulator.Forms
             // 
             // btPath2
             // 
-            this.btPath2.Location = new System.Drawing.Point(12, 201);
+            this.btPath2.Location = new System.Drawing.Point(12, 177);
             this.btPath2.Name = "btPath2";
             this.btPath2.Size = new System.Drawing.Size(106, 25);
             this.btPath2.TabIndex = 10;
@@ -588,6 +590,7 @@ namespace AGVSimulator.Forms
             // _targetNodeCombo
             // 
             this._targetNodeCombo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this._targetNodeCombo.Font = new System.Drawing.Font("돋움체", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this._targetNodeCombo.Location = new System.Drawing.Point(10, 97);
             this._targetNodeCombo.Name = "_targetNodeCombo";
             this._targetNodeCombo.Size = new System.Drawing.Size(210, 20);
@@ -605,6 +608,7 @@ namespace AGVSimulator.Forms
             // _startNodeCombo
             // 
             this._startNodeCombo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this._startNodeCombo.Font = new System.Drawing.Font("돋움체", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this._startNodeCombo.Location = new System.Drawing.Point(10, 45);
             this._startNodeCombo.Name = "_startNodeCombo";
             this._startNodeCombo.Size = new System.Drawing.Size(210, 20);
@@ -812,6 +816,13 @@ namespace AGVSimulator.Forms
             this.timer1.Interval = 500;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
+            // btSelectMapEditor
+            // 
+            this.btSelectMapEditor.Name = "btSelectMapEditor";
+            this.btSelectMapEditor.Size = new System.Drawing.Size(221, 22);
+            this.btSelectMapEditor.Text = "Mapeditor 선택";
+            this.btSelectMapEditor.Click += new System.EventHandler(this.btSelectMapEditor_Click);
+            // 
             // SimulatorForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -925,5 +936,6 @@ namespace AGVSimulator.Forms
         private System.Windows.Forms.GroupBox groupBox1;
         private System.Windows.Forms.PropertyGrid propertyNode;
         private System.Windows.Forms.Button btPath2;
+        private System.Windows.Forms.ToolStripMenuItem btSelectMapEditor;
     }
 }

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -833,8 +833,8 @@ namespace AGVSimulator.Forms
             {
                 for (int i = 0; i < _startNodeCombo.Items.Count; i++)
                 {
-                    var item = _startNodeCombo.Items[i].ToString();
+                    var item = _startNodeCombo.Items[i] as ComboBoxItem<MapNode>;//.ToString();
-                    if (item.Contains($"[{nodeId}]"))
+                    if (item.Value.Id.Equals(nodeId))
                     {
                         _startNodeCombo.SelectedIndex = i;
                         Program.WriteLine($"[SYSTEM] 시작 노드를 '{nodeId}'로 자동 선택했습니다.");
@@ -958,10 +958,10 @@ namespace AGVSimulator.Forms
             {
                 foreach (var node in _simulatorCanvas.Nodes)
                 {
-                    if (node.IsActive && node.HasRfid())
+                    if (node.IsActive)
                     {
-                        // {rfid} - [{node}] {name} 형식으로 ComboBoxItem 생성
+                        // {rfid} - [{node}] {name} 형식으로 ComboBoxItem 생성                        
-                        var displayText = $"{node.RfidId} - [{node.Id}]";
+                        var displayText = $"{node.StationType.ToString().PadRight(7)} | {node.ID2}";
                         var item = new ComboBoxItem<MapNode>(node, displayText);
 
                         _startNodeCombo.Items.Add(item);
@@ -1007,8 +1007,8 @@ namespace AGVSimulator.Forms
             _stopSimulationButton.Enabled = _simulationState.IsRunning;
 
             _removeAgvButton.Enabled = _agvListCombo.SelectedItem != null;
-           // btPath1.Enabled = _startNodeCombo.SelectedItem != null &&
+            // btPath1.Enabled = _startNodeCombo.SelectedItem != null &&
-                                     //    _targetNodeCombo.SelectedItem != null;
+            //    _targetNodeCombo.SelectedItem != null;
 
             // RFID 위치 설정 관련
             var hasSelectedAGV = _agvListCombo.SelectedItem != null;
@@ -2571,8 +2571,8 @@ namespace AGVSimulator.Forms
 
             if (!pathToGateway.Success) return (false, $"Gateway({gatewayNode.ID2})까지 경로 실패: {pathToGateway.ErrorMessage}");
 
-            //마지막경로는 게이트웨이이므로 제거하낟.
+            //마지막경로는 게이트웨이이므로 제거하낟.(260113)
-            if(pathToGateway.Path.Count > 1)
+            if (pathToGateway.Path.Count > 1 && pathToGateway.Path.Last().Id == gatewayNode.Id)
             {
                 pathToGateway.Path.RemoveAt(pathToGateway.Path.Count - 1);
                 pathToGateway.DetailedPath.RemoveAt(pathToGateway.DetailedPath.Count - 1);
@@ -2584,7 +2584,7 @@ namespace AGVSimulator.Forms
             MapNode GateprevNode = pathToGateway.Path.Last();
             NodeMotorInfo GatePrevDetail = pathToGateway.DetailedPath.Last();
 
-      
+
             var arrivalOrientation = GatePrevDetail.MotorDirection;
 
             //아래코드오류발생함
@@ -2643,21 +2643,33 @@ namespace AGVSimulator.Forms
             var isMonitorLeft = false;
             bool requiredDir = false;
 
+
+            if (deltaX > 0) //게이트웨이가 우측에 있다
+            {
+                //이떄 모터방향이 후진이라면 모니터는 왼쪽이고, 반대는 오른쪽이다
+                isMonitorLeft = PrevDirection == AgvDirection.Backward;
+            }
+            else
+            {
+                isMonitorLeft = PrevDirection == AgvDirection.Forward;
+            }
+
+            //로더는 상/하 개념으로 처리해야한다.X축이아닌 Y축을 봐야한다.
+            if (targetNode.StationType == StationType.Loader || targetNode.StationType == StationType.Charger2)
+            {
+                deltaX = GTNode.Position.Y - PrevNode.Position.Y;
+                if (deltaX < 0) isMonitorLeft = PrevDirection == AgvDirection.Backward;
+                else isMonitorLeft = PrevDirection == AgvDirection.Forward;
+            }
+
             switch (targetNode.StationType)
             {
+                case StationType.Loader:
+                case StationType.Charger2:
                 case StationType.Charger1:
                 case StationType.UnLoader:
                 case StationType.Clearner:
                 case StationType.Buffer:
-                    if (deltaX > 0) //게이트웨이가 우측에 있다
-                    {
-                        //이떄 모터방향이 후진이라면 모니터는 왼쪽이고, 반대는 오른쪽이다
-                        isMonitorLeft = PrevDirection == AgvDirection.Backward;
-                    }
-                    else
-                    {
-                        isMonitorLeft = PrevDirection == AgvDirection.Forward;
-                    }
 
                     //버퍼는 모니터가 왼쪽에 있으면 안된다.
                     //충전기1만 전진 도킹을 한다.
@@ -2932,6 +2944,29 @@ namespace AGVSimulator.Forms
             _simulatorCanvas.FitToNodes();
         }
 
+        private void btSelectMapEditor_Click(object sender, EventArgs e)
+        {
+            using (var openDialog = new OpenFileDialog())
+            {
+                openDialog.Filter = "실행 파일 (*.exe)|*.exe|모든 파일 (*.*)|*.*";
+                openDialog.Title = "MapEditor 실행 파일 선택";
 
+                if (!string.IsNullOrEmpty(_config.MapEditorExecutablePath) && File.Exists(_config.MapEditorExecutablePath))
+                {
+                    openDialog.InitialDirectory = Path.GetDirectoryName(_config.MapEditorExecutablePath);
+                    openDialog.FileName = Path.GetFileName(_config.MapEditorExecutablePath);
+                }
+
+                if (openDialog.ShowDialog() == DialogResult.OK)
+                {
+                    _config.MapEditorExecutablePath = openDialog.FileName;
+                    _config.Save();
+
+                    _statusLabel.Text = $"MapEditor 경로 설정: {Path.GetFileName(openDialog.FileName)}";
+                    MessageBox.Show($"MapEditor 실행 파일이 설정되었습니다:\n{openDialog.FileName}",
+                                  "경로 설정 완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                }
+            }
+        }
     }
 }

Cs_HMI/Project/Class/EEMStatus.cs

@@ -112,22 +112,8 @@ public static partial class EEMStatus
             var mcid = Project.PUB.setting.MCID;
             var timestr = PUB.BMS.Current_DataTime.ToString("yyyy-MM-dd HH:mm:ss");
 
-            // BMS 데이터 (실제 값으로 교체 필요)
+            var data = PUB.BMS.BMSInformation;
-            var info_volt = PUB.BMS.Current_Volt;// "null"; // bms.Voltage
+           
-            var info_current = PUB.BMS.Current_Amp;// "null"; // bms.Current
-            var info_capa = PUB.BMS.Current_MaxAmp;// "null"; // bms.Capacity
-            var info_level = PUB.BMS.Current_Level;// "null"; // bms.Level
-            var info_temp1 = PUB.BMS.Current_temp1;// "null"; // bms.Temp1
-            var info_temp2 = PUB.BMS.Current_temp2;// "null"; // bms.Temp2
-            var cell_volt1 = PUB.BMS.CellVoltage[0];// "null"; // bms.CellVolt1
-            var cell_volt2 = PUB.BMS.CellVoltage[1]; // bms.CellVolt2
-            var cell_volt3 = PUB.BMS.CellVoltage[2]; // bms.CellVolt3
-            var cell_volt4 = PUB.BMS.CellVoltage[3]; // bms.CellVolt4
-            var cell_volt5 = PUB.BMS.CellVoltage[4]; // bms.CellVolt5
-            var cell_volt6 = PUB.BMS.CellVoltage[5]; // bms.CellVolt6
-            var cell_volt7 = PUB.BMS.CellVoltage[6]; // bms.CellVolt7
-            var cell_volt8 = PUB.BMS.CellVoltage[7]; // bms.CellVolt8
-
             // Status 폴더에 SQL 파일 생성
             var path = System.IO.Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Status");
             if (System.IO.Directory.Exists(path) == false)
@@ -135,10 +121,8 @@ public static partial class EEMStatus
 
             var file = System.IO.Path.Combine(path, $"{DateTime.Now.ToString("HHmmssfff")}_BMS_INF.sql");
 
-            var sql = "insert into AGV_Shuttle_BMS(MCID,wdate,info_volt,info_current,info_capa,info_level,info_temp1,info_temp2) " +
+            var sql = "insert into AGV_Shuttle_BMS(MCID,wdate,info_volt,info_current,info_capa,info_level,info_temp1,info_temp2,soc,cycle,protection,balance) " +
-                     "values('{0}','{1}',{2},{3},{4},{5},{6},{7})";
+                     $"values('{mcid}','{timestr}',{data.packVoltage},{data.current},{data.fullCapacity},{data.RawLevel},{data.ntcTemp[0]},{data.ntcTemp[1]},{data.rsoc},{data.cycleCount},{data.raw_protection},{data.fullBalance})";
-
-            sql = string.Format(sql, mcid, timestr, info_volt, info_current, info_capa, info_level, info_temp1, info_temp2);
 
             System.IO.File.WriteAllText(file, sql, System.Text.Encoding.Default);
             LastBMSIFTime = DateTime.Now;
@@ -167,20 +151,15 @@ public static partial class EEMStatus
             var timestr = PUB.BMS.Current_CellTime.ToString("yyyy-MM-dd HH:mm:ss");
 
             // BMS 데이터 (실제 값으로 교체 필요)
-            var info_volt = PUB.BMS.Current_Volt;// "null"; // bms.Voltage
+            var volt = PUB.BMS.BMSCellVoltage;
-            var info_current = PUB.BMS.Current_Amp;// "null"; // bms.Current
+            var cell_volt1 = volt.Voltage[0];// "null"; // bms.CellVolt1
-            var info_capa = PUB.BMS.Current_MaxAmp;// "null"; // bms.Capacity
+            var cell_volt2 = volt.Voltage[1]; // bms.CellVolt2
-            var info_level = PUB.BMS.Current_Level;// "null"; // bms.Level
+            var cell_volt3 = volt.Voltage[2]; // bms.CellVolt3
-            var info_temp1 = PUB.BMS.Current_temp1;// "null"; // bms.Temp1
+            var cell_volt4 = volt.Voltage[3]; // bms.CellVolt4
-            var info_temp2 = PUB.BMS.Current_temp2;// "null"; // bms.Temp2
+            var cell_volt5 = volt.Voltage[4]; // bms.CellVolt5
-            var cell_volt1 = PUB.BMS.CellVoltage[0];// "null"; // bms.CellVolt1
+            var cell_volt6 = volt.Voltage[5]; // bms.CellVolt6
-            var cell_volt2 = PUB.BMS.CellVoltage[1]; // bms.CellVolt2
+            var cell_volt7 = volt.Voltage[6]; // bms.CellVolt7
-            var cell_volt3 = PUB.BMS.CellVoltage[2]; // bms.CellVolt3
+            var cell_volt8 = volt.Voltage[7]; // bms.CellVolt8
-            var cell_volt4 = PUB.BMS.CellVoltage[3]; // bms.CellVolt4
-            var cell_volt5 = PUB.BMS.CellVoltage[4]; // bms.CellVolt5
-            var cell_volt6 = PUB.BMS.CellVoltage[5]; // bms.CellVolt6
-            var cell_volt7 = PUB.BMS.CellVoltage[6]; // bms.CellVolt7
-            var cell_volt8 = PUB.BMS.CellVoltage[7]; // bms.CellVolt8
 
             // Status 폴더에 SQL 파일 생성
             var path = System.IO.Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Status");

Cs_HMI/Project/CtlAuto.cs

@@ -273,8 +273,8 @@ namespace Project
             else
             {
                 //단순 수치값을 크게 표시히낟.
-                var Volt = dev_bms?.Current_Volt ?? 25.35f;
+                var Volt = dev_bms?.BMSInformation.packVoltage ?? 25.35f;
-                var Lev = dev_bms?.Current_Level ?? 80.1f;
+                var Lev = dev_bms?.BMSInformation.rsoc ?? 80f;
 
                 var textColor = Color.Lime;
                 if (Lev < 30) textColor = Color.Red;
@@ -439,7 +439,7 @@ namespace Project
 
 
             var bmslevel = 28f;
-            if (dev_bms != null) bmslevel = dev_bms.Current_Level;
+            if (dev_bms != null) bmslevel = dev_bms.BMSInformation.rsoc;
             var CornerRadius = 10;
             var XPosition = rectR.Left + (rectR.Width - batw) / 2f;
             var YPosition = rectR.Top + (rectR.Height - bath) / 2f + (rectR.Height * 0.05f);

Cs_HMI/Project/Device/BMS.cs

@@ -9,12 +9,152 @@ using System.CodeDom;
 
 namespace arDev
 {
+    public class BMSCellInformation
+    {
+        public float[] Voltage = new float[8];
+        public float Average
+        {
+            get
+            {
+                if (Voltage.Any() == false) return 0f;
+                return Voltage.Average();
+            }
+        }
+        public float Delta
+        {
+            get
+            {
+                if (Voltage.Any() == false) return 0f;
+                return Math.Abs(Voltage.Max() - Voltage.Min());
+            }
+        }
+    }
+    public class BMSBasicInformation
+    {
+        public float packVoltage { get; set; }
+        public float current { get; set; }
+        public float remainingCapacity { get; set; }
+        public float fullCapacity { get; set; }
+        public UInt16 cycleCount { get; set; }
+        public DateTime productionDate { get; set; }
+        public UInt32 fullBalance { get; set; }
+        public BMSProtectionStatus protectionStatus { get; set; }
+        public byte version { get; set; }
+        public byte rsoc { get; set; }
+        public BMSMosfetStatus mosfetStatus { get; set; }
+        public byte ntcCount { get; set; }
+        public float[] ntcTemp { get; set; }
+
+        public ushort raw_protection { get; set; }
+        public float watt
+        {
+            get
+            {
+                return (this.current * packVoltage);
+            }
+        }
+
+        /// <summary>
+        /// Remain / Full * 100
+        /// </summary>
+        public float RawLevel
+        {
+            get
+            {
+                if (fullCapacity < 1) return 0f;
+                return (remainingCapacity / fullCapacity) * 100f;
+            }
+        }
+
+        public BMSBasicInformation()
+        {
+            protectionStatus = new BMSProtectionStatus();
+            mosfetStatus = new BMSMosfetStatus();
+            productionDate = new DateTime();
+            ntcTemp = new float[] { 0f,0f};
+
+        }
+        public void Clear()
+        {
+            packVoltage = 0;
+            current = 0;
+            remainingCapacity = 0;
+            fullBalance = 0;
+            fullCapacity = 0;
+            cycleCount = 0;
+            productionDate = new DateTime();
+            protectionStatus = new BMSProtectionStatus();
+
+        }
+
+        public override string ToString()
+        {
+            return $"packVoltage:{packVoltage}\n" +
+                $"current:{current}\n" +
+                $"remainingCapacity:{remainingCapacity}\n" +
+                $"fullCapacity:{fullCapacity}\n" +
+                $"cycleCount:{cycleCount}\n" +
+                $"productionDate:{productionDate}\n" +
+                $"fullBalance:{fullBalance}\n" +
+                $"protectionStatus:{protectionStatus}\n" +
+                $"version:{version}\n" +
+                $"rsoc:{rsoc}\n" +
+                $"mosfetStatus:{mosfetStatus}\n" +
+                $"ntcCount:{ntcCount}\n" +
+                $"ntcTemp:{ntcTemp}\n" +
+                $"watt:{watt}\n" +
+                $"RawLevel:{RawLevel}";
+        }
+    }
+    public class BMSProtectionStatus
+    {
+        public bool covp { get; set; }// Cell Over Voltage Protection
+        public bool cuvp { get; set; } // Cell Under Voltage Protection
+        public bool povp { get; set; } // Pack Over Voltage Protection
+        public bool puvp { get; set; } // Pack Under Voltage Protection
+        public bool chgot { get; set; }// Charge Over Temp
+        public bool chgut { get; set; } // Charge Under Temp
+        public bool dsgot { get; set; } // Discharge Over Temp
+        public bool dsgut { get; set; } // Discharge Under Temp
+        public bool chgoc { get; set; } // Charge Over Current
+        public bool dsgoc { get; set; } // Discharge Over Current
+        public bool sc { get; set; } // Short Circuit
+        public bool afe { get; set; } // AFE Error
+        public override string ToString()
+        {
+            return "BMSProtectionStatus\n" +
+            $"covp={covp}\n" +// { get; set; }// Cell Over Voltage Protection
+            $"cuvp={cuvp}\n" +// { get; set; } // Cell Under Voltage Protection
+            $"povp={povp}\n" +// { get; set; } // Pack Over Voltage Protection
+            $"puvp={puvp}\n" +// { get; set; } // Pack Under Voltage Protection
+            $"chgot={chgot}\n" +// { get; set; }// Charge Over Temp
+            $"chgut={chgut}\n" +// { get; set; } // Charge Under Temp
+            $"dsgot={dsgot}\n" +// { get; set; } // Discharge Over Temp
+            $"dsgut={dsgut}\n" +// { get; set; } // Discharge Under Temp
+            $"chgoc={chgoc}\n" +// { get; set; } // Charge Over Current
+            $"dsgoc={dsgoc}\n" +// { get; set; } // Discharge Over Current
+            $"sc={sc}\n" +// { get; set; } // Short Circuit
+            $"afe={afe}";// +// { get; set; } // AFE Error
+        }
+    }
+    public class BMSMosfetStatus
+    {
+        public bool charge { get; set; }
+        public bool discharge { get; set; }
+        public override string ToString()
+        {
+            return $"charge:{charge}\n" +
+                $"discharge:{discharge}";
+        }
+
+    }
+
     public class BMS : BMSSerialComm
     {
         public BMS()
         {
 
-           
+
         }
 
         /// <summary>
@@ -77,14 +217,14 @@ namespace arDev
                             }
                         }
 
-//                        [22 - 12 - 27 14:32:49] open: True
+                        //                        [22 - 12 - 27 14:32:49] open: True
-//[22 - 12 - 27 14:32:49] Send: DD A5 03 00 FF FD 77 0D
+                        //[22 - 12 - 27 14:32:49] Send: DD A5 03 00 FF FD 77 0D
-//[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
+                        //[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
-//[22 - 12 - 27 14:32:50] Recv: 26.61v,81.4 %
+                        //[22 - 12 - 27 14:32:50] Recv: 26.61v,81.4 %
-//[22 - 12 - 27 14:32:50] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
+                        //[22 - 12 - 27 14:32:50] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
-//[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
+                        //[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
-//[22 - 12 - 27 14:32:51] Recv: 26.61v,81.4 %
+                        //[22 - 12 - 27 14:32:51] Recv: 26.61v,81.4 %
-//[22 - 12 - 27 14:32:51] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
+                        //[22 - 12 - 27 14:32:51] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
 
 
                         //var queylen = QueryIndex == 0 ? 34 : 23;
@@ -165,24 +305,24 @@ namespace arDev
             var recvchecksum = BitConverter.ToUInt16(LastReceiveBuffer.Skip(20).Take(2).Reverse().ToArray(), 0);
             if (recvchecksum == BatteryCell_Checksum)
             {
-                var v1 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(4).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v1 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(4).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v2 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(6).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v2 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(6).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v3 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(8).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v3 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(8).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v4 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(10).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v4 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(10).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v5 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(12).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v5 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(12).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v6 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(14).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v6 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(14).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v7 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(16).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v7 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(16).Take(2).Reverse().ToArray(), 0) / 1000f;
-                var v8 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(18).Take(2).Reverse().ToArray(), 0) / 1000.0;
+                var v8 = BitConverter.ToUInt16(LastReceiveBuffer.Skip(18).Take(2).Reverse().ToArray(), 0) / 1000f;
 
                 var idx = 0;
-                CellVoltage[idx++] = v1;
+                BMSCellVoltage.Voltage[idx++] = v1;
-                CellVoltage[idx++] = v2;
+                BMSCellVoltage.Voltage[idx++] = v2;
-                CellVoltage[idx++] = v3;
+                BMSCellVoltage.Voltage[idx++] = v3;
-                CellVoltage[idx++] = v4;
+                BMSCellVoltage.Voltage[idx++] = v4;
-                CellVoltage[idx++] = v5;
+                BMSCellVoltage.Voltage[idx++] = v5;
-                CellVoltage[idx++] = v6;
+                BMSCellVoltage.Voltage[idx++] = v6;
-                CellVoltage[idx++] = v7;
+                BMSCellVoltage.Voltage[idx++] = v7;
-                CellVoltage[idx++] = v8;
+                BMSCellVoltage.Voltage[idx++] = v8;
 
                 Recv1 = true;
 
@@ -199,61 +339,116 @@ namespace arDev
                 }
             }
             else return false;
-
-
         }
+
         bool ParseBMSInfo()
         {
+            var newinfo = new BMSBasicInformation();
+
             //전압확인
-            UInt16 batH = (UInt16)LastReceiveBuffer[4];
+            var offset = 4;
-            UInt16 batL = (UInt16)LastReceiveBuffer[5];
+            UInt16 batH = (UInt16)LastReceiveBuffer[offset + 0];
+            UInt16 batL = (UInt16)LastReceiveBuffer[offset + 1];
             batH = (UInt16)(batH << 8);
             batH = (UInt16)(batH | batL);
-            Current_Volt = (float)(batH / 100.0);
+            newinfo.packVoltage = (float)(batH / 100.0);
 
             //충방전전류
-            Int16 batHi = (Int16)LastReceiveBuffer[6];
+            Int16 batHi = (Int16)LastReceiveBuffer[offset + 2];
-            Int16 batLi = (Int16)LastReceiveBuffer[7];
+            Int16 batLi = (Int16)LastReceiveBuffer[offset + 3];
             batHi = (Int16)(batHi << 8);
             batHi = (Int16)(batHi | batLi);
-            Charge_Amp = (float)(batHi / 100.0);
+            newinfo.current = (float)(batHi / 100.0);
 
             //잔량확인
-            batH = (UInt16)LastReceiveBuffer[8];
+            batH = (UInt16)LastReceiveBuffer[offset + 4];
-            batL = (UInt16)LastReceiveBuffer[9];
+            batL = (UInt16)LastReceiveBuffer[offset + 5];
             batH = (UInt16)(batH << 8);
             batH = (UInt16)(batH | batL);
-            var newamp = (int)batH;
+            newinfo.remainingCapacity = (float)(batH / 100.0);
-            var Changed = newamp != Current_Amp;
-            Current_Amp = newamp;
 
             //총량확인
-            batH = (UInt16)LastReceiveBuffer[10];
+            batH = (UInt16)LastReceiveBuffer[offset + 6];
-            batL = (UInt16)LastReceiveBuffer[11];
+            batL = (UInt16)LastReceiveBuffer[offset + 7];
             batH = (UInt16)(batH << 8);
             batH = (UInt16)(batH | batL);
-            Current_MaxAmp = (int)batH;
+            newinfo.fullCapacity = (float)(batH / 100.0);
 
-            //남은 % 계산
+            //cycle
-            float levraw = (float)(Current_Amp / (Current_MaxAmp * 1.0));
+            batH = (UInt16)LastReceiveBuffer[offset + 8];
-            Current_Level = (float)(levraw * 100.0);//  (float)(map(remain, 0, total, 0, 100));            
+            batL = (UInt16)LastReceiveBuffer[offset + 9];
-            Current_LevelA = LastReceiveBuffer[23]; //<- 23번자료는 byte이므로 소수점이잇는 데이터로 직접 계산한다
+            batH = (UInt16)(batH << 8);
+            batH = (UInt16)(batH | batL);
+            newinfo.cycleCount = batH;
+
+            //productiondate
+            batH = (UInt16)LastReceiveBuffer[offset + 10];
+            batL = (UInt16)LastReceiveBuffer[offset + 11];
+            batH = (UInt16)(batH << 8);
+            batH = (UInt16)(batH | batL);
+            var info_productiondateint = batH;
+            var date_year = (info_productiondateint >> 9) + 2000;
+            var date_month = (info_productiondateint >> 5) & 0x0F;
+            var date_day = info_productiondateint & 0x1F;
+            newinfo.productionDate = new DateTime(date_year, date_month, date_day);
+
+            //balnace status
+            batH = (UInt16)LastReceiveBuffer[offset + 12];
+            batL = (UInt16)LastReceiveBuffer[offset + 13];
+            batH = (UInt16)(batH << 8);
+            var balanceStatus = (UInt16)(batH | batL);
+
+            //balnace status(HIGH)
+            batH = (UInt16)LastReceiveBuffer[offset + 14];
+            batL = (UInt16)LastReceiveBuffer[offset + 15];
+            batH = (UInt16)(batH << 8);
+            var balanceStatusHigh = (UInt16)(batH | batL);
+            newinfo.fullBalance = (UInt32)(balanceStatus | (balanceStatusHigh << 16));
+
+            //protectionStatusRaw
+            batH = (UInt16)LastReceiveBuffer[offset + 16];
+            batL = (UInt16)LastReceiveBuffer[offset + 17];
+            batH = (UInt16)(batH << 8);
+            newinfo.raw_protection = batH;// view.getUint16(16, false);
+            var protectionStatusRaw = newinfo.raw_protection;
+            newinfo.protectionStatus.covp = (protectionStatusRaw & 1) > 0;
+            newinfo.protectionStatus.cuvp = ((protectionStatusRaw >> 1) & 1) > 0;
+            newinfo.protectionStatus.povp = ((protectionStatusRaw >> 2) & 1) > 0;
+            newinfo.protectionStatus.puvp = ((protectionStatusRaw >> 3) & 1) > 0;
+            newinfo.protectionStatus.chgot = ((protectionStatusRaw >> 4) & 1) > 0;
+            newinfo.protectionStatus.chgut = ((protectionStatusRaw >> 5) & 1) > 0;
+            newinfo.protectionStatus.dsgot = ((protectionStatusRaw >> 6) & 1) > 0;
+            newinfo.protectionStatus.dsgut = ((protectionStatusRaw >> 7) & 1) > 0;
+            newinfo.protectionStatus.chgoc = ((protectionStatusRaw >> 8) & 1) > 0;
+            newinfo.protectionStatus.dsgoc = ((protectionStatusRaw >> 9) & 1) > 0;
+            newinfo.protectionStatus.sc = ((protectionStatusRaw >> 10) & 1) > 0;
+            newinfo.protectionStatus.afe = ((protectionStatusRaw >> 11) & 1) > 0;
+
+
+            //version
+            newinfo.version = LastReceiveBuffer[offset + 18];
+            newinfo.rsoc = LastReceiveBuffer[offset + 19];
+            var mosfetRaw = LastReceiveBuffer[offset + 20];
+            newinfo.mosfetStatus.charge = (mosfetRaw & 1) == 1;
+            newinfo.mosfetStatus.discharge = ((mosfetRaw >> 1) & 1) == 1;
 
 
             //250620 jwlee 추가
-            int temp1 = (LastReceiveBuffer[27] << 8) | LastReceiveBuffer[28];
+            newinfo.ntcCount = LastReceiveBuffer[offset + 22]; //센서갯수
-            int temp2 = (LastReceiveBuffer[29] << 8) | LastReceiveBuffer[30];
+            int temp1 = (LastReceiveBuffer[offset + 23] << 8) | LastReceiveBuffer[24];
+            int temp2 = (LastReceiveBuffer[offset + 25] << 8) | LastReceiveBuffer[36];
+            var Current_temp1 = (temp1 - 2731) / 10f;
+            var Current_temp2 = (temp2 - 2731) / 10f;
+            newinfo.ntcTemp = new float[] { (temp1 - 2731) / 10f, (temp2 - 2731) / 10f };
 
-            Current_temp1 = (temp1 - 2731) / 10f;
+            CheckManualCharge(newinfo);
-            Current_temp2 = (temp2 - 2731) / 10f;
-
-            CheckManualCharge();
 
             Recv0 = true;
 
             try
             {
-                BMSDataReceive?.Invoke(this, new BMSInformationEventArgs(Current_Volt, Current_Amp, Current_MaxAmp, Current_Level, Changed));
+                this.BMSInformation = newinfo;
+                BMSDataReceive?.Invoke(this, new BMSInformationEventArgs(BMSInformation));
                 Current_DataTime = DateTime.Now;
                 return true;
             }
@@ -263,16 +458,21 @@ namespace arDev
                 return false;
             }
         }
+
+        public BMSBasicInformation BMSInformation = new BMSBasicInformation();
+        public BMSCellInformation BMSCellVoltage = new BMSCellInformation();
+
+
         /// <summary>
         /// 현재 충전중인지?
         /// </summary>
         public bool IsCharging { get; private set; }
         DateTime ChargeStart = DateTime.Now;
         DateTime ChargeEnd = DateTime.Now;
-        void CheckManualCharge()
+        void CheckManualCharge(BMSBasicInformation info)
         {
             //충방전전력이 1보다 크면 충전으로 한다.
-            if (Charge_Amp > 0.1)
+            if (this.BMSInformation.current > 0.1)
             {
                 //기존에 충전상태가 OFF였다면 충전중으로 알려준다
                 if (IsCharging == false)
@@ -282,7 +482,7 @@ namespace arDev
                     ChargeEnd = new DateTime(1982, 11, 23);
                     try
                     {
-                        ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeStart, true, Current_Level));
+                        ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeStart, true, info.RawLevel));
                     }
                     catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
                 }
@@ -309,7 +509,7 @@ namespace arDev
                             IsCharging = false;
                             try
                             {
-                                ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeEnd, false, Current_Level));
+                                ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeEnd, false, info.RawLevel));
                             }
                             catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
                         }
@@ -328,47 +528,6 @@ namespace arDev
         public DateTime chk_timee { get; set; } = new DateTime(1982, 11, 23);
         public float chk_values { get; set; } = 0f;
         public float chk_valuee { get; set; } = 0f;
-
-        public float Charge_Amp { get; set; } = 0f;
-        public Int16 Charge_watt
-        {
-            get
-            {
-                return (Int16)((Charge_Amp) * Current_Volt);
-            }
-        }
-        /// <summary>
-        /// 전압
-        /// </summary>
-        public float Current_Volt { get; set; }
-        /// <summary>
-        /// 남은 잔량(%)
-        /// </summary>
-        public float Current_Level { get; set; }
-        public double[] CellVoltage = new double[] { 0, 0, 0, 0, 0, 0, 0, 0 };
-
-        public float Current_LevelA { get; set; }
-
-        /// <summary>
-        /// 남은 전류량
-        /// </summary>
-        public int Current_Amp { get; set; }
-
-        /// <summary>
-        /// BMS 온도값1
-        /// </summary>
-        public double Current_temp1 { get; set; }
-
-        /// <summary>
-        /// BMS 온도값2
-        /// </summary>
-        public double Current_temp2 { get; set; }
-
-        /// <summary>
-        /// 총 전류량
-        /// </summary>
-        public int Current_MaxAmp { get; set; }
-
         public DateTime Current_DataTime = DateTime.Parse("1982-11-23");
         public DateTime Current_CellTime = DateTime.Parse("1982-11-23");
 

Cs_HMI/Project/Device/BMSInformationEventArgs.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Linq;
 
 namespace arDev
 {
@@ -16,18 +17,10 @@ namespace arDev
     }
     public class BMSInformationEventArgs : EventArgs
     {
-        public float Volt { get; set; }
+        public BMSBasicInformation Data { get; set; }
-        public int CurAmp { get; set; }
+        public BMSInformationEventArgs(BMSBasicInformation info)
-        public int MaxAmp { get; set; }
-        public float Level { get; set; }
-        public bool Changed { get; set; }
-        public BMSInformationEventArgs(float _volt, int _curamp, int _maxamp, float _level, bool _changed)
         {
-            this.Volt = _volt;
+            this.Data = info;
-            this.CurAmp = _curamp;
-            this.MaxAmp = _maxamp;
-            this.Level = _level;
-            this.Changed = _changed;
         }
     }
 
@@ -38,5 +31,9 @@ namespace arDev
         {
             voltage = new double[] { v1, v2, v3, v4, v5, v6, v7, v8 };
         }
+        public override string ToString()
+        {
+            return string.Join(" ", voltage.Select(t => t.ToString()));
+        }
     }
 }

Cs_HMI/Project/PUB.cs

@@ -142,7 +142,7 @@ namespace Project
             //콜가능여부도 전송한다
             if (VAR.BOOL[eVarBool.FLAG_AUTORUN] &&
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false &&
-                PUB.BMS.Current_Level > PUB.setting.ChargeEmergencyLevel &&
+                PUB.BMS.BMSInformation.rsoc > PUB.setting.ChargeEmergencyLevel &&
                 PUB.sm.RunStep != StateMachine.ERunStep.BUFFER_OUT &&
                 VAR.BOOL[eVarBool.WAIT_COVER_DOWN] == false &&
                 VAR.BOOL[eVarBool.WAIT_COVER_UP] == false)

Cs_HMI/Project/StateMachine/Step/_SM_RUN_READY.cs

@@ -29,7 +29,7 @@ namespace Project
 
                 //충전중이라면 최대 충전 시간을 체크한다.
                 var tsChargeRunTime = VAR.TIME.RUN(eVarTime.ChargeStart);
-                if (PUB.BMS.Current_Level >= PUB.setting.ChargeMaxLevel)
+                if (PUB.BMS.BMSInformation.rsoc >= PUB.setting.ChargeMaxLevel)
                 {
                     PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
                     PUB.sm.ClearRunStep();

Cs_HMI/Project/StateMachine/_BMS.cs

@@ -170,18 +170,13 @@ namespace Project
 
         }
 
-        private void Bms_BMSDataReceive(object sender, EventArgs e)
+        private void Bms_BMSDataReceive(object sender, arDev.BMSInformationEventArgs e)
         {
-
             VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
-            //PUB.mapctl.Manager.agv.BatteryLevel = PUB.BMS.Current_Level;
-            //PUB.mapctl.Manager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
-            //PUB.mapctl.Manager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
 
-            // [Sync] Update VirtualAGV Battery
+            PUB.UpdateAGVBattery(e.Data.rsoc);
-            PUB.UpdateAGVBattery(PUB.BMS.Current_Level);
 
-            if (PUB.BMS.Current_Level <= PUB.setting.ChargeStartLevel)
+            if (e.Data.rsoc <= PUB.setting.ChargeStartLevel)
             {
                 //배터리 레벨이 기준보다 낮다면 경고를 활성화 한다
                 if (VAR.BOOL[eVarBool.BATTERY_LOW] == false)

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -59,10 +59,11 @@ namespace Project
                 panTopMenu.Enabled == false) panTopMenu.Enabled = true;
 
             //배터리정보표시
-            lbBat.VLevel = PUB.BMS.Current_Level;
+            var bmsinfo = PUB.BMS.BMSInformation;
-            lbBat.Volt = PUB.BMS.Current_Volt;
+            lbBat.VLevel = bmsinfo.rsoc;
-            lbBat.MaxA = PUB.BMS.Current_MaxAmp;
+            lbBat.Volt = bmsinfo.packVoltage;
-            lbBat.CurA = PUB.BMS.Current_Amp;
+            lbBat.MaxA = bmsinfo.fullCapacity;
+            lbBat.CurA = bmsinfo.remainingCapacity;
             lbBat.IsOpen = PUB.BMS.IsOpen;
 
             //쓰레드로인해서 메인에서 진행하게한다. SPS는 메인쓰레드에서 진행 됨
@@ -174,8 +175,8 @@ namespace Project
                     var tsIdle = VAR.TIME.RUN(eVarTime.ChargeStart);
                     lbIDLE.ProgressMax = 100;// PUB.setting.ChargeMaxLevel;
                     lbIDLE.ProgressMin = 0;
-                    lbIDLE.Text = $"{PUB.BMS.Current_Level:N0}%";
+                    lbIDLE.Text = $"{PUB.BMS.BMSInformation.rsoc}%";
-                    lbIDLE.ProgressValue = (float)PUB.BMS.Current_Level;
+                    lbIDLE.ProgressValue = (float)PUB.BMS.BMSInformation.rsoc;
                 }
                 else
                 {
@@ -184,8 +185,8 @@ namespace Project
                     var tsIdle = VAR.TIME.RUN(eVarTime.ChargeStart);
                     lbIDLE.ProgressMax = PUB.setting.ChargeMaxLevel;
                     lbIDLE.ProgressMin = 0;
-                    lbIDLE.Text = $"({PUB.BMS.Current_Level:N0}/{PUB.setting.ChargeMaxLevel})%";
+                    lbIDLE.Text = $"({PUB.BMS.BMSInformation.rsoc}/{PUB.setting.ChargeMaxLevel})%";
-                    lbIDLE.ProgressValue = (float)PUB.BMS.Current_Level;
+                    lbIDLE.ProgressValue = (float)PUB.BMS.BMSInformation.rsoc;
                     //}
                     //else
                     //{
@@ -380,7 +381,7 @@ namespace Project
         /// </summary>
         void Update_BatteryWarnSpeak()
         {
-            if (PUB.BMS == null || PUB.BMS.Current_Level > 40) return;
+            if (PUB.BMS == null || PUB.BMS.BMSInformation.rsoc > 40) return;
 
             //가동중이거나 수동모드에서는 메세지 알림한다
             if (PUB.AGV.system1.agv_run || VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
@@ -605,7 +606,7 @@ namespace Project
                 {
                     //남은 충전시간 계산
                     string msg = string.Empty;
-                    if (PUB.BMS.Current_Level < PUB.setting.ChargeEmergencyLevel)
+                    if (PUB.BMS.BMSInformation.rsoc < PUB.setting.ChargeEmergencyLevel)
                     {
                         msg = $"충전 진행 중(이동 불가)\n저전압으로 인해 사용이 불가 합니다";
                     }

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -328,7 +328,7 @@ namespace Project
             var prevDir = selectedAGV.PrevDirection;
 
             // 고급 경로 계획 사용 (노드 객체 직접 전달)
-            var advancedResult = _advancedPathfinder.FindPath(startNode, targetNode, prevNode, prevDir, currentDirection);
+            var advancedResult = _advancedPathfinder.FindBasicPath(startNode, targetNode, prevNode, prevDir);
 
             var _simulatorCanvas = PUB._mapCanvas;
 

Cs_HMI/Project/ViewForm/fBms.Designer.cs

@@ -31,8 +31,15 @@
             this.components = new System.ComponentModel.Container();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.panel1 = new System.Windows.Forms.Panel();
-            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.lbcvSt = new System.Windows.Forms.Label();
+            this.panel11 = new System.Windows.Forms.Panel();
+            this.lbtemp2 = new System.Windows.Forms.Label();
+            this.label7 = new System.Windows.Forms.Label();
+            this.panel10 = new System.Windows.Forms.Panel();
+            this.lbTemp1 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.panel9 = new System.Windows.Forms.Panel();
             this.cv8 = new System.Windows.Forms.Label();
             this.label16 = new System.Windows.Forms.Label();
@@ -61,14 +68,11 @@
             this.button1 = new System.Windows.Forms.Button();
             this.arLabel1 = new arCtl.arLabel();
             this.lbinfost = new System.Windows.Forms.Label();
-            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.lbCycle = new System.Windows.Forms.Label();
-            this.panel10 = new System.Windows.Forms.Panel();
-            this.lbTemp1 = new System.Windows.Forms.Label();
-            this.label3 = new System.Windows.Forms.Label();
-            this.panel11 = new System.Windows.Forms.Panel();
-            this.lbtemp2 = new System.Windows.Forms.Label();
-            this.label7 = new System.Windows.Forms.Label();
             this.panel1.SuspendLayout();
+            this.groupBox2.SuspendLayout();
+            this.panel11.SuspendLayout();
+            this.panel10.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.panel9.SuspendLayout();
             this.panel8.SuspendLayout();
@@ -78,9 +82,6 @@
             this.panel4.SuspendLayout();
             this.panel3.SuspendLayout();
             this.panel2.SuspendLayout();
-            this.groupBox2.SuspendLayout();
-            this.panel10.SuspendLayout();
-            this.panel11.SuspendLayout();
             this.SuspendLayout();
             // 
             // timer1
@@ -100,6 +101,100 @@
             this.panel1.Size = new System.Drawing.Size(187, 577);
             this.panel1.TabIndex = 0;
             // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.lbcvSt);
+            this.groupBox2.Controls.Add(this.panel11);
+            this.groupBox2.Controls.Add(this.panel10);
+            this.groupBox2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox2.ForeColor = System.Drawing.Color.White;
+            this.groupBox2.Location = new System.Drawing.Point(0, 465);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(187, 112);
+            this.groupBox2.TabIndex = 3;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "Temp";
+            // 
+            // lbcvSt
+            // 
+            this.lbcvSt.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.lbcvSt.AutoSize = true;
+            this.lbcvSt.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.lbcvSt.ForeColor = System.Drawing.Color.White;
+            this.lbcvSt.Location = new System.Drawing.Point(148, 82);
+            this.lbcvSt.Name = "lbcvSt";
+            this.lbcvSt.Size = new System.Drawing.Size(39, 27);
+            this.lbcvSt.TabIndex = 8;
+            this.lbcvSt.Text = "●";
+            // 
+            // panel11
+            // 
+            this.panel11.Controls.Add(this.lbtemp2);
+            this.panel11.Controls.Add(this.label7);
+            this.panel11.Dock = System.Windows.Forms.DockStyle.Top;
+            this.panel11.Location = new System.Drawing.Point(3, 57);
+            this.panel11.Name = "panel11";
+            this.panel11.Size = new System.Drawing.Size(181, 40);
+            this.panel11.TabIndex = 10;
+            // 
+            // lbtemp2
+            // 
+            this.lbtemp2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbtemp2.Font = new System.Drawing.Font("Tahoma", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbtemp2.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
+            this.lbtemp2.Location = new System.Drawing.Point(47, 0);
+            this.lbtemp2.Name = "lbtemp2";
+            this.lbtemp2.Size = new System.Drawing.Size(134, 40);
+            this.lbtemp2.TabIndex = 0;
+            this.lbtemp2.Text = "--";
+            this.lbtemp2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label7
+            // 
+            this.label7.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label7.Font = new System.Drawing.Font("굴림", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
+            this.label7.Location = new System.Drawing.Point(0, 0);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(47, 40);
+            this.label7.TabIndex = 0;
+            this.label7.Text = "#2";
+            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // panel10
+            // 
+            this.panel10.Controls.Add(this.lbTemp1);
+            this.panel10.Controls.Add(this.label3);
+            this.panel10.Dock = System.Windows.Forms.DockStyle.Top;
+            this.panel10.Location = new System.Drawing.Point(3, 17);
+            this.panel10.Name = "panel10";
+            this.panel10.Size = new System.Drawing.Size(181, 40);
+            this.panel10.TabIndex = 9;
+            // 
+            // lbTemp1
+            // 
+            this.lbTemp1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbTemp1.Font = new System.Drawing.Font("Tahoma", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbTemp1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
+            this.lbTemp1.Location = new System.Drawing.Point(47, 0);
+            this.lbTemp1.Name = "lbTemp1";
+            this.lbTemp1.Size = new System.Drawing.Size(134, 40);
+            this.lbTemp1.TabIndex = 0;
+            this.lbTemp1.Text = "--";
+            this.lbTemp1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label3
+            // 
+            this.label3.Dock = System.Windows.Forms.DockStyle.Left;
+            this.label3.Font = new System.Drawing.Font("굴림", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label3.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
+            this.label3.Location = new System.Drawing.Point(0, 0);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(47, 40);
+            this.label3.TabIndex = 0;
+            this.label3.Text = "#1";
+            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
             // groupBox1
             // 
             this.groupBox1.Controls.Add(this.panel9);
@@ -119,18 +214,6 @@
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "Cell voltage";
             // 
-            // lbcvSt
-            // 
-            this.lbcvSt.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
-            this.lbcvSt.AutoSize = true;
-            this.lbcvSt.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.lbcvSt.ForeColor = System.Drawing.Color.White;
-            this.lbcvSt.Location = new System.Drawing.Point(148, 82);
-            this.lbcvSt.Name = "lbcvSt";
-            this.lbcvSt.Size = new System.Drawing.Size(39, 27);
-            this.lbcvSt.TabIndex = 8;
-            this.lbcvSt.Text = "●";
-            // 
             // panel9
             // 
             this.panel9.Controls.Add(this.cv8);
@@ -484,93 +567,24 @@
             this.lbinfost.TabIndex = 2;
             this.lbinfost.Text = "●";
             // 
-            // groupBox2
+            // lbCycle
             // 
-            this.groupBox2.Controls.Add(this.lbcvSt);
+            this.lbCycle.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
-            this.groupBox2.Controls.Add(this.panel11);
+            this.lbCycle.Font = new System.Drawing.Font("Tahoma", 10F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.groupBox2.Controls.Add(this.panel10);
+            this.lbCycle.ForeColor = System.Drawing.Color.SkyBlue;
-            this.groupBox2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbCycle.Location = new System.Drawing.Point(296, 8);
-            this.groupBox2.ForeColor = System.Drawing.Color.White;
+            this.lbCycle.Name = "lbCycle";
-            this.groupBox2.Location = new System.Drawing.Point(0, 465);
+            this.lbCycle.Size = new System.Drawing.Size(749, 27);
-            this.groupBox2.Name = "groupBox2";
+            this.lbCycle.TabIndex = 3;
-            this.groupBox2.Size = new System.Drawing.Size(187, 112);
+            this.lbCycle.Text = "Cycle(2)";
-            this.groupBox2.TabIndex = 3;
+            this.lbCycle.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.groupBox2.TabStop = false;
-            this.groupBox2.Text = "Temp";
-            // 
-            // panel10
-            // 
-            this.panel10.Controls.Add(this.lbTemp1);
-            this.panel10.Controls.Add(this.label3);
-            this.panel10.Dock = System.Windows.Forms.DockStyle.Top;
-            this.panel10.Location = new System.Drawing.Point(3, 17);
-            this.panel10.Name = "panel10";
-            this.panel10.Size = new System.Drawing.Size(181, 40);
-            this.panel10.TabIndex = 9;
-            // 
-            // label2
-            // 
-            this.lbTemp1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lbTemp1.Font = new System.Drawing.Font("Tahoma", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lbTemp1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
-            this.lbTemp1.Location = new System.Drawing.Point(47, 0);
-            this.lbTemp1.Name = "label2";
-            this.lbTemp1.Size = new System.Drawing.Size(134, 40);
-            this.lbTemp1.TabIndex = 0;
-            this.lbTemp1.Text = "--";
-            this.lbTemp1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
-            // label3
-            // 
-            this.label3.Dock = System.Windows.Forms.DockStyle.Left;
-            this.label3.Font = new System.Drawing.Font("굴림", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label3.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
-            this.label3.Location = new System.Drawing.Point(0, 0);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(47, 40);
-            this.label3.TabIndex = 0;
-            this.label3.Text = "#1";
-            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
-            // panel11
-            // 
-            this.panel11.Controls.Add(this.lbtemp2);
-            this.panel11.Controls.Add(this.label7);
-            this.panel11.Dock = System.Windows.Forms.DockStyle.Top;
-            this.panel11.Location = new System.Drawing.Point(3, 57);
-            this.panel11.Name = "panel11";
-            this.panel11.Size = new System.Drawing.Size(181, 40);
-            this.panel11.TabIndex = 10;
-            // 
-            // label5
-            // 
-            this.lbtemp2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lbtemp2.Font = new System.Drawing.Font("Tahoma", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lbtemp2.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
-            this.lbtemp2.Location = new System.Drawing.Point(47, 0);
-            this.lbtemp2.Name = "label5";
-            this.lbtemp2.Size = new System.Drawing.Size(134, 40);
-            this.lbtemp2.TabIndex = 0;
-            this.lbtemp2.Text = "--";
-            this.lbtemp2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
-            // label7
-            // 
-            this.label7.Dock = System.Windows.Forms.DockStyle.Left;
-            this.label7.Font = new System.Drawing.Font("굴림", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
-            this.label7.Location = new System.Drawing.Point(0, 0);
-            this.label7.Name = "label7";
-            this.label7.Size = new System.Drawing.Size(47, 40);
-            this.label7.TabIndex = 0;
-            this.label7.Text = "#2";
-            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // fBms
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(15)))), ((int)(((byte)(15)))), ((int)(((byte)(15)))));
             this.ClientSize = new System.Drawing.Size(1056, 583);
+            this.Controls.Add(this.lbCycle);
             this.Controls.Add(this.lbinfost);
             this.Controls.Add(this.arLabel1);
             this.Controls.Add(this.panel1);
@@ -581,6 +595,10 @@
             this.Load += new System.EventHandler(this.fFlag_Load);
             this.VisibleChanged += new System.EventHandler(this.fAgv_VisibleChanged);
             this.panel1.ResumeLayout(false);
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
+            this.panel11.ResumeLayout(false);
+            this.panel10.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.panel9.ResumeLayout(false);
             this.panel8.ResumeLayout(false);
@@ -590,10 +608,6 @@
             this.panel4.ResumeLayout(false);
             this.panel3.ResumeLayout(false);
             this.panel2.ResumeLayout(false);
-            this.groupBox2.ResumeLayout(false);
-            this.groupBox2.PerformLayout();
-            this.panel10.ResumeLayout(false);
-            this.panel11.ResumeLayout(false);
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -639,5 +653,6 @@
         private System.Windows.Forms.Panel panel10;
         private System.Windows.Forms.Label lbTemp1;
         private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label lbCycle;
     }
 }

Cs_HMI/Project/ViewForm/fBms.cs

@@ -63,18 +63,26 @@ namespace Project.ViewForm
         private void timer1_Tick(object sender, EventArgs e)
         {
             timer1.Stop();
-            this.arLabel1.Text = PUB.BMS.Current_Level.ToString("N1") + "%";
+            var data = PUB.BMS.BMSInformation;
-            this.arLabel1.Sign = $"{PUB.BMS.Current_Volt}v, {PUB.BMS.Charge_watt}w";// PUB.BMS.Current_Volt.ToString() + "v";
+            var volt = PUB.BMS.BMSCellVoltage;
-            this.cv1.Text = PUB.BMS.CellVoltage[0].ToString("N3") + "v";
+            if (PUB.BMS.IsOpen == false)
-            this.cv2.Text = PUB.BMS.CellVoltage[1].ToString("N3") + "v";
+                this.lbCycle.Text = "통신이 열려있지 않습니다";
-            this.cv3.Text = PUB.BMS.CellVoltage[2].ToString("N3") + "v";
+            else if (PUB.BMS.IsValid == false)
-            this.cv4.Text = PUB.BMS.CellVoltage[3].ToString("N3") + "v";
+                this.lbCycle.Text = "데이터가 유효하지 않습니다";
-            this.cv5.Text = PUB.BMS.CellVoltage[4].ToString("N3") + "v";
+            else
-            this.cv6.Text = PUB.BMS.CellVoltage[5].ToString("N3") + "v";
+                this.lbCycle.Text = $"Cell Average:{volt.Average},Delta:{volt.Delta},Cycle({data.cycleCount})";
-            this.cv7.Text = PUB.BMS.CellVoltage[6].ToString("N3") + "v";
+            this.arLabel1.Text = $"{data.rsoc}%";
-            this.cv8.Text = PUB.BMS.CellVoltage[7].ToString("N3") + "v";
+            this.arLabel1.Sign = $"{data.packVoltage}v, {data.watt}w";// PUB.BMS.Current_Volt.ToString() + "v";
-            this.lbTemp1.Text = PUB.BMS.Current_temp1.ToString() + "℃";
+            this.cv1.Text = volt.Voltage[0].ToString("N3") + "v";
-            this.lbtemp2.Text = PUB.BMS.Current_temp2.ToString() + "℃";
+            this.cv2.Text = volt.Voltage[1].ToString("N3") + "v";
+            this.cv3.Text = volt.Voltage[2].ToString("N3") + "v";
+            this.cv4.Text = volt.Voltage[3].ToString("N3") + "v";
+            this.cv5.Text = volt.Voltage[4].ToString("N3") + "v";
+            this.cv6.Text = volt.Voltage[5].ToString("N3") + "v";
+            this.cv7.Text = volt.Voltage[6].ToString("N3") + "v";
+            this.cv8.Text = volt.Voltage[7].ToString("N3") + "v";
+            this.lbTemp1.Text = data.ntcTemp[0].ToString() + "℃";
+            this.lbtemp2.Text = data.ntcTemp[1].ToString() + "℃";
             timer1.Start();
         }
 

Cs_HMI/Project/fMain.cs

@@ -756,7 +756,7 @@ namespace Project
 
         private void lbBat_Click(object sender, EventArgs e)
         {
-            var bat = (int)PUB.BMS.Current_Level;
+            var bat = (int)PUB.BMS.BMSInformation.rsoc;
             var msg = $"{bat}퍼센트";
             PUB.Speak(msg, false, false);
             PUB.counter.CountQA += 1;

Cs_HMI/TestProject/Test_BMS/Form1.Designer.cs

@@ -36,8 +36,9 @@
             this.label2 = new System.Windows.Forms.Label();
             this.logTextBox1 = new arCtl.LogTextBox();
             this.button3 = new System.Windows.Forms.Button();
-            this.button4 = new System.Windows.Forms.Button();
+            this.btSendCV = new System.Windows.Forms.Button();
             this.button5 = new System.Windows.Forms.Button();
+            this.logTextBox2 = new arCtl.LogTextBox();
             this.SuspendLayout();
             // 
             // comboBox1
@@ -117,7 +118,7 @@
             this.logTextBox1.MaxTextLength = ((uint)(4000u));
             this.logTextBox1.MessageInterval = 50;
             this.logTextBox1.Name = "logTextBox1";
-            this.logTextBox1.Size = new System.Drawing.Size(494, 351);
+            this.logTextBox1.Size = new System.Drawing.Size(368, 395);
             this.logTextBox1.TabIndex = 4;
             this.logTextBox1.Text = "";
             // 
@@ -127,19 +128,19 @@
             this.button3.Name = "button3";
             this.button3.Size = new System.Drawing.Size(140, 20);
             this.button3.TabIndex = 5;
-            this.button3.Text = "send query";
+            this.button3.Text = "read status";
             this.button3.UseVisualStyleBackColor = true;
             this.button3.Click += new System.EventHandler(this.button3_Click);
             // 
-            // button4
+            // btSendCV
             // 
-            this.button4.Location = new System.Drawing.Point(447, 60);
+            this.btSendCV.Location = new System.Drawing.Point(447, 60);
-            this.button4.Name = "button4";
+            this.btSendCV.Name = "btSendCV";
-            this.button4.Size = new System.Drawing.Size(140, 20);
+            this.btSendCV.Size = new System.Drawing.Size(140, 20);
-            this.button4.TabIndex = 6;
+            this.btSendCV.TabIndex = 6;
-            this.button4.Text = "send query";
+            this.btSendCV.Text = "read cellvoltage";
-            this.button4.UseVisualStyleBackColor = true;
+            this.btSendCV.UseVisualStyleBackColor = true;
-            this.button4.Click += new System.EventHandler(this.button4_Click);
+            this.btSendCV.Click += new System.EventHandler(this.button4_Click);
             // 
             // button5
             // 
@@ -151,13 +152,33 @@
             this.button5.UseVisualStyleBackColor = true;
             this.button5.Click += new System.EventHandler(this.button5_Click);
             // 
+            // logTextBox2
+            // 
+            this.logTextBox2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.logTextBox2.ColorList = new arCtl.sLogMessageColor[0];
+            this.logTextBox2.DateFormat = "yy-MM-dd HH:mm:ss";
+            this.logTextBox2.DefaultColor = System.Drawing.Color.LightGray;
+            this.logTextBox2.EnableDisplayTimer = true;
+            this.logTextBox2.EnableGubunColor = true;
+            this.logTextBox2.Font = new System.Drawing.Font("Consolas", 9F);
+            this.logTextBox2.ListFormat = "[{0}] {1}";
+            this.logTextBox2.Location = new System.Drawing.Point(401, 87);
+            this.logTextBox2.MaxListCount = ((ushort)(200));
+            this.logTextBox2.MaxTextLength = ((uint)(4000u));
+            this.logTextBox2.MessageInterval = 50;
+            this.logTextBox2.Name = "logTextBox2";
+            this.logTextBox2.Size = new System.Drawing.Size(368, 395);
+            this.logTextBox2.TabIndex = 8;
+            this.logTextBox2.Text = "";
+            // 
             // Form1
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(574, 450);
+            this.ClientSize = new System.Drawing.Size(779, 494);
+            this.Controls.Add(this.logTextBox2);
             this.Controls.Add(this.button5);
-            this.Controls.Add(this.button4);
+            this.Controls.Add(this.btSendCV);
             this.Controls.Add(this.button3);
             this.Controls.Add(this.logTextBox1);
             this.Controls.Add(this.label2);
@@ -185,8 +206,9 @@
         private System.Windows.Forms.Label label2;
         private arCtl.LogTextBox logTextBox1;
         private System.Windows.Forms.Button button3;
-        private System.Windows.Forms.Button button4;
+        private System.Windows.Forms.Button btSendCV;
         private System.Windows.Forms.Button button5;
+        private arCtl.LogTextBox logTextBox2;
     }
 }
 

Cs_HMI/TestProject/Test_BMS/Form1.cs

@@ -25,19 +25,16 @@ namespace Test_BMS
 
         private void Bms_BMSCellDataReceive(object sender, arDev.BMSCelvoltageEventArgs e)
         {
-            var valuestr = string.Join(" ", e.voltage.Select(t => t.ToString()));
+            var valuestr = e.ToString();// string.Join(" ", e.voltage.Select(t => t.ToString()));
-            addmsg($"voltage:{valuestr}");
+            addmsg2($"{valuestr}");
         }
 
-        private void Bms_BMSDataReceive(object sender, EventArgs e)
+        private void Bms_BMSDataReceive(object sender, arDev.BMSInformationEventArgs e)
         {
             //최종 데이터가 수신되는 경우
-            string msg = $"{bms.Current_Volt}v,{bms.Current_Level}%,{bms.Current_Amp}/{bms.Current_MaxAmp}";
+            addmsg(e.Data.ToString());
-            addmsg("Recv:" + msg);
         }
 
-
-
         private void Bms_Message(object sender, arDev.BMSSerialComm.MessageEventArgs e)
         {
             var sb = new System.Text.StringBuilder();
@@ -61,7 +58,6 @@ namespace Test_BMS
             else
                 addmsg($"{e.MsgType}:{sb}");
         }
-
         void addmsg(string m)
         {
             if (logTextBox1.InvokeRequired)
@@ -76,6 +72,19 @@ namespace Test_BMS
             }
         }
 
+        void addmsg2(string m)
+        {
+            if (logTextBox2.InvokeRequired)
+            {
+                logTextBox2.BeginInvoke(new Action(() => {
+                    logTextBox2.AddMsg(m);
+                }));
+            }
+            else
+            {
+                logTextBox2.AddMsg(m);
+            }
+        }
 
         private void Form1_Load(object sender, EventArgs e)
         {