..

Cs_HMI/Project/AGV4.csproj

@@ -173,7 +173,7 @@
       <DependentUpon>DataSet1.xsd</DependentUpon>
     </Compile>
     <Compile Include="Device\CFlag.cs" />
-    <Compile Include="Device\Xbee.cs" />
+    <Compile Include="Device\xbee.cs" />
     <Compile Include="Device\Socket.cs" />
     <Compile Include="Dialog\fCounter.cs">
       <SubType>Form</SubType>
@@ -264,7 +264,6 @@
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="PUB.cs" />
     <Compile Include="CSetting.cs" />
-    <Compile Include="StateMachine\Display\GetErrorMessage.cs" />
     <Compile Include="StateMachine\Step\_SM_RUN_CHGOFF.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -298,6 +297,9 @@
     <Compile Include="StateMachine\Step\_SM_RUN_INIT.cs">
       <SubType>Form</SubType>
     </Compile>
+    <Compile Include="StateMachine\_Xbee.cs">
+      <SubType>Form</SubType>
+    </Compile>
     <Compile Include="StateMachine\_DIO.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -328,8 +330,6 @@
     <Compile Include="StateMachine\DisplayTextHandler.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="Util.cs" />
-    <Compile Include="Util_FG.cs" />
     <Compile Include="ViewForm\fBms.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -547,7 +547,9 @@
       <Name>ENIGProtocol</Name>
     </ProjectReference>
   </ItemGroup>
-  <ItemGroup />
+  <ItemGroup>
+    <Folder Include="StateMachine\Display\" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
     <PostBuildEvent>rem  xcopy "$(TargetDir)*.exe" "\\192.168.1.80\Amkor\AGV2" /Y

Cs_HMI/Project/CSetting.cs

@@ -7,6 +7,7 @@ using System.Drawing.Design;
 using System.Runtime.CompilerServices;
 using System.Management;
 using System.IO.Ports;
+using AR;
 
 namespace Project
 {
@@ -413,7 +414,7 @@ namespace Project
 
             if (Language.isEmpty()) Language = "Kor";
             if (Password_Setup.isEmpty()) Password_Setup = "0000";
-            if (musicfile.isEmpty()) musicfile = Util.CurrentPath + "music.mp3";
+            if (musicfile.isEmpty()) musicfile = UTIL.CurrentPath + "music.mp3";
             if (musicvol == 0) musicvol = 50;
 
 
@@ -565,7 +566,7 @@ namespace Project
 
         public CounterSetting()
         {
-            this.filename = Util.CurrentPath + "counter.xml";
+            this.filename = AR.UTIL.CurrentPath + "counter.xml";
         }
         public override void AfterLoad()
         {

Cs_HMI/Project/Class/CParser.cs

@@ -95,7 +95,7 @@
 //            SrcText = s;
 //            Check_error(SrcText);
 //            if (this.isError)
-//                Util.MsgE(ErrMsg.ToString());// Interaction.MsgBox(ErrMsg.ToString(), MsgBoxStyle.Critical, "오류");
+//                UTIL.MsgE(ErrMsg.ToString());// Interaction.MsgBox(ErrMsg.ToString(), MsgBoxStyle.Critical, "오류");
 //        }
 
 //        protected string Buffer1 = "";
@@ -395,7 +395,7 @@
 //                                                        else
 //                                                        {
 //                                                            object Param1 = RunParam(ParamList[0].ToString(), NEwValue.ToString());
-//                                                          Util.MsgE(Param1, MsgBoxStyle.Information, "확인");
+//                                                          UTIL.MsgE(Param1, MsgBoxStyle.Information, "확인");
 //                                                        }
 
 //                                                        break;
@@ -718,7 +718,7 @@
 //                                                case "SAVE1":
 //                                                    {
 //                                                        if (ParamList.Count < 1)
-//                                                          Util.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
+//                                                          UTIL.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
 //                                                        else
 //                                                        {
 //                                                            object Param1 = RunParam(ParamList[0].ToString(), NEwValue.ToString());
@@ -731,7 +731,7 @@
 //                                                case "SAVE2":
 //                                                    {
 //                                                        if (ParamList.Count < 1)
-//                                                          Util.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
+//                                                          UTIL.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
 //                                                        else
 //                                                        {
 //                                                            object Param1 = RunParam(ParamList[0].ToString(), NEwValue.ToString());
@@ -744,7 +744,7 @@
 //                                                case "SAVE3":
 //                                                    {
 //                                                        if (ParamList.Count < 1)
-//                                                            Util.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
+//                                                            UTIL.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
 //                                                        else
 //                                                        {
 //                                                            object Param1 = RunParam(ParamList[0].ToString(), NEwValue.ToString());
@@ -757,7 +757,7 @@
 //                                                case "SAVE4":
 //                                                    {
 //                                                        if (ParamList.Count < 1)
-//                                                          Util.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
+//                                                          UTIL.MsgE("SAVE1 함수에 1개의 파라미터가 없습니다");
 //                                                        else
 //                                                        {
 //                                                            object Param1 = RunParam(ParamList[0].ToString(), NEwValue.ToString());

Cs_HMI/Project/Class/CResult.cs

@@ -4,6 +4,7 @@ using System.Drawing;
 using System.Linq;
 using System.Text;
 using Project.StateMachine;
+using AR;
 
 namespace Project
 {
@@ -174,7 +175,7 @@ namespace Project
         public void SetResultMessage(eResult code, eECode err, eNextStep systempause, params object[] args)
         {
 
-            var rltMsg = UTIL.GetResultCodeMessage(code);
+            var rltMsg = PUB.GetResultCodeMessage(code);
             var codeMSg = $"[E{(int)err}] ";// + Util.GetResultCodeMessage(code);
             if (err == eECode.MESSAGE_ERROR)
             {
@@ -187,7 +188,7 @@ namespace Project
 
 
 
-            var erMsg = UTIL.GetErrorMessage(err, args);
+            var erMsg = PUB.GetErrorMessage(err, args);
             var msg = codeMSg + erMsg;
 
             this.ResultCode = code;

Cs_HMI/Project/Device/Xbee.cs

@@ -10,6 +10,7 @@ using System.Security.Cryptography;
 using AR;
 using System.IO.Ports;
 using System.Security.Cryptography.X509Certificates;
+using System.Windows.Forms;
 
 namespace Project.Device
 {
@@ -21,6 +22,20 @@ namespace Project.Device
         public DateTime LastStatusSendTime = DateTime.Now;
         private EEProtocol proto;
 
+        public class MessageArgs : EventArgs
+        {
+            public bool IsError { get; set; }   
+            public string Message { get; set; }
+            public MessageArgs(bool iserr,string m)
+            {
+                this.IsError = iserr;
+                this.Message = m;
+            }
+        }
+        
+        public event EventHandler<MessageArgs> MessageReceived;
+        public event EventHandler<EEProtocol.DataEventArgs> ProtocReceived;
+
         public Xbee()
         {
             this.DataReceived += Xbee_DataReceived;
@@ -35,7 +50,7 @@ namespace Project.Device
             proto.OnMessage -= Proto_OnMessage;
         }
 
-       
+
         /// <summary>
         /// 지그비장치에 데이터를 전송합니다
         /// </summary>
@@ -78,100 +93,15 @@ namespace Project.Device
             var id = e.ReceivedPacket.ID.ToString("X2");
             PUB.logxbee.Add("RX", $"{hexstrRaw}\nID:{id},CMD:{cmd},DATA:{hexstr}");
 
-            //TODO : 기능 처리필요 (XBee 메세지 데이터처리)
-            //PUB.CheckManualChargeMode() : 수동충전확인
-            //VAR.BOOL[eVarBool.FLAG_AUTORUN]  : 자동실행
-            //PUB.Speak("현재 위치는 QA 입니다.") : 음성출력
+            ProtocReceived?.Invoke(this, e);
 
-            //ACS 수신 데이터 처리(타 장비는 확인하지 않는다)
-            if (e.ReceivedPacket.ID == 0)
-            {
-                var data = e.ReceivedPacket.Data;
-                switch (e.ReceivedPacket.Command)
-                {
-                    case 1: //Request PATH
-                        var pathID = data[0];
-                        var pathPage = data[1]; 
-
-                        //TODO : 요청받은 맵 데이터를 전송해야한다
-                        
-
-                        break;
-                    case 100:  //move to tag
-                        var TargetTag = System.Text.Encoding.Default.GetString(data, 0, 6);
-
-                        //1.현재위치에서 경로계산 하여 경로저장
-                        //2.현재위치를 모를경우 이전 이동 기록을 통해 위치를 추정한다
-                        //3.대상태그에 맞는 전/후진 방향을 결정하여 이동을 수행한다
-
-                        break;
-                    case 101:  //stop
-                        PUB.AGV.AGVMoveStop("xbee");
-                        break;
-                    case 102: //Error Reset
-                        PUB.AGV.AGVErrorReset();
-                        break;
-                    case 103: //charing command (0:off, 1:on)
-                        var CharingCmd = data[0];
-
-                        //0.자동모드가 아니라면 실행하지 않는다
-                        //1.충전프로세스를 시작한다
-                        //2.1분간 충전진행 신호가 없다면 반대편으로 1TAG이동하여 다시 시도한다
-                        //3.3회 시도 실패시 오류 데이터를 HOST에 전송한다
-
-                        break;
-                    case 104: //Manual Move (Direction, speed, runtime)
-                        var Direction = data[0];    //0=back, 1=forward, 2=left, 3=right
-                        var Speed = data[1];        //0=slow, 1=normal, 2=fast
-                        var Runtime = data[2];      // running seconds
-
-                        arDev.Narumi.ManulOpt opt = arDev.Narumi.ManulOpt.BS;
-                        arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
-                        if (Speed == 1) spd = arDev.Narumi.Speed.Mid;
-                        else if (Speed == 2) spd = arDev.Narumi.Speed.High;
-
-                        //0.자동모드가 아니라면 실행하지 않는다
-                        //1.입력된 파라미터로 AGV를 이동한다
-                        if (Direction == 0) opt = arDev.Narumi.ManulOpt.BS;
-                        else if (Direction == 1) opt = arDev.Narumi.ManulOpt.FS;
-                        else if (Direction == 2) opt = arDev.Narumi.ManulOpt.LT;
-                        else if (Direction == 3) opt = arDev.Narumi.ManulOpt.RT;
-
-                        PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
-                        break;
-                    case 105: //Set MarkStop
-                        var MarkStop = data[0];    //0=off, 1=on
-
-                        //마크센서에서 멈추게 한다
-                        PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
-                        break;
-                    case 106: //Lift Control
-                        var LiftCommand = data[0];    //0=stop, 1=up, 2=down
-                        arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
-                        if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
-                        else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
-
-                        //리프트제어
-                        PUB.AGV.LiftControl(LCmd);
-                        break;
-
-                    case 107: //clear path
-                        //TODO: 현재 설정된 경로삭제기능 필요
-                        break;
-                    case 108: //send path
-                        //TODO : 경로정보를 수신받고 페이지가 1을 초과하면 나머지 페이지정보도 요청할 수 있어야 한다
-                        break;
-
-
-                }
-            }
+            
 
 
         }
         private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
         {
-            if (e.IsError) PUB.log.AddE(e.Message);
-            else PUB.log.Add(e.Message);
+            MessageReceived?.Invoke(this, new MessageArgs(e.IsError, e.Message));
         }
 
 
@@ -207,7 +137,7 @@ namespace Project.Device
             Send(packet);
         }
 
-      
+
 
 
         /// <summary>

Cs_HMI/Project/Dialog/fSystem.cs

@@ -8,6 +8,7 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.IO;
+using AR;
 using System.IO.Compression;
 
 namespace Project.Dialog
@@ -22,12 +23,12 @@ namespace Project.Dialog
 
         private void button1_Click(object sender, EventArgs e)
         {
-            Util.RunProcess(@"c:\windows\system32\shutdown.exe", "-r -t 5");
+            UTIL.RunProcess(@"c:\windows\system32\shutdown.exe", "-r -t 5");
         }
 
         private void button2_Click(object sender, EventArgs e)
         {
-            Util.RunProcess(@"c:\windows\system32\shutdown.exe", "-s -t 5");
+            UTIL.RunProcess(@"c:\windows\system32\shutdown.exe", "-s -t 5");
         }
 
         private void button3_Click(object sender, EventArgs e)
@@ -65,7 +66,7 @@ namespace Project.Dialog
         private void arLabel9_Click(object sender, EventArgs e)
         {
             shutdown = true;
-            Util.SystemShutdown(10);
+            PUB.SystemShutdown(10);
             this.Close();
           
         }
@@ -73,7 +74,7 @@ namespace Project.Dialog
         private void arLabel10_Click(object sender, EventArgs e)
         {
             shutdown = true;
-            Util.SystemReboot(10);
+            PUB.SystemReboot(10);
             this.Close();
         }
 
@@ -93,7 +94,7 @@ namespace Project.Dialog
                 if (prc.ProcessName.StartsWith("svchost")) continue;
                 sb.Append("  " + prc.ProcessName);
             }
-            Util.MsgI(sb.ToString(),true);
+            UTIL.MsgI(sb.ToString(),true);
         }
 
         private void fSystem_Load(object sender, EventArgs e)
@@ -104,14 +105,14 @@ namespace Project.Dialog
 
         private void arLabel3_Click(object sender, EventArgs e)
         {
-            var file = System.IO.Path.Combine( Util.CurrentPath, "Emulator.exe");
+            var file = System.IO.Path.Combine(UTIL.CurrentPath, "Emulator.exe");
             if(System.IO.File.Exists(file)==false)
             {
-                Util.MsgE("에물레이터 실행 파일이 없습니다", true);
+                UTIL.MsgE("에물레이터 실행 파일이 없습니다", true);
                 return;
             }
 
-            Util.RunProcess(file);
+            UTIL.RunProcess(file);
         }
 
         private void arLabel5_Click(object sender, EventArgs e)
@@ -122,7 +123,7 @@ namespace Project.Dialog
             var file_exe = System.IO.Path.Combine(path.FullName, "amkor.exe");
             if(System.IO.File.Exists(file_exe)==false)
             {
-                Util.MsgE("실행파일 amkor.exe 가 없습니다.");
+                UTIL.MsgE("실행파일 amkor.exe 가 없습니다.");
                 return;
             }
 
@@ -146,12 +147,12 @@ namespace Project.Dialog
             // 임시 폴더 삭제
             Directory.Delete(tempDir, true);
 
-            Util.MsgI("다음 패치 파일이 생성됨\n" + newfilename);
+            UTIL.MsgI("다음 패치 파일이 생성됨\n" + newfilename);
         }
 
         private void arLabel7_Click(object sender, EventArgs e)
         {
-            Util.SystemReboot(5,true);
+            PUB.SystemReboot(5,true);
         }
     }
 }

Cs_HMI/Project/Dialog/fUpdateForm.cs

@@ -9,6 +9,7 @@ using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.IO;
 using System.IO.Compression;
+using AR;
 
 namespace Project.Dialog
 {
@@ -195,7 +196,7 @@ namespace Project.Dialog
             if(System.IO.File.Exists(file))
             {
                 //이 파일을 _patch 폴더에 압축해제한다.
-                var dir_path = new System.IO.DirectoryInfo(System.IO.Path.Combine(Util.CurrentPath,"_patch"));
+                var dir_path = new System.IO.DirectoryInfo(System.IO.Path.Combine(UTIL.CurrentPath ,"_patch"));
                 if (dir_path.Exists == true)
                 {
                     try
@@ -203,7 +204,7 @@ namespace Project.Dialog
                         dir_path.Delete(true);
                     } catch (Exception ex)
                     {
-                        Util.MsgE(ex.Message);
+                        UTIL.MsgE(ex.Message);
                         return;
                     }
                 }
@@ -224,7 +225,7 @@ namespace Project.Dialog
             }
             else
             {
-                Util.MsgE("패치파일이 없습니다\n" + file);
+                UTIL.MsgE("패치파일이 없습니다\n" + file);
                 return;
             }
             

Cs_HMI/Project/Dialog/fVolume.cs

@@ -65,7 +65,7 @@ namespace Project.Dialog
             //if (dev == null)
             //{
             //    trackBar1.Enabled = false;
-            //    Util.MsgE("사운드 장치가 없습니다", true);
+            //    UTIL.MsgE("사운드 장치가 없습니다", true);
             //}
             //else
             //{

Cs_HMI/Project/Manager/DataBaseManager.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using AR;
 
 namespace Project.Manager
 {
@@ -51,7 +52,7 @@ namespace Project.Manager
             dt = new DataSet1.ResultDataDataTable();
 
             this.dataPath = dataPath_;
-            if (dataPath_.Length == 0) dataPath = new string[]{ System.IO.Path.Combine(Util.CurrentPath, "Data")};
+            if (dataPath_.Length == 0) dataPath = new string[]{ System.IO.Path.Combine(UTIL.CurrentPath, "Data")};
 
             //최대버퍼갯수(이 갯수를 넘어가면 실제 파일에 기록한다)
             MaxBufferCount = _MaxBufferCount;

Cs_HMI/Project/PUB.cs

@@ -22,6 +22,7 @@ namespace Project
         public static bool Automodeonreboot = false;
         public static bool AutRebootAlreay = false;
         public static bool DriveSpeed = false;
+        public static AGVControl.MapControl mapctl;
 
         #region "Hardware"
 
@@ -94,7 +95,7 @@ namespace Project
                 voice.SpeakAsyncCancelAll();
             if (voice.State == SynthesizerState.Ready)
                 voice.SpeakAsync(m);
-            if (addlog) PUB.log.Add("SPEAK",m);
+            if (addlog) PUB.log.Add("SPEAK", m);
         }
 
         /// <summary>
@@ -111,7 +112,7 @@ namespace Project
                 VAR.BOOL[eVarBool.WAIT_COVER_DOWN] == false &&
                 VAR.BOOL[eVarBool.WAIT_COVER_UP] == false)
             {
-                return true; 
+                return true;
             }
             else return false;
         }
@@ -188,13 +189,13 @@ namespace Project
 
         public static void init()
         {
-          
+
             Result = new CResult();
 
             //state machine
             sm = new StateMachine.StateMachine();
 
-            path = new System.IO.DirectoryInfo(Util.CurrentPath);
+            path = new System.IO.DirectoryInfo(UTIL.CurrentPath);
 
 
 
@@ -234,7 +235,7 @@ namespace Project
             }
             voice.SetOutputToDefaultAudioDevice();
 
-            var file_version = System.IO.Path.Combine(Util.CurrentPath, "version.txt");
+            var file_version = System.IO.Path.Combine(UTIL.CurrentPath, "version.txt");
             if (System.IO.File.Exists(file_version))
             {
                 PUB.PatchVersion = System.IO.File.ReadAllText(file_version, System.Text.Encoding.UTF8);
@@ -242,16 +243,16 @@ namespace Project
             else PUB.PatchVersion = string.Empty;
         }
 
-      
 
-        public static Boolean CheckManualChargeMode(bool Prompt = true )
+
+        public static Boolean CheckManualChargeMode(bool Prompt = true)
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
             {
                 string msg = "수동 충전 상태이므로 진행 할 수 없습니다";
                 PUB.Speak(msg);
-                if(Prompt)
-                Util.MsgE(msg);
+                if (Prompt)
+                    UTIL.MsgE(msg);
                 return false;
             }
             else return true;
@@ -334,13 +335,13 @@ namespace Project
             var step = PUB.sm.Step.ToString();
             var rtep = PUB.sm.RunStep.ToString();
             var mcid = PUB.setting.MCID;
-            var path = System.IO.Path.Combine(Util.CurrentPath, "Status");
+            var path = System.IO.Path.Combine(UTIL.CurrentPath, "Status");
             var file = System.IO.Path.Combine(path, $"{DateTime.Now.ToString("HHmmssfff")}_{step}_{rtep}.sql");
             var wdate = DateTime.Now;
             try
             {
                 var sql = "insert into AGV_History(mcid,step,runstep,remark,ip,wdate) values('{0}','{1}','{2}','{3}','{4}','{5}')";
-                sql = string.Format(sql, mcid, step, rtep, remark,IP,wdate.ToString("yyyy-MM-dd HH:mm:ss"));
+                sql = string.Format(sql, mcid, step, rtep, remark, IP, wdate.ToString("yyyy-MM-dd HH:mm:ss"));
                 System.IO.File.WriteAllText(file, sql, System.Text.Encoding.Default);
 
                 //만들어진지 3분이 지난 파일은 삭제한다.
@@ -354,7 +355,27 @@ namespace Project
             }
         }
 
+        public static string GetResultCodeMessage(eResult err)
+        {
+            return err.ToString().ToUpper();
+        }
 
+
+        public static string GetErrorMessage(eECode err, params object[] values)
+        {
+            switch (err)
+            {
+                case eECode.NOTALLOWUP:
+                    return "상차 허용 위치가 아닙니다";
+                case eECode.AGVCONN:
+                    return Lang.AGV연결실패;
+                case eECode.PLCCONN:
+                    return Lang.PLC통신실패;
+
+                default:
+                    return err.ToString();
+            }
+        }
         public static string IP { get; set; }
         public static string MAC { get; set; }
 
@@ -448,23 +469,100 @@ namespace Project
                 }
             });
         }
+        public static string SelectSerialPort()
+        {
+            var f = new System.Windows.Forms.Form();
+            f.WindowState = System.Windows.Forms.FormWindowState.Normal;
+            f.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            f.Size = new System.Drawing.Size(800, 400);
+            f.MaximizeBox = false;
+            f.MinimizeBox = false;
+            f.Text = "Select Port";
+            f.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog;
+            var lst = new System.Windows.Forms.ListBox();
+            lst.Font = new System.Drawing.Font("Consolas", 15, System.Drawing.FontStyle.Bold);
+            lst.Dock = System.Windows.Forms.DockStyle.Fill;
+            lst.DoubleClick += (s1, e1) =>
+            {
+                if (lst.SelectedItem != null) f.DialogResult = System.Windows.Forms.DialogResult.OK;
+            };
+            using (var searcher = new ManagementObjectSearcher("SELECT * FROM WIN32_SerialPort"))
+            {
+                var portnames = System.IO.Ports.SerialPort.GetPortNames().OrderBy(t => t);
+                var ports = searcher.Get().Cast<ManagementBaseObject>().ToList();
+                foreach (var port in portnames)
+                {
+                    var desc = "";
+                    var portInfo = ports.Where(t => t["DeviceId"].ToString() == port).FirstOrDefault();
+                    if (portInfo != null) desc = portInfo["Caption"].ToString();
+                    lst.Items.Add(string.Format("{0} - {1}", port, desc));
+                }
+            }
+            f.Controls.Add(lst);
+            if (f.ShowDialog() == System.Windows.Forms.DialogResult.OK)
+            {
+                var name = lst.SelectedItem.ToString().Split('-');
+                return name[0].Trim();
+            }
+            else return string.Empty;
+        }
 
+        public static void SystemReboot(UInt16 timeout, bool setautomode = false)
+        {
+            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo();
+            si.FileName = @"c:\windows\system32\shutdown.exe";
+            si.Arguments = "-r -t " + timeout.ToString();
+            si.UseShellExecute = false;
+            System.Diagnostics.Process prc = new System.Diagnostics.Process();
+            prc.StartInfo = si;
+
+            PUB.AGV.AGVMoveStop("user reboot");
+
+            if (setautomode)
+            {
+                PUB.Automodeonreboot = true;
+                PUB.setting.SetAutoModeOn = true;
+                PUB.setting.AUtoRebootLastTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+                PUB.setting.Save();
+            }
+
+
+            prc.Start();
+
+        }
+        public static void SystemShutdown(UInt16 timeout)
+        {
+            //System.Text.StringBuilder sb = new StringBuilder();
+            //sb.AppendLine("@echo off");
+            //sb.AppendLine("echo System OFF After " + timeout.ToString() + "Seconds");
+            //sb.AppendLine("shutdown -s -t " + timeout.ToString());
+            //string bfile = AppDomain.CurrentDomain.BaseDirectory + "Shutdown.bat";
+            //System.IO.File.WriteAllText(bfile, string.Format(sb.ToString(), AppDomain.CurrentDomain.BaseDirectory), System.Text.Encoding.Default);
+
+            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo();
+            si.FileName = @"c:\windows\system32\shutdown.exe";
+            si.Arguments = "-s -t " + timeout.ToString();
+            si.UseShellExecute = false;
+            System.Diagnostics.Process prc = new System.Diagnostics.Process();
+            prc.StartInfo = si;
+            prc.Start();
+        }
 
         public static void ChangeUIPopup(System.Windows.Forms.NumericUpDown valueCtl)
         {
             var value = valueCtl.Value.ToString();
-            var f = AR.UTIL.InputBox("input", value);// new Dialog.fInput(value);
+            var f = UTIL.InputBox("input", value);// new Dialog.fInput(value);
             if (f.Item1)
             {
                 var val = decimal.Parse(f.Item2);
                 if (val < valueCtl.Minimum)
                 {
-                    Util.MsgE(string.Format("최소 입력값은 {0} 입니다.", valueCtl.Minimum));
+                    UTIL.MsgE(string.Format("최소 입력값은 {0} 입니다.", valueCtl.Minimum));
                     val = valueCtl.Minimum;
                 }
                 if (val > valueCtl.Maximum)
                 {
-                    Util.MsgE(string.Format("최대 입력값은 {0} 입니다.", valueCtl.Maximum));
+                    UTIL.MsgE(string.Format("최대 입력값은 {0} 입니다.", valueCtl.Maximum));
                     val = valueCtl.Maximum;
                 }
                 valueCtl.Value = val;

Cs_HMI/Project/Program.cs

@@ -39,7 +39,7 @@ namespace Project
             string emsg = "Fatal Error(UHE)\n\n" + e.ExceptionObject.ToString();
             PUB.log.AddE(emsg);
             PUB.log.Flush();
-            Util.SaveBugReport(emsg);
+            AR.UTIL.SaveBugReport(emsg);
             var f = new fErrorException(emsg);
             f.ShowDialog();
             Application.ExitThread();
@@ -50,7 +50,7 @@ namespace Project
             string emsg = "Fatal Error(ATE)\n\n" + e.Exception.ToString();
             PUB.log.AddE(emsg);
             PUB.log.Flush();
-            Util.SaveBugReport(emsg);
+            AR.UTIL.SaveBugReport(emsg);
             var f = new fErrorException(emsg);
             f.ShowDialog();
             Application.ExitThread();

Cs_HMI/Project/StateMachine/Display/GetErrorMessage.cs

@@ -1,47 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System;
-using System.Collections.Generic;
-using System.Diagnostics;
-using System.Drawing;
-using System.IO;
-using System.Linq;
-using System.Net;
-using System.Net.NetworkInformation;
-using System.Runtime.Serialization.Formatters.Binary;
-using System.Text;
-using System.Windows.Forms;
-using System.Management;
-using COMM;
-
-namespace Project
-{
-    public static partial class UTIL
-    {
-        public static string GetResultCodeMessage(eResult err)
-        {
-            return err.ToString().ToUpper();
-        }
-
-
-        public static string GetErrorMessage(eECode err, params object[] values)
-        {
-            switch (err)
-            {
-                case eECode.NOTALLOWUP:
-                    return "상차 허용 위치가 아닙니다";
-                case eECode.AGVCONN:
-                    return Lang.AGV연결실패;
-                case eECode.PLCCONN:
-                    return Lang.PLC통신실패;
-
-                default:
-                    return err.ToString();
-            }
-        }
-
-    }
-}

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -35,7 +35,7 @@ namespace Project
             }
         }
 
-        ePosition ParsePosition(int tag, out string dirBW)
+        ePosition ParsePosition(uint tag, out string dirBW)
         {
             var tagstr = tag.ToString();
             var tagno = tagstr.Substring(0, tagstr.Length - 1);

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -115,7 +115,7 @@ namespace Project
                         if (System.Diagnostics.Debugger.IsAttached == false)
                         {
                             PUB.Speak(Lang.자동재부팅을실행합니다);
-                            Util.SystemReboot(5, true);
+                            PUB.SystemReboot(5, true);
                         }
                         else PUB.setting.SetAutoModeOn = true;
 

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -0,0 +1,115 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+using arDev;
+using COMM;
+
+namespace Project
+{
+    public partial class fMain
+    {
+      
+        private void XBE_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
+        {
+            //TODO : 기능 처리필요 (XBee 메세지 데이터처리)
+            //PUB.CheckManualChargeMode() : 수동충전확인
+            //VAR.BOOL[eVarBool.FLAG_AUTORUN]  : 자동실행
+            //PUB.Speak("현재 위치는 QA 입니다.") : 음성출력
+
+            //ACS 수신 데이터 처리(타 장비는 확인하지 않는다)
+            if (e.ReceivedPacket.ID == 0)
+            {
+                var data = e.ReceivedPacket.Data;
+                var dataStr = System.Text.Encoding.Default.GetString(data);
+                var cmd = (ENIGProtocol.AGVCommands)e.ReceivedPacket.Command;
+                switch (cmd)
+                {
+
+                    case ENIGProtocol.AGVCommands.SetCurrent: //Set Current Position
+                       
+                        if (uint.TryParse(dataStr, out uint tagno))
+                        {
+                            if (PUB.mapctl.SetCurrentPosition(tagno) == true)
+                            {
+                                PUB.log.AddI($"Set Position:{tagno}");
+                            }
+                            else PUB.log.AddE($"Position Error:{tagno}");
+                        }
+                        else PUB.log.AddE($"Position Param Error:{dataStr}");
+                        break;
+                    case ENIGProtocol.AGVCommands.Goto:  //move to tag
+                        if (uint.TryParse(dataStr, out uint tagno2))
+                        {
+                            var currPos = PUB.mapctl.agv.CurrentRFID;///.AGVMoveToRFID(;
+                            if (currPos == 0) currPos = 10;
+                            var pathRlt = PUB.mapctl.CalculatePath(currPos,tagno2);
+                            if (pathRlt.Success == true)
+                            {
+                                PUB.log.AddI($"New Target:{tagno2}");
+                            }
+                            else PUB.log.AddE($"Path Error {pathRlt.Message} : {tagno2}");
+                        }
+                        else PUB.log.AddE($"Path Param Error :{dataStr}");
+                        break;
+                    case ENIGProtocol.AGVCommands.Stop:  //stop
+                        PUB.AGV.AGVMoveStop("xbee");
+                        break;
+                    case ENIGProtocol.AGVCommands.Reset: //Error Reset
+                        PUB.AGV.AGVErrorReset();
+                        break;
+
+                    case ENIGProtocol.AGVCommands.Manual: //Manual Move (Direction, speed, runtime)
+                        var Direction = data[0];     //0=back, 1=forward, 2=left, 3=right
+                        var Speed = data[1];         //0=slow, 1=normal, 2=fast
+                        var Runtime = data[2];       // running seconds
+
+                        arDev.Narumi.ManulOpt opt = arDev.Narumi.ManulOpt.BS;
+                        arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
+                        if (Speed == 1) spd = arDev.Narumi.Speed.Mid;
+                        else if (Speed == 2) spd = arDev.Narumi.Speed.High;
+
+                        //0.자동모드가 아니라면 실행하지 않는다
+                        //1.입력된 파라미터로 AGV를 이동한다
+                        if (Direction == 0) opt = arDev.Narumi.ManulOpt.BS;
+                        else if (Direction == 1) opt = arDev.Narumi.ManulOpt.FS;
+                        else if (Direction == 2) opt = arDev.Narumi.ManulOpt.LT;
+                        else if (Direction == 3) opt = arDev.Narumi.ManulOpt.RT;
+
+                        PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
+                        break;
+                    case ENIGProtocol.AGVCommands.MarkStop: //Set MarkStop
+                        var MarkStop = data[0];    //0=off, 1=on
+
+                        //마크센서에서 멈추게 한다
+                        PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
+                        break;
+                    case ENIGProtocol.AGVCommands.LiftControl: //Lift Control
+                        var LiftCommand = data[0];    //0=stop, 1=up, 2=down
+                        arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
+                        if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;
+                        else if (LiftCommand == 2) LCmd = arDev.Narumi.LiftCommand.DN;
+
+                        //리프트제어
+                        PUB.AGV.LiftControl(LCmd);
+                        break;
+
+
+
+
+                }
+            }
+        }
+
+        private void XBE_MessageReceived(object sender, Device.Xbee.MessageArgs e)
+        {
+            if (e.IsError) PUB.log.AddE(e.Message);
+            else PUB.log.Add(e.Message);
+        }
+
+
+    }
+}
+

Cs_HMI/Project/Util.cs

@@ -1,510 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Diagnostics;
-using System.Drawing;
-using System.IO;
-using System.Linq;
-using System.Management;
-using System.Net;
-using System.Text;
-using System.Windows;
-using System.Windows.Forms;
-
-namespace Project
-{
-    public static class Util
-    {
-        #region "MessageBox"
-        public static void MsgI(string m, Boolean legacy = false)
-        {
-            if (legacy)
-            {
-                MessageBox.Show(m, "확인", MessageBoxButtons.OK, MessageBoxIcon.Information);
-            }
-            else
-            {
-                var f = new fMessageWindow("알림\n" + m);
-                f.SetWindowColor(fMessageWindow.EWinColor.Information);
-                f.btNo.Visible = false;
-                f.btYes.Text = "확인";
-                f.EnableUserClose = true;
-                f.DialogMode = true;
-                f.ShowDialog();
-            }
-        }
-        public static void MsgE(string m, Boolean legacy = false)
-        {
-            if (legacy)
-            {
-                MessageBox.Show(m, "오류", MessageBoxButtons.OK, MessageBoxIcon.Error);
-            }
-            else
-            {
-                var f = new fMessageWindow("오류 알림\n" + m);
-                f.SetWindowColor(fMessageWindow.EWinColor.Error);
-                f.btNo.Visible = false;
-                f.btYes.Text = "확인";
-                f.EnableUserClose = true;
-                f.DialogMode = true;
-                f.ShowDialog();
-            }
-        }
-        public static DialogResult MsgQ(string m, Boolean legacy = false, string btOK = "확인", string btCancel = "아니오")
-        {
-            if (legacy)
-            {
-                DialogResult dlg = MessageBox.Show(m, "확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
-                return dlg;
-            }
-            else
-            {
-                var f = new fMessageWindow("선택 알림\n" + m);
-                f.SetWindowColor(fMessageWindow.EWinColor.Attention);
-                f.EnableUserClose = true;
-                f.DialogMode = true;
-                f.btNo.Text = btCancel;
-                f.btYes.Text = btOK;
-                var dlg = f.ShowDialog();
-                return dlg;
-            }
-        }
-
-        #endregion
-
-        public static string SelectSerialPort()
-        {
-            var f = new System.Windows.Forms.Form();
-            f.WindowState = System.Windows.Forms.FormWindowState.Normal;
-            f.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
-            f.Size = new System.Drawing.Size(800, 400);
-            f.MaximizeBox = false;
-            f.MinimizeBox = false;
-            f.Text = "Select Port";
-            f.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog;
-            var lst = new System.Windows.Forms.ListBox();
-            lst.Font = new System.Drawing.Font("Consolas", 15, System.Drawing.FontStyle.Bold);
-            lst.Dock = System.Windows.Forms.DockStyle.Fill;
-            lst.DoubleClick += (s1, e1) =>
-            {
-                if (lst.SelectedItem != null) f.DialogResult = System.Windows.Forms.DialogResult.OK;
-            };
-            using (var searcher = new ManagementObjectSearcher("SELECT * FROM WIN32_SerialPort"))
-            {
-                var portnames = System.IO.Ports.SerialPort.GetPortNames().OrderBy(t => t);
-                var ports = searcher.Get().Cast<ManagementBaseObject>().ToList();
-                foreach (var port in portnames)
-                {
-                    var desc = "";
-                    var portInfo = ports.Where(t => t["DeviceId"].ToString() == port).FirstOrDefault();
-                    if (portInfo != null) desc = portInfo["Caption"].ToString();
-                    lst.Items.Add(string.Format("{0} - {1}", port, desc));
-                }
-            }
-            f.Controls.Add(lst);
-            if (f.ShowDialog() == System.Windows.Forms.DialogResult.OK)
-            {
-                var name = lst.SelectedItem.ToString().Split('-');
-                return name[0].Trim();
-            }
-            else return string.Empty;
-        }
-
-        public static void ScreenCaptrue(int _BitmapWidth, int _BitmapHeight, System.Drawing.Point ptSouce)
-        {
-            try
-            {
-                Bitmap bitmap = new Bitmap(_BitmapWidth, _BitmapHeight);
-                Graphics _graphic = Graphics.FromImage(bitmap);
-
-                _graphic.CopyFromScreen(ptSouce, new System.Drawing.Point(0, 0), new System.Drawing.Size(_BitmapWidth, _BitmapHeight));
-
-                string savefile = System.IO.Path.Combine(Util.CurrentPath, "ScreenShot", DateTime.Now.ToString("yyyyMMddHHmmss") + ".png");
-                System.IO.FileInfo grpath = new FileInfo(savefile);
-                if (!grpath.Directory.Exists) grpath.Directory.Create();
-
-                bitmap.Save(grpath.FullName, System.Drawing.Imaging.ImageFormat.Png);
-                Util.MsgI("화면 캡쳐 성공\n" +
-                    "위치:" + grpath.Directory.FullName + "\n" +
-                    "파일명: " + grpath.Name);
-            }
-            catch (Exception ex)
-            {
-                Util.MsgE("화면 캡쳐 실패\n" + ex.Message);
-            }
-        }
-
-        public static void SystemReboot(UInt16 timeout, bool setautomode = false)
-        {
-            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo();
-            si.FileName = @"c:\windows\system32\shutdown.exe";
-            si.Arguments = "-r -t " + timeout.ToString();
-            si.UseShellExecute = false;
-            System.Diagnostics.Process prc = new System.Diagnostics.Process();
-            prc.StartInfo = si;
-
-            PUB.AGV.AGVMoveStop("user reboot");
-            
-            if (setautomode)
-            {
-                PUB.Automodeonreboot = true;
-                PUB.setting.SetAutoModeOn = true;
-                PUB.setting.AUtoRebootLastTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
-                PUB.setting.Save();
-            }
-                
-
-            prc.Start();
-
-        }
-        public static void SystemShutdown(UInt16 timeout)
-        {
-            //System.Text.StringBuilder sb = new StringBuilder();
-            //sb.AppendLine("@echo off");
-            //sb.AppendLine("echo System OFF After " + timeout.ToString() + "Seconds");
-            //sb.AppendLine("shutdown -s -t " + timeout.ToString());
-            //string bfile = AppDomain.CurrentDomain.BaseDirectory + "Shutdown.bat";
-            //System.IO.File.WriteAllText(bfile, string.Format(sb.ToString(), AppDomain.CurrentDomain.BaseDirectory), System.Text.Encoding.Default);
-
-            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo();
-            si.FileName = @"c:\windows\system32\shutdown.exe";
-            si.Arguments = "-s -t " + timeout.ToString();
-            si.UseShellExecute = false;
-            System.Diagnostics.Process prc = new System.Diagnostics.Process();
-            prc.StartInfo = si;
-            prc.Start();
-        }
-        public static void SaveBugReport(string content, string subdirName = "BugReport")
-        {
-            try
-            {
-                var path = CurrentPath + subdirName;
-                if (!System.IO.Directory.Exists(path)) System.IO.Directory.CreateDirectory(path);
-                var file = path + "\\" + DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + ".txt";
-                System.IO.File.WriteAllText(file, content, System.Text.Encoding.UTF8);
-            }
-            catch
-            {
-                //nothing
-            }
-        }
-
-        public static void CopyData(System.Data.DataRow drSrc, System.Data.DataRow drDes)
-        {
-            if (drDes == null || drSrc == null) return;
-            foreach (System.Data.DataColumn col in drSrc.Table.Columns)
-            {
-                if (col.ColumnName.ToUpper() == "IDX") continue;
-                drDes[col.ColumnName] = drSrc[col.ColumnName];
-            }
-
-        }
-
-        /// <summary>
-        /// 현재실행중인폴더를 반환합니다.
-        /// </summary>
-        public static string CurrentPath
-        {
-            get
-            {
-                return AppDomain.CurrentDomain.BaseDirectory;
-            }
-        }
-        /// <summary>
-        /// 콤마와 줄바꿈등을 제거합니다.
-        /// </summary>
-        /// <returns></returns>
-        public static string ToCSVString(string src)
-        {
-            string retval = src.Replace("\r", "").Replace("\n", "").Replace(",", "");
-            return retval;
-        }
-
-        public static Boolean RunProcess(string file, string arg = "")
-        {
-            var fi = new System.IO.FileInfo(file);
-            if (!fi.Exists)
-            {
-                PUB.log.AddE("Run Error : " + file);
-                return false;
-            }
-            System.Diagnostics.Process prc = new System.Diagnostics.Process();
-            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo(file);
-            si.Arguments = arg;
-            prc.StartInfo = si;
-            prc.Start();
-            return true;
-        }
-
-        #region "convert"
-        public static string RectToStr(Rectangle rect)
-        {
-            return string.Format("{0};{1};{2};{3}", rect.X, rect.Y, rect.Width, rect.Height);
-        }
-        public static string RectToStr(RectangleF rect)
-        {
-            return string.Format("{0};{1};{2};{3}", rect.X, rect.Y, rect.Width, rect.Height);
-        }
-        public static string PointToStr(System.Drawing.Point pt)
-        {
-            return string.Format("{0};{1}", pt.X, pt.Y);
-        }
-        public static string PointToStr(PointF pt)
-        {
-            return string.Format("{0};{1}", pt.X, pt.Y);
-        }
-        public static Rectangle StrToRect(string str)
-        {
-            if (str.isEmpty() || str.Split(';').Length != 4) str = "0;0;0;0";
-            var roibuf1 = str.Split(';');
-            return new System.Drawing.Rectangle(
-                int.Parse(roibuf1[0]),
-                int.Parse(roibuf1[1]),
-                int.Parse(roibuf1[2]),
-                int.Parse(roibuf1[3]));
-        }
-        public static RectangleF StrToRectF(string str)
-        {
-            if (str.isEmpty() || str.Split(';').Length != 4) str = "0;0;0;0";
-            var roibuf1 = str.Split(';');
-            return new System.Drawing.RectangleF(
-                float.Parse(roibuf1[0]),
-                float.Parse(roibuf1[1]),
-                float.Parse(roibuf1[2]),
-                float.Parse(roibuf1[3]));
-        }
-        public static System.Drawing.Point StrToPoint(string str)
-        {
-            if (str.isEmpty() || str.Split(';').Length != 2) str = "0;0";
-            var roibuf1 = str.Split(';');
-            return new System.Drawing.Point(
-                int.Parse(roibuf1[0]),
-                int.Parse(roibuf1[1]));
-        }
-        public static PointF StrToPointF(string str)
-        {
-            if (str.isEmpty() || str.Split(';').Length != 2) str = "0;0";
-            var roibuf1 = str.Split(';');
-            return new System.Drawing.PointF(
-                float.Parse(roibuf1[0]),
-                float.Parse(roibuf1[1]));
-        }
-        #endregion
-
-        #region "NIC"
-
-        /// <summary>
-        /// 지정된 nic카드가 현재 목록에 존재하는지 확인한다.
-        /// </summary>
-        /// <returns></returns>
-        public static Boolean ExistNIC(string NICName)
-        {
-            if (string.IsNullOrEmpty(NICName)) return false;
-            foreach (string NetName in NICCardList())
-            {
-                if (NetName.ToLower() == NICName.ToLower())
-                {
-                    return true;
-                }
-            }
-            return false;
-        }
-
-        /// <summary>
-        /// Ehternet Card 를 사용안함으로 설정합니다.(관리자권한필요)
-        /// </summary>
-        /// <param name="NicName"></param>
-        public static Boolean NICDisable(string NICName)
-        {
-            //해당 nic 가 현재 목록에 존재하는지 확인한다.
-
-            string cmd = "interface set interface " + NICName + " disable";
-            Process prc = new Process();
-            ProcessStartInfo si = new ProcessStartInfo("netsh", cmd);
-            si.WindowStyle = ProcessWindowStyle.Hidden;
-            prc.StartInfo = si;
-            prc.Start();
-
-            ////목록에서 사라질때까지 기다린다.
-            DateTime SD = DateTime.Now;
-            Boolean timeout = false;
-            while ((true))
-            {
-
-                bool FindNetwork = false;
-                foreach (string NetName in NICCardList())
-                {
-                    if (NetName == NICName.ToLower())
-                    {
-                        FindNetwork = true;
-                        break; // TODO: might not be correct. Was : Exit For
-                    }
-                }
-
-                if (!FindNetwork)
-                    break; // TODO: might not be correct. Was : Exit While
-
-                System.Threading.Thread.Sleep(1000);
-                TimeSpan ts = DateTime.Now - SD;
-                if (ts.TotalSeconds > 10)
-                {
-                    timeout = true;
-                    break; // TODO: might not be correct. Was : Exit While
-                }
-            }
-            return !timeout;
-        }
-
-        public static List<String> NICCardList()
-        {
-            List<String> Retval = new List<string>();
-            foreach (System.Net.NetworkInformation.NetworkInterface Net in System.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces())
-            {
-                if (Net.NetworkInterfaceType == System.Net.NetworkInformation.NetworkInterfaceType.Ethernet)
-                {
-                    Retval.Add(Net.Name.ToUpper());
-                }
-            }
-            return Retval;
-        }
-
-        /// <summary>
-        /// 이더넷카드를 사용함으로 설정합니다.
-        /// </summary>
-        /// <param name="NicName"></param>
-        public static Boolean NICEnable(string NICName)
-        {
-            string cmd = "interface set interface " + NICName + " enable";
-            System.Diagnostics.Process prc = new System.Diagnostics.Process();
-            System.Diagnostics.ProcessStartInfo si = new System.Diagnostics.ProcessStartInfo("netsh", cmd);
-            si.WindowStyle = System.Diagnostics.ProcessWindowStyle.Hidden;
-            prc.StartInfo = si;
-            prc.Start();
-
-
-            ////목록에생길떄까지 대기
-            DateTime SD = DateTime.Now;
-            while ((true))
-            {
-
-                bool FindNetwork = false;
-                foreach (string NetName in NICCardList())
-                {
-                    if (NetName.ToLower() == NICName.ToLower())
-                    {
-                        FindNetwork = true;
-                        break; // TODO: might not be correct. Was : Exit For
-                    }
-                }
-
-                if (FindNetwork)
-                    break; // TODO: might not be correct. Was : Exit While
-
-                System.Threading.Thread.Sleep(1000);
-                TimeSpan ts = DateTime.Now - SD;
-                if (ts.TotalSeconds > 10)
-                {
-                    return false;
-                }
-            }
-
-            ////결이 완료될떄까지 기다린다.
-            SD = DateTime.Now;
-            while ((true))
-            {
-
-                bool FindNetwork = false;
-                foreach (System.Net.NetworkInformation.NetworkInterface Net in System.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces())
-                {
-                    if (Net.NetworkInterfaceType != System.Net.NetworkInformation.NetworkInterfaceType.GigabitEthernet &&
-                        Net.NetworkInterfaceType != System.Net.NetworkInformation.NetworkInterfaceType.Ethernet) continue;
-                    if (Net.Name.ToLower() == NICName.ToLower())
-                    {
-                        //string data = Net.GetIPProperties().GatewayAddresses[0].ToString();
-
-                        if (Net.OperationalStatus == System.Net.NetworkInformation.OperationalStatus.Up)
-                        {
-
-                            FindNetwork = true;
-                            break; // TODO: might not be correct. Was : Exit For
-                        }
-                    }
-                }
-                if (FindNetwork)
-                    return true;
-
-                System.Threading.Thread.Sleep(1000);
-                TimeSpan ts = DateTime.Now - SD;
-                if (ts.TotalSeconds > 10)
-                {
-                    return false;
-                }
-            }
-
-        }
-
-        #endregion
-
-        public static void RunExplorer(string arg)
-        {
-            System.Diagnostics.ProcessStartInfo si = new ProcessStartInfo("explorer");
-            si.Arguments = arg;
-            System.Diagnostics.Process.Start(si);
-        }
-
-        #region "watchdog"
-        public static void WatchDog_Run()
-        {
-            System.IO.FileInfo fi = new FileInfo(AppDomain.CurrentDomain.BaseDirectory + "WatchCat.exe");
-            if (!fi.Exists) return;
-            var Exist = CheckExistProcess("watchcat");
-            if (Exist) return;
-            RunProcess(fi.FullName);
-        }
-
-        public static Boolean CheckExistProcess(string ProcessName)
-        {
-            foreach (var prc in System.Diagnostics.Process.GetProcesses())
-            {
-                if (prc.ProcessName.StartsWith("svchost")) continue;
-                if (prc.ProcessName.ToUpper() == ProcessName.ToUpper()) return true;
-            }
-            return false;
-        }
-        #endregion
-
-        #region "web function"
-        /// <summary>
-        /// URL로부터 문자열을 수신합니다.
-        /// </summary>
-        /// <param name="url"></param>
-        /// <param name="isError"></param>
-        /// <returns></returns>
-        public static string GetStrfromurl(string url, out Boolean isError)
-        {
-            isError = false;
-            string result = "";
-            try
-            {
-                HttpWebRequest request = (HttpWebRequest)WebRequest.Create(new Uri(url));
-                request.Timeout = 60000;
-                request.ReadWriteTimeout = 60000;
-
-                request.MaximumAutomaticRedirections = 4;
-                request.MaximumResponseHeadersLength = 4;
-                request.Credentials = CredentialCache.DefaultCredentials;
-                var response = request.GetResponse() as HttpWebResponse;
-                var txtReader = new StreamReader(response.GetResponseStream(), Encoding.UTF8);
-                result = txtReader.ReadToEnd();
-            }
-            catch (Exception ex)
-            {
-                isError = true;
-                result = ex.Message.ToString();
-            }
-            return result;
-        }
-
-        #endregion
-
-    }
-}

Cs_HMI/Project/Util_FG.cs

@@ -1,273 +0,0 @@
-///*
-// * Created by SharpDevelop.
-// * User: amkor
-// * Date: 5/16/2018
-// * Time: 3:08 PM
-// * 
-// * To change this template use Tools | Options | Coding | Edit Standard Headers.
-// */
-//using System;
-
-//namespace Project
-//{
-//    public static class Util_DO
-//    {
-//        /// <summary>
-//        /// ADLink I/O Board input status
-//        /// </summary>
-//        /// <param name="pin"></param>
-//        /// <returns></returns>
-//        public static Boolean GetIOInput(eDIName pin)
-//        {
-//            var curValue = Pub.dio.INPUT(GetDINum(pin) - 1);
-//            if (pin == eDIName.EMERGENCY ||
-//                pin == eDIName.PCB_PUSHER_END || 
-//                pin == eDIName.PCB_PUSHER_HOME || 
-//                pin == eDIName.PCB_IN_MGZ ||
-//                pin == eDIName.PCB_OVERLOAD ||
-//                pin == eDIName.PCB_PUSHER_OVR)
-//            {
-//                return !curValue;
-//            }
-//            else return curValue;
-//        }
-
-//        /// <summary>
-//        /// ADLink I/O Board Output Status
-//        /// </summary>
-//        /// <param name="pin"></param>
-//        /// <returns></returns>
-//        public static Boolean GetIOOutput(eDOName pin)
-//        {
-//            return Pub.dio.OUTPUT(GetDONum(pin) - 1);
-//        }
-
-//        /// <summary>
-//        /// A/D Link Digital input Pin number
-//        /// </summary>
-//        /// <param name="pin"></param>
-//        /// <returns></returns>
-//        public static int GetDINum(eDIName pin)
-//        {
-//            return (int)pin + 1;
-//            //return Pub.setting.DI[(byte)pin];
-//        }
-
-//        /// <summary>
-//        /// adlink digital output in number
-//        /// </summary>
-//        /// <param name="pin"></param>
-//        /// <returns></returns>
-//        public static int GetDONum(eDOName pin)
-//        {
-//            return (int)pin + 1;
-//            //return Pub.setting.DO[(byte)pin];
-
-//        }
-
-//        /// <summary>
-//        /// 도어각 닫혀있는 경우 TRUE,
-//        /// </summary>
-//        /// <returns></returns>
-//        public static Boolean CheckDoorSafty()
-//        {
-//            var door1 = CheckDoorSafty_Front();
-//            var door2 = CheckDoorSafty_Rear();
-//            var door3 = CheckDoorSafty_Left();
-//            var door4 = CheckDoorSafty_Right();
-//            if (door1 && door2 && door3 && door4) return true;
-//            else return false;
-//        }
-//        public static Boolean CheckDoorSafty_Front()
-//        {
-//            var door = GetIOInput(eDIName.DOOR_FRONT) || Pub.setting.DisableDoorFront;
-//            return door;
-//        }
-//        public static Boolean CheckDoorSafty_Rear()
-//        {
-//            var door = GetIOInput(eDIName.DOOR_REAR) || Pub.setting.DisableDoorRear;
-//            return door;
-//        }
-//        public static Boolean CheckDoorSafty_Left()
-//        {
-//            var door = GetIOInput(eDIName.DOOR_LEFT) || Pub.setting.DisableDoorLeft;
-//            return door;
-//        }
-//        public static Boolean CheckDoorSafty_Right()
-//        {
-//            var door = GetIOInput(eDIName.DOOR_RIGHT) || Pub.setting.DisableDoorRight;
-//            return door;
-//        }
-       
-//        public static Boolean checkMGZReady()
-//        {
-//            var ready1 = GetIOInput(eDIName.MGZ_CLAMP_RDY1);
-//            var ready2 = GetIOInput(eDIName.MGZ_CLAMP_RDY2);
-//            return ready1 && ready2;
-//        }
-
-//        public static Boolean SetAIR(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            return Pub.dio.SetOutput(GetDONum(eDOName.MAIN_AIR) - 1, ON);
-
-//        }
-//        //public static Boolean SetEMGLamp(Boolean ON)
-//        //{
-//        //    if (Pub.dio == null || !Pub.dio.initOK) return false;
-//        //    return Pub.dio.SetOutput(GetDONum(eDOName.em) - 1, ON);
-//        //}
-//        public static Boolean SetPusher(eMotDir Direction)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            if (Direction == eMotDir.CW)
-//            {
-//                if(Util_DO.GetIOInput( eDIName.MGZ_CLAMP_RDY1)==false &&
-//                     Util_DO.GetIOInput(eDIName.MGZ_CLAMP_RDY2)==false)
-//                {
-//                    Pub.log.AddE("매거진이 없어서 푸셔 작동이 불가 합니다");
-//                    return false;
-//                }
-//                Pub.dio.SetOutput(GetDONum(eDOName.PCB_PUSHER_DIR) - 1, true);
-//                return Pub.dio.SetOutput(GetDONum(eDOName.PCB_PUSHER_RUN) - 1, true);
-//            }
-//            else if (Direction == eMotDir.CCW)
-//            {
-//                Pub.dio.SetOutput(GetDONum(eDOName.PCB_PUSHER_DIR) - 1, false);
-//                return Pub.dio.SetOutput(GetDONum(eDOName.PCB_PUSHER_RUN) - 1, true);
-//            }
-//            else
-//            {
-//                return Pub.dio.SetOutput(GetDONum(eDOName.PCB_PUSHER_RUN) - 1, false);
-//            }
-//        }
-
-//        public static Boolean SetMGZMotor(Boolean run)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            if (run)
-//            {
-//                Pub.MGZRunTime = DateTime.Now;               
-//                Pub.log.Add("MGZ In Run : " + Pub.MGZRunTime.ToString());
-//                return Pub.dio.SetOutput((int)eDOName.MGZ_IN, true);                
-//            }
-//            else
-//            {
-//                return Pub.dio.SetOutput((int)eDOName.MGZ_IN, false);                
-//            }
-//        }
-
-//        #region "Tower Lamp"
-
-//        /// <summary>
-//        /// 타워램프버튼 작업
-//        /// </summary>
-//        /// <param name="g"></param>
-//        /// <param name="r"></param>
-//        /// <param name="y"></param>
-//        public static void SetTWLamp(Boolean r, Boolean g, Boolean y)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return;
-//            if (Util_DO.GetIOOutput(eDOName.TWR_GRN) != g) Pub.dio.SetOutput(GetDONum(eDOName.TWR_GRN) - 1, g);
-//            if (Util_DO.GetIOOutput(eDOName.TWR_RED) != r) Pub.dio.SetOutput(GetDONum(eDOName.TWR_RED) - 1, r);
-//            if (Util_DO.GetIOOutput(eDOName.TWR_YEL) != y) Pub.dio.SetOutput(GetDONum(eDOName.TWR_YEL) - 1, y);
-
-//            if (Util_DO.GetIOOutput(eDOName.LED_START) != g) Pub.dio.SetOutput(GetDONum(eDOName.LED_START) - 1, g);
-//            if (Util_DO.GetIOOutput(eDOName.LED_STOP) != r) Pub.dio.SetOutput(GetDONum(eDOName.LED_STOP) - 1, r);
-//            if (Util_DO.GetIOOutput(eDOName.LED_RESET) != y) Pub.dio.SetOutput(GetDONum(eDOName.LED_RESET) - 1, y);
-//        }
-
-//        public static Boolean SetTwRed(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            Pub.dio.SetOutput(GetDONum(eDOName.LED_STOP) - 1, ON);
-//            return Pub.dio.SetOutput(GetDONum(eDOName.TWR_RED) - 1, ON);
-//        }
-//        public static Boolean SetTwYel(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            Pub.dio.SetOutput(GetDONum(eDOName.LED_RESET) - 1, ON);
-//            return Pub.dio.SetOutput(GetDONum(eDOName.TWR_YEL) - 1, ON);
-//        }
-//        public static Boolean SetTwGrn(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            Pub.dio.SetOutput(GetDONum(eDOName.LED_START) - 1, ON);
-//            return Pub.dio.SetOutput(GetDONum(eDOName.TWR_GRN) - 1, ON);
-//        }
-
-//        #endregion
-
-//        public static void ToggleRoomLight()
-//        {
-//            var current = Util_DO.GetIOOutput(eDOName.ROOM_LIGHT);
-//            Pub.dio.SetOutput((int)eDOName.ROOM_LIGHT, !current);
-//        }
-
-
-//        public static Boolean SetBrake(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            return Pub.dio.SetOutput(GetDONum(eDOName.BRAKE_OFF) - 1, !ON);
-//        }
-
-//        public static Boolean SetBuzzer(Boolean ON)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            if (ON)
-//            {
-//                Pub.BuzzerTime = DateTime.Now;
-//                if (Pub.setting.EnableBuzzer == false) return true; //부저기능OFF시 사용 안함
-//            }
-//            if (ON && Pub.setting.EnableBuzzer==false)
-//            {
-//                Pub.log.AddAT("buzzer Disabled");
-//                ON = false;
-//            }
-//            return Pub.dio.SetOutput(GetDONum(eDOName.BUZZER) - 1, ON);
-//        }
-//        public static Boolean getBrakeOn()
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            return !GetIOOutput(eDOName.BRAKE_OFF);
-//        }
-
-//        public static Boolean setGripper(Boolean close)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            var rlt = Pub.dio.SetOutput(GetDONum(eDOName.PCB_GRIPPER_CLOSE) - 1, close);
-//            if (!rlt) Pub.log.AddE("Grip Set Error vlaue=" + close.ToString());
-//            else
-//            {
-//                System.Threading.Thread.Sleep(Pub.setting.GripperOnOffDelay);
-//                //Pub.log.Add("DELAY:GRIP:" + Pub.setting.GripperOnOffDelay);
-//            }
-//            return rlt;
-//        }
-//        public static Boolean setMGZClamp(Boolean close)
-//        {
-//            if (Pub.dio == null || !Pub.dio.IsInit) return false;
-//            bool rlt1, rlt2;
-//            if (close)
-//            {
-//                rlt1 = Pub.dio.SetOutput((int)eDOName.MGZ_CLAMP_OPEN, false);
-//                rlt2 = Pub.dio.SetOutput((int)eDOName.MGZ_CLAMP_CLOSE, true);
-//            }
-//            else
-//            {
-//                rlt2 = Pub.dio.SetOutput((int)eDOName.MGZ_CLAMP_CLOSE, false);
-//                rlt1 = Pub.dio.SetOutput((int)eDOName.MGZ_CLAMP_OPEN, true);
-//            }
-
-//            Pub.log.AddAT("gripper set close = " + close.ToString());
-
-//            if (rlt1 == false || rlt2 == false) Pub.log.AddE("Grip Set Error vlaue=" + close.ToString());
-//            else
-//            {
-//                System.Threading.Thread.Sleep(Pub.setting.GripperOnOffDelay);
-//               // Pub.log.Add("DELAY:GRIP:" + Pub.setting.GripperOnOffDelay);
-//            }
-//            return rlt1 && rlt2;
-//        }
-//    }
-//}

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -10,12 +10,13 @@ using System.Windows.Forms;
 using Project.StateMachine;
 using COMM;
 using AR;
+using System.Security.Cryptography.X509Certificates;
 
 namespace Project.ViewForm
 {
     public partial class fAuto : Form
     {
-        AGVControl.MapControl mapctl;
+     
         public fAuto()
         {
             InitializeComponent();
@@ -26,12 +27,12 @@ namespace Project.ViewForm
                 this.ctlAuto1.Scean = CtlAuto.eScean.Progress;
             else
                 this.ctlAuto1.Scean = CtlAuto.eScean.Normal;
-            this.mapctl = new AGVControl.MapControl();
-            this.mapctl.Dock = DockStyle.Fill;
-            this.mapctl.Visible = true;
-            this.mapctl.Font = this.panel1.Font;
-            this.mapctl.BackColor = Color.FromArgb(32, 32, 32);
-            this.panel1.Controls.Add(mapctl);
+            PUB.mapctl = new AGVControl.MapControl();
+            PUB.mapctl.Dock = DockStyle.Fill;
+            PUB.mapctl.Visible = true;
+            PUB.mapctl.Font = this.panel1.Font;
+            PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32);
+            this.panel1.Controls.Add(PUB.mapctl);
         }
         private void fAuto_Load(object sender, EventArgs e)
         {
@@ -41,7 +42,8 @@ namespace Project.ViewForm
             ctlAuto1.dev_xbe = PUB.XBE;
             this.timer1.Start();
             PUB.AGV.DataReceive += AGV_DataReceive;
-
+            
+            
             //auto load 
             var path = new System.IO.DirectoryInfo("route");
             if (path.Exists == false) path.Create();
@@ -61,7 +63,8 @@ namespace Project.ViewForm
                 if (fi.Exists)
                 {
                     PUB.log.Add($"autoload : {fi.FullName}");
-                    this.mapctl.LoadFromFile(fi.FullName);
+                    var errmsg  = PUB.mapctl.LoadFromFile(fi.FullName);
+                    if (errmsg.isEmpty() == false) AR.UTIL.MsgE(errmsg);
                 }
             }
         }
@@ -72,7 +75,8 @@ namespace Project.ViewForm
             {
                 case arDev.Narumi.DataType.TAG:
                     var tagno = PUB.AGV.data.TagNo;
-                    this.mapctl.AGVMoveToRFID(tagno.ToString());
+                    PUB.log.Add($"[auto] recv tag : {tagno}");
+                    PUB.mapctl.SetCurrentPosition(tagno);
                     break;
             }
         }

Cs_HMI/Project/ViewForm/fManual.cs

@@ -69,12 +69,12 @@ namespace Project.ViewForm
             //후진
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA])
             {
-                Util.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
+                UTIL.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
                 return;
             }
             else if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
+                UTIL.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
                 return;
             }
             if (PUB.CheckManualChargeMode() == false) return;
@@ -92,12 +92,12 @@ namespace Project.ViewForm
             //전진
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA])
             {
-                Util.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
+                UTIL.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
                 return;
             }
             else if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
+                UTIL.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
                 return;
             }
             if (PUB.CheckManualChargeMode() == false) return;
@@ -115,12 +115,12 @@ namespace Project.ViewForm
             //우회전
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA])
             {
-                Util.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
+                UTIL.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
                 return;
             }
             else if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
+                UTIL.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
                 return;
             }
             if (PUB.CheckManualChargeMode() == false) return;
@@ -138,12 +138,12 @@ namespace Project.ViewForm
             //좌회전
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA])
             {
-                Util.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
+                UTIL.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
                 return;
             }
             else if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
+                UTIL.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
                 return;
             }
             if (PUB.CheckManualChargeMode() == false) return;
@@ -160,19 +160,19 @@ namespace Project.ViewForm
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA])
             {
-                Util.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
+                UTIL.MsgE("자동 충전 중입니다\n충전을 해제 하세요");
                 return;
             }
             else if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
+                UTIL.MsgE("수동 충전 중입니다\b충전을 해제 하세요");
                 return;
             }
             if (PUB.CheckManualChargeMode() == false) return;
             PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
             if (PUB.AGV.system1.agv_run == false && PUB.AGV.system1.agv_run_manual == false)
             {
-                var dlg = Util.MsgQ("자동 진행을 시작할까요?\n우측 옵션을 확인 하세요");
+                var dlg = UTIL.MsgQ("자동 진행을 시작할까요?\n우측 옵션을 확인 하세요");
                 if (dlg != DialogResult.Yes) return;
                 var opt = makeopt();
                 PUB.AGV.AGVMoveSet(opt);
@@ -301,7 +301,7 @@ namespace Project.ViewForm
 
         private void btchargeOff_Click(object sender, EventArgs e)
         {
-            if (Util.MsgQ("충전 해제 명령을 전송 할까요?") == DialogResult.Yes)
+            if (UTIL.MsgQ("충전 해제 명령을 전송 할까요?") == DialogResult.Yes)
                 PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
         }
 
@@ -309,10 +309,10 @@ namespace Project.ViewForm
         {
             if (PUB.AGV.signal.mark_sensor == false)
             {
-                Util.MsgE("마크센서가 확인되지 않아 충전을 시작할 수 없습니다");
+                UTIL.MsgE("마크센서가 확인되지 않아 충전을 시작할 수 없습니다");
                 return;
             }
-            var dlg = Util.MsgQ("충전 시작 명령을 전송 할까요?");
+            var dlg = UTIL.MsgQ("충전 시작 명령을 전송 할까요?");
             if (dlg != DialogResult.Yes) return;
             PUB.AGV.AGVCharge(PUB.setting.ChargerID, true);
         }

Cs_HMI/Project/fMain.cs

@@ -11,6 +11,7 @@ using COMM;
 using System.CodeDom;
 using AR;
 using Project.StateMachine;
+using System.Security.Cryptography.X509Certificates;
 
 namespace Project
 {
@@ -112,14 +113,14 @@ namespace Project
                 _STEP_CLOSING_START(PUB.sm.Step);
                 PUB.sm.Stop();
 
-                var patchfile = new System.IO.FileInfo(System.IO.Path.Combine(Util.CurrentPath, "SWPatch.exe"));
+                var patchfile = new System.IO.FileInfo(System.IO.Path.Combine(UTIL.CurrentPath, "SWPatch.exe"));
                 if (patchfile.Exists == false)
                 {
-                    Util.MsgE("패치파일(" + patchfile.Name + ")이 없습니다.\n프로그램을 다시 실행해주세요", true);
+                    UTIL.MsgE("패치파일(" + patchfile.Name + ")이 없습니다.\n프로그램을 다시 실행해주세요", true);
                 }
                 else
                 {
-                    Util.RunProcess(patchfile.FullName);
+                    UTIL.RunProcess(patchfile.FullName);
                 }
             }
             else if (forceClose == true)
@@ -130,19 +131,19 @@ namespace Project
                 _STEP_CLOSING_START(PUB.sm.Step);
                 PUB.sm.Stop();
 
-             
+
             }
             else
             {
                 if (PUB.sm.Step == eSMStep.RUN)
                 {
-                    Util.MsgE("동작 중에는 종료 할 수 없습니다.");
+                    UTIL.MsgE("동작 중에는 종료 할 수 없습니다.");
                     e.Cancel = true;
                     return;
                 }
                 if (PUB.sm.Step < eSMStep.CLOSING)
                 {
-                    var rlt = Util.MsgQ("종료하시겠습니까");
+                    var rlt = UTIL.MsgQ("종료하시겠습니까");
                     if (rlt == System.Windows.Forms.DialogResult.Yes)
                     {
                         //비젼의 측정상태가 변경된 경우
@@ -193,7 +194,9 @@ namespace Project
 
             //지그비통신
             PUB.XBE = new Device.Xbee();
-            //PUB.XBE.Message += Xbee_Message;
+            PUB.XBE.MessageReceived += XBE_MessageReceived;
+            PUB.XBE.ProtocReceived += XBE_ProtocReceived;
+
             //HWState.setTitle(1, 3, Pub.setting.Port_Xbee);
             //HWState.setTitle(1, 0, Pub.setting.Address_RFID);
 
@@ -253,6 +256,7 @@ namespace Project
 
         }
 
+       
 
         private void Counter_PropertyChanged(object sender, PropertyChangedEventArgs e)
         {
@@ -293,17 +297,17 @@ namespace Project
 
         #endregion
 
-   
+
         private void CtlPos1_ItemClick(object sender, CtlPos.ItemClickEventArgs e)
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
             {
-                Util.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
+                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
                 return;
             }
-            if (VAR.BOOL[eVarBool.EMERGENCY]==true)
+            if (VAR.BOOL[eVarBool.EMERGENCY] == true)
             {
-                var dlgE = Util.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
+                var dlgE = UTIL.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
                 if (dlgE == DialogResult.Yes) PUB.AGV.AGVErrorReset();
                 else return;
             }
@@ -511,7 +515,7 @@ namespace Project
                 PUB.AGV.AGVErrorReset();
                 if (Prompt)
                 {
-                    if (Util.MsgQ("AGV상태를 자동으로 전환 할까요?") != DialogResult.Yes) return;
+                    if (UTIL.MsgQ("AGV상태를 자동으로 전환 할까요?") != DialogResult.Yes) return;
                 }
                 //충전상태확인
                 if (PUB.CheckManualChargeMode() == false) return;
@@ -656,15 +660,15 @@ namespace Project
 
         private void arLabel3_Click(object sender, EventArgs e)
         {
-            string file = System.IO.Path.Combine(Util.CurrentPath, "manual.pdf");
+            string file = System.IO.Path.Combine(UTIL.CurrentPath, "manual.pdf");
             if (System.IO.File.Exists(file) == false)
             {
-                Util.MsgE("사용설명서 파일이 존재하지 않습니다\n" +
+                UTIL.MsgE("사용설명서 파일이 존재하지 않습니다\n" +
                     "문의 : T8567 (장비기술 1파트)\n" +
                     "파일명 : " + file);
                 return;
             }
-            Util.RunExplorer(file);
+            UTIL.RunExplorer(file);
         }
 
         private void btClose_Click(object sender, EventArgs e)
@@ -680,7 +684,7 @@ namespace Project
         private void arLabel5_Click(object sender, EventArgs e)
         {
             //SetScreen(form_setup);
-           
+
 
             var popmsg = PUB.popup.Visible;
             PUB.popup.Visible = false;
@@ -688,7 +692,7 @@ namespace Project
             using (var f = new fSetup())
                 if (f.ShowDialog() == DialogResult.OK)
                 {
-                   
+
 
                     //AGV정보 싱크
                     PUB.sm.ResetRunStepSeq();
@@ -705,7 +709,7 @@ namespace Project
 
             //if (Pub.sm.Step != eSMStep.IDLE)
             //{
-            var dlg = Util.MsgQ(
+            var dlg = UTIL.MsgQ(
                 "프로그램 상태를 초기화 하시겠습니까?\n" +
                 "진행 중인 사항은 모두 취소 됩니다");
             if (dlg != System.Windows.Forms.DialogResult.Yes) return;
@@ -725,12 +729,12 @@ namespace Project
 
         private void btCapture_Click(object sender, EventArgs e)
         {
-            Util.ScreenCaptrue(Screen.PrimaryScreen.WorkingArea.Width, Screen.PrimaryScreen.WorkingArea.Height, new Point(0, 0));
+            UTIL.ScreenCapture(Screen.PrimaryScreen.WorkingArea.Width, Screen.PrimaryScreen.WorkingArea.Height, new Point(0, 0));
         }
 
         private void btOpenDir_Click(object sender, EventArgs e)
         {
-            Util.RunExplorer(Util.CurrentPath);
+            UTIL.RunExplorer(UTIL.CurrentPath);
         }
 
         private void button4_Click(object sender, EventArgs e)
@@ -792,14 +796,14 @@ namespace Project
 
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                Util.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
+                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
                 return;
             }
 
             //충전을 시작해라ㅏ
             if (bCharge == true)
             {
-                var dlg = Util.MsgQ("충전을 중지할까요?");
+                var dlg = UTIL.MsgQ("충전을 중지할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -810,7 +814,7 @@ namespace Project
             }
             else
             {
-                var dlg = Util.MsgQ("충전을 시작할까요?");
+                var dlg = UTIL.MsgQ("충전을 시작할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -850,7 +854,7 @@ namespace Project
 
             if (bCharge == true)
             {
-                var dlg = Util.MsgQ("홈(QC) 이동을 취소 할까요?");
+                var dlg = UTIL.MsgQ("홈(QC) 이동을 취소 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -862,7 +866,7 @@ namespace Project
             }
             else
             {
-                var dlg = Util.MsgQ("홈(QC) 이동을 실행 할까요?");
+                var dlg = UTIL.MsgQ("홈(QC) 이동을 실행 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -949,7 +953,7 @@ namespace Project
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
-                var dlg = Util.MsgQ("수동 충전을 해제 할까요?");
+                var dlg = UTIL.MsgQ("수동 충전을 해제 할까요?");
                 if (dlg != DialogResult.Yes) return;
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] = false;
                 PUB.log.Add("수동 충전 실행");
@@ -958,10 +962,10 @@ namespace Project
             {
                 if (PUB.AGV.system1.Battery_charging)
                 {
-                    Util.MsgE("현재 자동 충전 중이라 진행 할 수 없습니다");
+                    UTIL.MsgE("현재 자동 충전 중이라 진행 할 수 없습니다");
                     return;
                 }
-                var dlg = Util.MsgQ("수동 충전을 진행 할까요?");
+                var dlg = UTIL.MsgQ("수동 충전을 진행 할까요?");
                 if (dlg != DialogResult.Yes) return;
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] = true;
                 PUB.log.Add("수동 충전 실행");

Cs_HMI/Project/fSetup.cs

@@ -211,7 +211,7 @@ namespace Project
         {
             if (PUB.CheckPassword() == false)
             {
-                Util.MsgE("암호가 일치하지 않습니다");
+                UTIL.MsgE("암호가 일치하지 않습니다");
                 return;
             }
 
@@ -469,7 +469,7 @@ namespace Project
                         " * [충전] 탭에서 설정값을 확인할 수 있습니다";
                 else if (tagStr == "2") msg += "[배경음악]\n" +
                          " * 이동시 음악을 플레이 합니다";
-                var dlg = Util.MsgQ(msg);
+                var dlg = UTIL.MsgQ(msg);
                 if (dlg == DialogResult.Yes)
                 {
                     SetColorValue(button, true);
@@ -483,7 +483,7 @@ namespace Project
             //포트를 선택한 후 표시해준다.
             var but = sender as Button;
             var tagStr = but.Tag.ToString();
-            var newPort = Util.SelectSerialPort();
+            var newPort = PUB.SelectSerialPort();
             if (newPort.isEmpty()) return;
 
             if (tagStr == "XBE") tbPortXBE.Text = newPort;
@@ -523,7 +523,7 @@ namespace Project
         {
             if (System.IO.File.Exists(tbMusic.Text) == false)
             {
-                Util.MsgE("파일이 없습니다");
+                UTIL.MsgE("파일이 없습니다");
                 return;
             }
             try
@@ -535,7 +535,7 @@ namespace Project
             }
             catch (Exception ex)
             {
-                Util.MsgE("music open error\n\n" + ex.Message);
+                UTIL.MsgE("music open error\n\n" + ex.Message);
             }
 
         }

Cs_HMI/Project/sample.route

@@ -1,83 +1,109 @@
 [RFID_POINTS]
-100,486,T0002
-164,494,T0003
-229,493,T0004
-309,489,T0005
-370,490,T0006
-437,486,T0007
-483,459,T0008
-511,421,T0009
-543,371,T0010
-569,329,T0011
-608,289,T0012
-661,279,T0013
-700,297,T0014
-698,349,T0015
-698,391,T0016
-699,449,T0017
-691,491,T0018
-569,275,T0019
-518,264,T0020
-454,264,T0021
-388,261,T0022
-314,258,T0023
-639,234,T0024
-621,182,T0025
-629,143,T0026
-657,101,T0027
-627,82,T0028
-560,73,T0029
-499,65,T0030
-432,65,T0031
-264,232,T0032
-363,60,T0033
-654,508,T0034
-96,542,T0050
-159,542,T0051
-226,542,T0061
-309,541,T0070
-369,542,T0071
-483,165,T0010
-735,163,T0011
-523,170,T0001
-565,175,T0002
-597,182,T0003
-665,181,T0004
-700,176,T0005
-721,170,T0006
-[MAGNET_LINES]
-99,485,220,492
-220,492,375,488
-375,488,457,479
-457,479,512,432
-512,432,552,353
-552,353,602,291
-602,291,651,278
-651,278,700,289
-700,289,704,380
-704,380,700,469
-700,469,688,488
-666,277,637,229
-637,229,625,170
-625,170,654,94
-654,94,624,78
-624,78,484,63
-484,63,365,64
-608,287,523,267
-523,267,409,260
-409,260,275,258
-99,486,95,542
-161,495,161,543
-230,496,228,537
-228,537,228,544
-306,488,306,543
-373,489,371,544
-655,508,691,486
-481,164,624,183
-624,183,706,181
-706,181,743,161
+100,486,0002
+164,494,0003
+229,493,0004
+309,489,0005
+370,490,0006
+437,486,0007
+483,459,0008
+511,421,0009
+543,371,0010
+569,329,0011
+608,289,0012
+661,279,0013
+700,297,0014
+698,349,0015
+698,391,0016
+699,449,0017
+691,491,0018
+569,275,0019
+518,264,0020
+454,264,0021
+388,261,0022
+314,258,0023
+639,234,0024
+621,182,0025
+629,143,0026
+657,101,0027
+627,82,0028
+560,73,0029
+499,65,0030
+432,65,0031
+264,232,0032
+363,60,0033
+654,508,0034
+96,542,0050
+159,542,0051
+226,542,0061
+309,541,0070
+369,542,0071
+483,165,0010
+735,163,0011
+523,170,0001
+565,175,0002
+597,182,0003
+665,181,0004
+700,176,0005
+721,170,0006
+
+[RFID_LINES]
+96,542,100,486,0005,0002,False,56.14267
+100,486,164,494,0002,0003,False,64.49806
+164,494,229,493,0003,0004,False,65.00769
+229,493,309,489,0004,0005,False,80.09994
+309,489,370,490,0005,0006,False,61.0082
+370,490,437,486,0006,0007,False,67.11929
+437,486,483,459,0007,0008,False,53.33854
+483,459,511,421,0008,0009,False,47.20169
+511,421,543,371,0009,0010,False,59.36329
+543,371,569,329,0010,0011,False,49.39635
+569,329,608,289,0011,0012,False,55.86591
+608,289,661,279,0012,0013,False,53.93515
+661,279,700,297,0013,0014,False,42.95346
+700,297,698,349,0014,0015,False,52.03845
+698,349,698,391,0015,0016,False,42
+698,391,699,449,0016,0017,False,58.00862
+699,449,691,491,0017,0018,False,42.75512
+691,491,654,508,0018,0034,False,40.71855
+159,542,164,494,0006,0003,False,48.25971
+226,542,229,493,0007,0004,False,49.09175
+309,541,309,489,0008,0005,False,52
+369,542,370,490,0009,0006,False,52.00961
+370,490,370,490,0006,0006,False,0
+608,289,569,275,0012,0019,False,41.4367
+569,275,518,264,0019,0020,False,52.17279
+518,264,454,264,0020,0021,False,64
+454,264,388,261,0021,0022,False,66.06815
+388,261,314,258,0022,0023,False,74.06078
+661,279,639,234,0013,0024,False,50.08992
+639,234,621,182,0024,0025,False,55.02727
+621,182,629,143,0025,0026,False,39.81206
+629,143,657,101,0026,0027,False,50.47772
+657,101,627,82,0027,0028,False,35.51056
+627,82,560,73,0028,0029,False,67.60178
+560,73,499,65,0029,0030,False,61.52235
+483,165,523,170,0010,0001,False,40.31129
+523,170,565,175,0001,0002,False,42.29657
+565,175,597,182,0002,0003,False,32.75668
+597,182,621,182,0003,0025,False,24
+621,182,665,181,0025,0004,False,44.01136
+665,181,700,176,0004,0005,False,35.35534
+700,176,721,170,0005,0006,False,21.84033
+721,170,735,163,0006,0011,False,15.65248
+735,163,721,170,0011,0006,False,15.65248
+721,170,735,163,0006,0011,False,15.65248
+314,258,388,261,0023,0022,False,74.06078
+388,261,454,264,0022,0021,False,66.06815
+454,264,518,264,0021,0020,False,64
+518,264,569,275,0020,0019,False,52.17279
+569,275,608,289,0019,0012,False,41.4367
+264,232,314,258,0032,0023,False,56.35601
+363,60,432,65,0033,0031,False,69.18092
+432,65,499,65,0031,0030,False,67
+
+
 [MAP_TEXTS]
-179,251,-1,-16777216,Arial,12,TOPS-2
+179,251,-1,-16777216,Arial,12,OPS-2
 239,52,-256,-65408,Arial,12,SSOTRON-3
 617,527,-16711936,-16777216,Arial,12,SSOTRON-1
 87,551,-16777216,16777215,Arial,12,B1
@@ -88,57 +114,3 @@
 453,128,-16777216,-8323073,Arial,12,CHG1
 725,124,-16777216,-8323073,Arial,12,CHG2
 [CUSTOM_LINES]
-[RFID_LINES]
-96,542,100,486,T0005,T0002,True,56.14267
-100,486,164,494,T0002,T0003,True,64.49806
-164,494,229,493,T0003,T0004,True,65.00769
-229,493,309,489,T0004,T0005,True,80.09994
-309,489,370,490,T0005,T0006,True,61.0082
-370,490,437,486,T0006,T0007,True,67.11929
-437,486,483,459,T0007,T0008,True,53.33854
-483,459,511,421,T0008,T0009,True,47.20169
-511,421,543,371,T0009,T0010,True,59.36329
-543,371,569,329,T0010,T0011,True,49.39635
-569,329,608,289,T0011,T0012,True,55.86591
-608,289,661,279,T0012,T0013,True,53.93515
-661,279,700,297,T0013,T0014,True,42.95346
-700,297,698,349,T0014,T0015,True,52.03845
-698,349,698,391,T0015,T0016,True,42
-698,391,699,449,T0016,T0017,True,58.00862
-699,449,691,491,T0017,T0018,True,42.75512
-691,491,654,508,T0018,T0034,True,40.71855
-159,542,164,494,T0006,T0003,True,48.25971
-226,542,229,493,T0007,T0004,True,49.09175
-309,541,309,489,T0008,T0005,True,52
-369,542,370,490,T0009,T0006,True,52.00961
-370,490,370,490,T0006,T0006,True,0
-608,289,569,275,T0012,T0019,True,41.4367
-569,275,518,264,T0019,T0020,True,52.17279
-518,264,454,264,T0020,T0021,True,64
-454,264,388,261,T0021,T0022,True,66.06815
-388,261,314,258,T0022,T0023,True,74.06078
-661,279,639,234,T0013,T0024,True,50.08992
-639,234,621,182,T0024,T0025,True,55.02727
-621,182,629,143,T0025,T0026,True,39.81206
-629,143,657,101,T0026,T0027,True,50.47772
-657,101,627,82,T0027,T0028,True,35.51056
-627,82,560,73,T0028,T0029,True,67.60178
-560,73,499,65,T0029,T0030,True,61.52235
-483,165,523,170,T0010,T0001,True,40.31129
-523,170,565,175,T0001,T0002,True,42.29657
-565,175,597,182,T0002,T0003,True,32.75668
-597,182,621,182,T0003,T0025,True,24
-621,182,665,181,T0025,T0004,True,44.01136
-665,181,700,176,T0004,T0005,True,35.35534
-700,176,721,170,T0005,T0006,True,21.84033
-721,170,735,163,T0006,T0011,True,15.65248
-735,163,721,170,T0011,T0006,True,15.65248
-721,170,735,163,T0006,T0011,True,15.65248
-314,258,388,261,T0023,T0022,True,74.06078
-388,261,454,264,T0022,T0021,True,66.06815
-454,264,518,264,T0021,T0020,True,64
-518,264,569,275,T0020,T0019,True,52.17279
-569,275,608,289,T0019,T0012,True,41.4367
-264,232,314,258,T0032,T0023,True,56.35601
-363,60,432,65,T0033,T0031,True,69.18092
-432,65,499,65,T0031,T0030,True,67

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -388,7 +388,7 @@ namespace arDev
             {
                 //221123    chi 숫자로변경
                 var tagnostr = rcvdNow.Substring(3);
-                if (int.TryParse(tagnostr, out int tagnoint))
+                if (uint.TryParse(tagnostr, out uint tagnoint))
                 {
                     var Changed = !old_TagString.Equals(tagnostr);
                     data.TagString = tagnostr;

Cs_HMI/SubProject/AGV/Structure/AgvData.cs

@@ -15,7 +15,7 @@ namespace arDev
 
 
             public string TagString { get; set; } = string.Empty;
-            public int TagNo { get; set; } = -1;
+            public uint TagNo { get; set; } = 0;
             public string CallString { get; set; } = string.Empty;
             public int CallNo { get; set; } = -1;
             public string CCAString { get; set; } = string.Empty;

Cs_HMI/SubProject/AGVControl/MapControl.cs

@@ -5,6 +5,9 @@ using System.Drawing.Design;
 using System.Drawing.Drawing2D;
 using System.IO;
 using System.Linq;
+using System.Net.NetworkInformation;
+using System.Security.Cryptography;
+using System.Security.Permissions;
 using System.Text.RegularExpressions;
 using System.Windows.Forms;
 using AGVControl.Models;
@@ -18,7 +21,7 @@ namespace AGVControl
         private List<MapText> mapTexts;
         private List<CustomLine> customLines;
         private List<RFIDLine> rfidLines;
-        private AGV agv;
+        public AGV agv;
         private float zoom = 1.0f;
         private PointF offset = PointF.Empty;
         private Point lastMousePosition;
@@ -200,12 +203,12 @@ namespace AGVControl
             );
         }
 
-        public RFIDPoint FindRFIDPoint(string rfidValue)
+        public RFIDPoint FindRFIDPoint(uint rfidValue)
         {
-            return rfidPoints.FirstOrDefault(r => r.RFIDValue.ToUpper() == rfidValue.ToUpper());
+            return rfidPoints.FirstOrDefault(r => r.RFIDValue == rfidValue);
         }
 
-        public bool AGVMoveToRFID(string rfidValue)
+        public bool SetCurrentPosition(uint rfidValue)
         {
             var rfidPoint = FindRFIDPoint(rfidValue);
             if (rfidPoint != null)
@@ -538,7 +541,7 @@ namespace AGVControl
 
             return neighbors.Distinct().ToList();
         }
-        public void SetPath(List<string> rfids)
+        public void SetPath(List<uint> rfids)
         {
             if (rfids == null || rfids.Count == 0)
                 return;
@@ -563,6 +566,62 @@ namespace AGVControl
         public string RFIDStartNo { get; set; } = string.Empty;
         public int RFIDLastNumber = 0;
         string filename = string.Empty;
+
+
+
+
+        public struct PathResult
+        {
+            public bool Success { get; set; }
+            public string Message { get; set; }
+            public List<Point> Path { get; set; }
+        }
+        public PathResult CalculatePath(uint tagStrt, uint tagEnd)
+        {
+            var retval = new PathResult
+            {
+                Message = string.Empty,
+                Success = false,
+                Path = new List<Point>(),
+            };
+
+            var sp = tagStrt;   //만약시작위치가 없다면 항상 충전기 기준으로 한다
+            var ep = tagEnd;
+
+            var startPoint = FindRFIDPoint(sp);
+            var endPoint = FindRFIDPoint(ep);
+
+            if (startPoint == null || endPoint == null)
+            {
+                retval.Message = "유효한 RFID 값을 입력해주세요.";
+                return retval;
+            }
+
+            var path = CalculatePath(startPoint.Location, endPoint.Location);
+            if (path != null && path.Count > 0)
+            {
+                DrawPath(path);
+
+                // 경로 상의 모든 RFID 값을 가져옴
+                var rfidPath = new List<uint>();
+                foreach (var point in path)
+                {
+                    var rfid = GetRFIDPoints()
+                        .FirstOrDefault(r => r.Location == point);
+                    if (rfid != null)
+                    {
+                        rfidPath.Add(rfid.RFIDValue);
+                    }
+                }
+                retval.Success = true;
+            }
+            else
+            {
+                retval.Message = "경로를 찾을 수 없습니다";
+            }
+            return retval;
+        }
+
         private void MapControl_MouseClick(object sender, MouseEventArgs e)
         {
             var mapPoint = ScreenToMap(e.Location);
@@ -596,45 +655,34 @@ namespace AGVControl
 
                             var startRFID = input1.Item2;
                             var endRFID = input2.Item2;
-                            var startPoint = FindRFIDPoint(startRFID);
-                            var endPoint = FindRFIDPoint(endRFID);
 
-                            if (startPoint == null || endPoint == null)
+                            var valid1 = uint.TryParse(input1.Item2, out uint vstart);
+                            var valid2 = uint.TryParse(input2.Item2, out uint vend);
+
+                            if (valid1 == false || valid2 == false)
                             {
-                                MessageBox.Show("유효한 RFID 값을 입력해주세요.", "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                                MessageBox.Show("RFID값은 정수로 입력하세요", "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                                 return;
                             }
 
-                            var path = CalculatePath(startPoint.Location, endPoint.Location);
-                            if (path != null && path.Count > 0)
+                            var rlt = CalculatePath(vstart, vend);
+
+                            if (rlt.Success == false)
                             {
-                                DrawPath(path);
-
-                                // 경로 상의 모든 RFID 값을 가져옴
-                                var rfidPath = new List<string>();
-                                foreach (var point in path)
-                                {
-                                    var rfid = GetRFIDPoints()
-                                        .FirstOrDefault(r => r.Location == point);
-                                    if (rfid != null)
-                                    {
-                                        rfidPath.Add(rfid.RFIDValue);
-                                    }
-                                }
-
-                                MessageBox.Show($"경로가 계산되었습니다.\nRFID 순서: {string.Join(" -> ", rfidPath)}",
-                                    "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                                MessageBox.Show(rlt.Message, "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                                return;
                             }
                             else
                             {
-                                MessageBox.Show("경로를 찾을 수 없습니다.", "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                                MessageBox.Show($"경로가 계산되었습니다.\nRFID 순서: {string.Join(" -> ", rlt.Path)}",
+                                   "경로 계산", MessageBoxButtons.OK, MessageBoxIcon.Information);
                             }
                             break;
                         case "pos":
                             var tag = AR.UTIL.InputBox("input rfid tag value");
-                            if (tag.Item1 && tag.Item2 != "")
+                            if (tag.Item1 && tag.Item2 != "" && uint.TryParse(tag.Item2, out uint val) == true)
                             {
-                                var targetRFID = AGVMoveToRFID(tag.Item2);
+                                var targetRFID = SetCurrentPosition(val);
                             }
                             break;
                         case "save":
@@ -693,27 +741,30 @@ namespace AGVControl
                     case eMouseMode.addrfidpoint:
                         if (string.IsNullOrEmpty(this.RFIDStartNo) == false)
                         {
-
-                            AddRFIDPoint(mapPoint, RFIDStartNo);
-
-                            // 숫자로 끝나는 RFID 값인 경우 자동 증가
-                            if (Regex.IsMatch(RFIDStartNo, @"^[A-Za-z]+\d+$"))
+                            if (uint.TryParse(this.RFIDStartNo, out uint rfidvalue))
                             {
-                                // 마지막 숫자 부분 추출
-                                Match match = Regex.Match(RFIDStartNo, @"\d+$");
-                                if (match.Success)
-                                {
-                                    int currentNumber = int.Parse(match.Value);
-                                    if (currentNumber > this.RFIDLastNumber)
-                                    {
-                                        RFIDLastNumber = currentNumber;
-                                    }
-                                    RFIDLastNumber++;
+                                AddRFIDPoint(mapPoint, rfidvalue);
 
-                                    // 숫자 부분을 새로운 번호로 교체
-                                    RFIDStartNo = RFIDStartNo.Substring(0, match.Index) + RFIDLastNumber.ToString("D4");
+                                // 숫자로 끝나는 RFID 값인 경우 자동 증가
+                                if (Regex.IsMatch(RFIDStartNo, @"^[A-Za-z]+\d+$"))
+                                {
+                                    // 마지막 숫자 부분 추출
+                                    Match match = Regex.Match(RFIDStartNo, @"\d+$");
+                                    if (match.Success)
+                                    {
+                                        int currentNumber = int.Parse(match.Value);
+                                        if (currentNumber > this.RFIDLastNumber)
+                                        {
+                                            RFIDLastNumber = currentNumber;
+                                        }
+                                        RFIDLastNumber++;
+
+                                        // 숫자 부분을 새로운 번호로 교체
+                                        RFIDStartNo = RFIDStartNo.Substring(0, match.Index) + RFIDLastNumber.ToString("D4");
+                                    }
                                 }
                             }
+
                         }
                         break;
                     case eMouseMode.addtext:
@@ -815,7 +866,7 @@ namespace AGVControl
             nearbyPoints.Sort((a, b) => a.ProjectionRatio.CompareTo(b.ProjectionRatio));
 
             // 이전 RFID 값과 위치를 저장
-            string prevRFID = line.StartRFID;
+            uint prevRFID = line.StartRFID;
             Point prevPoint = line.StartPoint;
 
             // 정렬된 포인트들을 순차적으로 연결
@@ -1155,7 +1206,7 @@ namespace AGVControl
             foreach (var rfid in rfidPoints)
             {
                 var MarkerSize = 5;
-                g.FillEllipse(Brushes.Green, rfid.Location.X - (MarkerSize/2f), rfid.Location.Y -(MarkerSize/2f), MarkerSize, MarkerSize);
+                g.FillEllipse(Brushes.Green, rfid.Location.X - (MarkerSize / 2f), rfid.Location.Y - (MarkerSize / 2f), MarkerSize, MarkerSize);
                 //g.DrawString(rfid.RFIDValue, Font, Brushes.WhiteSmoke, rfid.Location.X + 5, rfid.Location.Y - 5);
             }
 
@@ -1163,15 +1214,13 @@ namespace AGVControl
             foreach (var rfid in rfidPoints)
             {
                 //g.FillEllipse(Brushes.Green, rfid.Location.X - 3, rfid.Location.Y - 3, 6, 6);
-                var fsize = g.MeasureString(rfid.RFIDValue, Font);
-                g.DrawString(rfid.RFIDValue, Font, Brushes.WhiteSmoke,
+                var tagstr = $"{rfid.RFIDValue}";
+                var fsize = g.MeasureString(tagstr, Font);
+                g.DrawString(tagstr, Font, Brushes.WhiteSmoke,
                     (rfid.Location.X - fsize.Width / 2f),
                    (rfid.Location.Y + 2));
             }
 
-            //var rfidpts = rfidPoints.Select(t => t.Location).ToArray();
-            //g.DrawLines(new Pen(Color.FromArgb(100, Color.Magenta), 10), rfidpts);
-
         }
 
         private void DrawAGV(Graphics g)
@@ -1252,7 +1301,7 @@ namespace AGVControl
             {
                 using (Pen linePen = new Pen(Color.FromArgb(50, Color.Wheat), 2))
                 {
-                    if (!line.IsBidirectional)
+                    if (line.IsBidirectional)
                     {
                         // 단방향 화살표 그리기
                         var arrowSize = 10;
@@ -1345,7 +1394,7 @@ namespace AGVControl
             this.Invalidate();
         }
 
-        public void AddRFIDLine(Point startPoint, Point endPoint, string startRFID, string endRFID, bool isBidirectional = true)
+        public void AddRFIDLine(Point startPoint, Point endPoint, uint startRFID, uint endRFID, bool isBidirectional = false)
         {
             // 시작점과 끝점 사이의 모든 RFID 포인트 찾기
             var allPoints = new List<(RFIDPoint Point, float Distance)>();
@@ -1447,7 +1496,7 @@ namespace AGVControl
             this.Invalidate();
         }
 
-        public void AddRFIDPoint(Point mapLocation, string rfidValue)
+        public void AddRFIDPoint(Point mapLocation, uint rfidValue)
         {
             // 이미 맵 좌표로 변환된 위치를 사용
             var rfidPoint = new RFIDPoint
@@ -1490,19 +1539,12 @@ namespace AGVControl
                 lines.Add($"{point.Location.X},{point.Location.Y},{point.RFIDValue}");
             }
 
-            // 자석선 저장
-            lines.Add("[MAGNET_LINES]");
-            foreach (var line in magnetLines)
+            // RFID 라인 저장
+            lines.Add("[RFID_LINES]");
+            foreach (var line in rfidLines)
             {
-                var branchInfo = "";
-                foreach (var branch in line.BranchPoints)
-                {
-                    if (line.BranchDirections.ContainsKey(branch))
-                    {
-                        branchInfo += $"|{branch.X},{branch.Y},{(int)line.BranchDirections[branch]}";
-                    }
-                }
-                lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y}{branchInfo}");
+                lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y}," +
+                    $"{line.StartRFID},{line.EndRFID},{line.IsBidirectional},{line.Distance}");
             }
 
             // 텍스트 저장
@@ -1519,24 +1561,19 @@ namespace AGVControl
                 lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y},{line.LineColor.ToArgb()},{line.LineWidth}");
             }
 
-            // RFID 라인 저장
-            lines.Add("[RFID_LINES]");
-            foreach (var line in rfidLines)
-            {
-                lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y}," +
-                    $"{line.StartRFID},{line.EndRFID},{line.IsBidirectional},{line.Distance}");
-            }
 
             File.WriteAllLines(filename, lines);
         }
 
-        public void LoadFromFile(string filename)
+        public string LoadFromFile(string filename)
         {
             ClearMap();
 
             var lines = File.ReadAllLines(filename);
             var section = "";
 
+            var sb = new System.Text.StringBuilder();
+
             foreach (var line in lines)
             {
                 if (line.StartsWith("[") && line.EndsWith("]"))
@@ -1551,9 +1588,28 @@ namespace AGVControl
                         var rfidParts = line.Split(',');
                         if (rfidParts.Length >= 3)
                         {
-                            AddRFIDPoint(
-                                new Point(int.Parse(rfidParts[0]), int.Parse(rfidParts[1])),
-                                rfidParts[2]
+                            var validX = int.TryParse(rfidParts[0], out int valX);
+                            var validY = int.TryParse(rfidParts[1], out int valY);
+                            var validN = uint.TryParse(rfidParts[2], out uint valRfid);
+
+                            if (validX && validY && validN)
+                            {
+                                AddRFIDPoint(new Point(valX, valY), valRfid);
+                            }
+                            else sb.AppendLine($"[{section}] {line}");
+                        }
+                        break;
+
+                    case "[RFID_LINES]":
+                        var rfidLineParts = line.Split(',');
+                        if (rfidLineParts.Length >= 8)
+                        {
+                            AddRFIDLine(
+                                new Point(int.Parse(rfidLineParts[0]), int.Parse(rfidLineParts[1])),
+                                new Point(int.Parse(rfidLineParts[2]), int.Parse(rfidLineParts[3])),
+                               uint.Parse(rfidLineParts[4]),
+                               uint.Parse(rfidLineParts[5]),
+                                (rfidLineParts[6].ToLower() == "true")
                             );
                         }
                         break;
@@ -1618,23 +1674,13 @@ namespace AGVControl
                         }
                         break;
 
-                    case "[RFID_LINES]":
-                        var rfidLineParts = line.Split(',');
-                        if (rfidLineParts.Length >= 8)
-                        {
-                            AddRFIDLine(
-                                new Point(int.Parse(rfidLineParts[0]), int.Parse(rfidLineParts[1])),
-                                new Point(int.Parse(rfidLineParts[2]), int.Parse(rfidLineParts[3])),
-                                rfidLineParts[4],
-                                rfidLineParts[5],
-                                bool.Parse(rfidLineParts[6])
-                            );
-                        }
-                        break;
+                 
                 }
             }
 
             this.Invalidate();
+
+            return sb.ToString();
         }
 
         private void DeleteNearbyRFIDLine(Point clickPoint)

Cs_HMI/SubProject/AGVControl/Models/AGV.cs

@@ -7,7 +7,7 @@ namespace AGVControl.Models
     public class AGV
     {
         public Point CurrentPosition { get; set; }
-        public string CurrentRFID { get; set; }
+        public uint CurrentRFID { get; set; }
         public Direction CurrentDirection { get; set; }
         public bool IsMoving { get; set; }
         public List<Point> CurrentPath { get; set; }

Cs_HMI/SubProject/AGVControl/Models/RFIDLine.cs

@@ -8,13 +8,13 @@ namespace AGVControl.Models
     {
         public Point StartPoint { get; set; }
         public Point EndPoint { get; set; }
-        public string StartRFID { get; set; }
-        public string EndRFID { get; set; }
+        public uint StartRFID { get; set; }
+        public uint EndRFID { get; set; }
         public bool IsBidirectional { get; set; } = true; // 양방향 이동 가능 여부
         public float Distance { get; set; } // 두 RFID 포인트 사이의 거리
 
-        public List<string> ConnectedRFIDs { get; set; } = new List<string>(); // 연결된 모든 RFID 값들
-        public Dictionary<string, string> NextRFID { get; set; } = new Dictionary<string, string>(); // 각 RFID의 다음 RFID
-        public Dictionary<string, string> PrevRFID { get; set; } = new Dictionary<string, string>(); // 각 RFID의 이전 RFID
+        public List<uint> ConnectedRFIDs { get; set; } = new List<uint>(); // 연결된 모든 RFID 값들
+        public Dictionary<uint, uint> NextRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 다음 RFID
+        public Dictionary<uint, uint> PrevRFID { get; set; } = new Dictionary<uint, uint>(); // 각 RFID의 이전 RFID
     }
 } 

Cs_HMI/SubProject/AGVControl/Models/RFIDPoint.cs

@@ -6,7 +6,7 @@ namespace AGVControl.Models
     public class RFIDPoint
     {
         public Point Location { get; set; }
-        public string RFIDValue { get; set; }
+        public uint RFIDValue { get; set; }
         public string NextRFID { get; set; }  // 다음 RFID 포인트의 값
         public bool IsBidirectional { get; set; }  // 양방향 연결 여부
     }

Emulator/AGVEmulator.sln

@@ -3,7 +3,9 @@ Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio Version 17
 VisualStudioVersion = 17.6.33801.468
 MinimumVisualStudioVersion = 10.0.40219.1
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVEmulator", "AGVEmulator\AGVEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "EnigEmulator", "AGVEmulator\EnigEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "ENIGProtocol", "..\Cs_HMI\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{FDB05AF0-DBF8-4CD2-BC02-BE251D8C5575}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -15,6 +17,10 @@ Global
 		{9312AB43-72F6-4365-A266-E767215FA7F5}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.Build.0 = Release|Any CPU
+		{FDB05AF0-DBF8-4CD2-BC02-BE251D8C5575}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{FDB05AF0-DBF8-4CD2-BC02-BE251D8C5575}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{FDB05AF0-DBF8-4CD2-BC02-BE251D8C5575}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{FDB05AF0-DBF8-4CD2-BC02-BE251D8C5575}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Emulator/AGVEmulator/DevCAL.cs

@@ -1,64 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-
-namespace AGVEmulator
-{
-    class DevCAL : AR.Dev.RS232
-    {
-        public override bool ProcessRecvData(byte[] data)
-        {
-            var sample = "02 30 31 32 01 03";
-            var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
-            var sendstr = System.Text.Encoding.Default.GetString(barr);
-            //RaiseMessage(MessageType.Normal, "Tx:" + barr.HexString());
-            //WriteData(barr);
-            return true;
-        }
-
-        protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
-        {
-           
-            List<byte> remain = new List<byte>();
-            bool retval = false;
-            foreach (var b in buf)
-            {
-                if (retval)
-                {
-                    remain.Add(b);
-                    continue;
-                }
-
-                if (b == 0x02) //stx
-                {
-                    tempBuffer.Clear();
-                    tempBuffer.Add(b);
-                }
-                else if (b == 0x03) //etx
-                {
-                    tempBuffer.Add(b);
-                    retval = true;
-                }
-                else
-                {
-                    if (tempBuffer.Count > 0 && tempBuffer[0] == 0xDD)
-                    {
-                        tempBuffer.Add(b);
-                        if (tempBuffer.Count > 10)
-                        {
-                            RaiseMessage(MessageType.Error, "buffer over");
-                            tempBuffer.Clear();
-                            retval = false;
-                        }
-                    }
-                    else
-                    {
-                        //trash
-                    }
-                }
-            }
-            remainBuffer = remain.ToArray();
-            return retval;
-        }
-    }
-}

Emulator/AGVEmulator/DevPLC.cs

@@ -1,298 +0,0 @@
-using System;
-using static AGVEmulator.DevBMS;
-using System.Collections.Generic;
-using System.Linq;
-using System.Diagnostics.Contracts;
-using arCtl;
-using System.Xml.Schema;
-using System.Drawing;
-
-namespace AGVEmulator
-{
-    class DevPLC : AR.Dev.RS232
-    {
-        byte runtime = 0;
-
-
-        public enum eCommand : byte
-        {
-            LOAD = 0,                   //EEPROM 불러오기
-            SAVE,                       //EEPROM 저장
-            RESET,                      //초기화
-            PINGCHK,
-            SET_PINMODE,                //PINMODE 설정
-            SET_DOUTPUT,                //디지털출력설정(포트번호,값[1,0])
-            SET_AOUTPUT,                //아날로그출력설정(포트GET_SETTING = 50,	//셋팅값 요청
-            SET_FLAG,
-            SET_EEPROM,
-            SET_MANUALSPEED,
-            GET_SETTING = 50,
-            GUIDE_MOT = 90,                 //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
-            SET_EEP_DIREV,
-        };
-
-        public enum DOName
-        {
-            PINO_GUIDEMOTOR_LDIR,
-            PINO_GUIDEMOTOR_LRUN,
-            PINO_GUIDEMOTOR_RDIR,
-            PINO_GUIDEMOTOR_RRUN,
-            PINO_EMPTY_26,
-            PINO_EMPTY_27,
-            PINO_EMPTY_28,
-            PINO_EMPTY_29,
-        }
-
-        public enum DIName
-        {
-            PINI_EMG,
-            PINI_BTN_1,
-            PINI_BTN_2,
-            PINI_BTN_3,
-            PINI_BTN_4,
-            PINI_OVERLOADL,
-            PINI_OVERLOADR,
-            PINI_EMPTY_36,
-            PINI_EMPTY_37,
-            PINI_EMPTY_38,
-            PINI_BTN_ZUP,
-            PINI_BTN_ZDN,
-            PINI_LIMIT_LU,
-            PINI_LIMIT_LD,
-            PINI_LIMIT_RU,
-            PINI_LIMIT_RD,
-            PINI_STOP,
-        }
-
-        public class ValueChangedArgs : EventArgs
-        {
-            public int Idx { get; set; }
-            public bool Value { get; set; }
-            public bool IsOut { get; set; }
-            public ValueChangedArgs(int idx, bool val, bool isOut)
-            {
-                this.Idx = idx;
-                this.Value = val;
-                this.IsOut = isOut;
-            }
-        }
-
-        public class RequestBatteryDataArgs : EventArgs
-        {
-            public UInt32 IOValue { get; set; }
-            public UInt32 FGValue { get; set; }
-            public RequestBatteryDataArgs()
-            {
-                this.IOValue = 0x00;
-                this.FGValue = 0xFF;
-            }
-        }
-        public event EventHandler<RequestBatteryDataArgs> RequestData;
-        public event EventHandler<ValueChangedArgs> ValueChanged;
-
-        public override bool ProcessRecvData(byte[] data)
-        {
-            //dd로 시작하고 34개의 데이터
-            //   var sample = "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 barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
-            var datalne = data[2];
-            byte[] buffer = new byte[datalen];
-            Array.Copy(data, 3, buffer, 0, buffer.Length);
-
-            var cmd = (eCommand)buffer[0];
-            if (cmd == eCommand.GUIDE_MOT)
-            {
-                var p1 = (char)buffer[1];
-                var p2 = (char)buffer[2];
-
-                switch (p1)
-                {
-                    case 'A':   //all
-                        if (p2 == 'P')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, true, true));
-                        }
-                        else if (p2 == 'N')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, false, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, false, true));
-                        }
-                        else if(p2 == 'S')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, false, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, false, true));
-                        }
-                        break;
-                    case 'L':
-                        if (p2 == 'P')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, true, true));
-                        }
-                        else if (p2 == 'N')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LDIR, false, true));
-                        }
-                        else if (p2 == 'S')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_LRUN, false, true));
-                        }
-                        break;
-                    case 'R':
-                        if (p2 == 'P')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, true, true));
-                        }
-                        else if (p2 == 'N')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, true, true));
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RDIR, false, true));
-                        }
-                        else if (p2 == 'S')
-                        {
-                            ValueChanged?.Invoke(this, new ValueChangedArgs((int)DOName.PINO_GUIDEMOTOR_RRUN, false, true));
-                        }
-                        break;
-                }
-            }
-
-
-            return true;
-        }
-
-        public override void AutoSendData()
-        {
-            //if (_device.DtrEnable == false) return;
-
-            List<byte> barr = new List<byte>();
-            barr.Add((byte)'@');
-            barr.Add((byte)'@');
-            barr.Add(10);
-            barr.Add((byte)'I');
-
-            //입/출력포트 각 16접 데이터 입력
-            UInt32 iovalue = 0;
-            //플래그 각 16접 데이터 입력
-            UInt32 fgvalue = 0;
-
-
-            if (RequestData != null)
-            {
-                var p = new RequestBatteryDataArgs();
-                RequestData.Invoke(this, p);
-                iovalue = p.IOValue;
-                fgvalue = p.FGValue;
-            }
-
-
-            var arr_volt = BitConverter.GetBytes(iovalue).ToArray();
-            foreach (var b in arr_volt)
-                barr.Add(b);
-
-
-            arr_volt = BitConverter.GetBytes(fgvalue).ToArray();
-            foreach (var b in arr_volt)
-                barr.Add(b);
-
-
-            if (runtime < 255) runtime += 1;
-            else runtime = 0;
-            barr.Add(runtime);
-
-            //체크섬무시
-            barr.Add((byte)'*');
-            //barr.Add((byte)'*');
-
-            barr.Add(0x0D);
-            barr.Add(0x0A);
-
-            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
-            WriteData(barr.ToArray());
-        }
-
-        bool findstx2 = false;
-        byte datalen = 0;
-        protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
-        {
-            //DD A5 03 00 FF FD 77 0D
-            //remainBuffer = new byte[] { };
-            List<byte> remain = new List<byte>();
-            bool retval = false;
-            foreach (var b in buf)
-            {
-                if (retval)
-                {
-                    remain.Add(b);
-                    continue;
-                }
-
-
-                if (findSTX == false)
-                {
-                    if (b == '@')
-                    {
-                        tempBuffer.Clear();
-                        tempBuffer.Add(b);
-                        findSTX = true;
-                        findstx2 = false;
-                        datalen = 0;
-                    }
-                }
-                else if (findstx2 == false)
-                {
-                    if (b == '@')
-                    {
-                        tempBuffer.Add(b);
-                        findstx2 = true;
-                        datalen = 0;
-                    }
-                    else
-                    {
-                        tempBuffer.Clear();
-                        findSTX = false;
-                        findstx2 = false;
-                    }
-                }
-                else if (datalen == 0)
-                {
-                    tempBuffer.Add(b);
-                    datalen = b;
-                }
-                else
-                {
-                    //데이터길이가 만족한 상태
-                    tempBuffer.Add(b);
-                    var maxlen = datalen + 3 + 3;
-
-                    if (tempBuffer.Count == maxlen)
-                    {
-                        if (tempBuffer[tempBuffer.Count - 1] == 0x0A && tempBuffer[tempBuffer.Count - 2] == 0x0D)
-                        {
-                            //무조건 맞는걸로 하자 체크섬은 체크하지 말자
-                            retval = true;
-                        }
-                    }
-                    else if (tempBuffer.Count > maxlen)
-                    {
-                        RaiseMessage(MessageType.Error, $"buffer over({maxlen})");
-                        findstx2 = false;
-                        findSTX = false;
-                        datalen = 0;
-                        tempBuffer.Clear();
-                    }
-                }
-
-
-            }
-            remainBuffer = remain.ToArray();
-            return retval;
-        }
-    }
-}

Emulator/AGVEmulator/DevXBE.cs

@@ -0,0 +1,87 @@
+using ENIG;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement;
+
+namespace AGVEmulator
+{
+    public class DevXBE : AR.Dev.RS232
+    {
+        private EEProtocol proto;
+        public event EventHandler<EEProtocol.DataEventArgs> ProtocReceived;
+
+        public DevXBE()
+        {
+            proto = new EEProtocol();
+            proto.OnDataReceived += Proto_OnDataReceived;
+            proto.OnMessage += Proto_OnMessage;
+        }
+        ~DevXBE()
+        {
+            proto.OnDataReceived -= Proto_OnDataReceived;
+            proto.OnMessage -= Proto_OnMessage;
+        }
+
+        public override bool ProcessRecvData(byte[] data)
+        {
+            return true;
+        }
+
+        protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
+        {
+            //여기서 최초데이터를 파싱한다
+            remainBuffer = null;
+            this.proto.ProcessReceivedData(buf);
+            return false;
+
+        }
+
+
+        private void Proto_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
+        {
+            var hexstrRaw = e.ReceivedPacket.RawData.HexString();
+            var hexstr = e.ReceivedPacket.Data.HexString();
+            var cmd = e.ReceivedPacket.Command.ToString("X2");
+            var id = e.ReceivedPacket.ID.ToString("X2");
+
+            var dataStr = System.Text.Encoding.Default.GetString(e.ReceivedPacket.Data);
+            RaiseMessage(MessageType.Recv, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
+            ProtocReceived?.Invoke(this, e);
+        }
+        private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
+        {
+            RaiseMessage(e.IsError, e.Message);
+        }
+
+        /// <summary>
+        /// 목적지 태그번호 전송
+        /// </summary>
+        public void SendGotoTag(uint tag)
+        {
+            Send(ENIGProtocol.AGVCommands.Goto, tag.ToString("0000"));
+        }
+        public void SendCurrentPos(uint tag)
+        {
+            Send(ENIGProtocol.AGVCommands.SetCurrent, tag.ToString("0000"));
+        }
+        private void Send(ENIGProtocol.AGVCommands Command, string datastr)
+        {
+            byte id = 0;
+            byte cmd = (byte)Command; //move to target
+            byte[] data = null;
+            if (datastr != null && string.IsNullOrEmpty(datastr) == false)
+                data = System.Text.Encoding.Default.GetBytes(datastr);
+            var packet = proto.CreatePacket(id, cmd, data);
+            if (WriteData(packet, false))
+            {
+                var hexstr = System.Text.Encoding.Default.GetString(data);
+                RaiseMessage(MessageType.Send, $"ID:{id},CMD:{cmd},DATA:{hexstr}");
+            }
+        }
+
+
+    }
+}

Emulator/AGVEmulator/EnigEmulator.csproj

@@ -7,7 +7,7 @@
     <ProjectGuid>{9312AB43-72F6-4365-A266-E767215FA7F5}</ProjectGuid>
     <OutputType>WinExe</OutputType>
     <RootNamespace>AGVEmulator</RootNamespace>
-    <AssemblyName>AGVEmulator</AssemblyName>
+    <AssemblyName>EnigEmulator</AssemblyName>
     <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <Deterministic>true</Deterministic>
@@ -61,8 +61,7 @@
   <ItemGroup>
     <Compile Include="DevAGV.cs" />
     <Compile Include="DevBMS.cs" />
-    <Compile Include="DevCAL.cs" />
-    <Compile Include="DevPLC.cs" />
+    <Compile Include="DevXBE.cs" />
     <Compile Include="Form1.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -72,6 +71,15 @@
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="RS232.cs" />
+    <Compile Include="RunCode\_AGV.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="RunCode\_XBEE.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="RunCode\_BMS.cs">
+      <SubType>Form</SubType>
+    </Compile>
     <Compile Include="UC\SerialConn.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -117,5 +125,11 @@
       <DesignTimeSharedInput>True</DesignTimeSharedInput>
     </Compile>
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\Cs_HMI\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
+      <Project>{fdb05af0-dbf8-4cd2-bc02-be251d8c5575}</Project>
+      <Name>ENIGProtocol</Name>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

Emulator/AGVEmulator/Form1.cs

@@ -16,11 +16,10 @@ namespace AGVEmulator
 {
     public partial class Form1 : Form
     {
-        arUtil.Log logPLC, logAGV, logBMS, logCAL;
+        arUtil.Log logAGV, logBMS, logCAL;
         DevBMS BMS;
         DevAGV AGV;
-        DevPLC PLC;
-        DevCAL CAL;
+        DevXBE XBE;
 
 
         float BMS_MaxA = 80f;
@@ -34,17 +33,18 @@ namespace AGVEmulator
         public Form1()
         {
             InitializeComponent();
-            logPLC = new arUtil.Log();
+            this.Text = $"{Application.ProductName} ver.{Application.ProductVersion}";
+            // logPLC = new arUtil.Log();
             logAGV = new arUtil.Log();
             logBMS = new arUtil.Log();
             logCAL = new arUtil.Log();
 
-            logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
+            // logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
             logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
             logBMS.FileNameFormat = "{yyyyMMdd}_BMS";
             logCAL.FileNameFormat = "{yyyyMMdd}_CAL";
 
-            logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
+            // logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
             logAGV.RaiseMsg += (s1, e1, d1) =>
             {
                 if (d1.StartsWith("Tx"))
@@ -65,7 +65,7 @@ namespace AGVEmulator
                  new arCtl.sLogMessageColor("TX", Color.Orange),
             };
 
-            rtPLC.ColorList = logcolor;
+            //rtPLC.ColorList = logcolor;
             rtAGV.ColorList = logcolor;
             rtBMS.ColorList = logcolor;
             rtCAL.ColorList = logcolor;
@@ -75,77 +75,40 @@ namespace AGVEmulator
 
             BMS = new DevBMS();
             AGV = new DevAGV();
-            PLC = new DevPLC();
-            CAL = new DevCAL();
+            XBE = new DevXBE();
             this.serAGV.dev = AGV;
-            this.serPLC.dev = PLC;
             this.serBMS.dev = BMS;
-            this.serCAL.dev = CAL;
+            this.serCAL.dev = XBE;
 
-            BMS.Message += Bms_Message;
-            AGV.Message += Bms_Message;
-            PLC.Message += Bms_Message;
-            CAL.Message += Bms_Message;
+            BMS.Message += BMS_Message;
+            AGV.Message += AGV_Message;
+            XBE.Message += CAL_Message;
 
             BMS.RequestBatteryData += Bms_RequestBatteryData;
             BMS.RequestVoltageData += BMS_RequestVoltageData;
-            PLC.RequestData += Plc_RequestData;
-            PLC.ValueChanged += Plc_ValueChanged;
+            XBE.ProtocReceived += CAL_ProtocReceived;
             AGV.RequestStatusData += Agv_RequestStatusData;
             AGV.ValueChanged += Agv_ValueChanged;
             AGV.StsValueChanged += Agv_StsValueChanged;
             AGV.Command += Agv_Command;
-
         }
 
-      
-
         Random rnd;
         private void Form1_Load(object sender, EventArgs e)
         {
             rnd = new Random(3000);
 
             serAGV.BaudRate = 57600;
-            serPLC.BaudRate = 57600;
+            // serPLC.BaudRate = 57600;
             trackBar1_Scroll(null, null);
             timer1.Start();
 
             //plc inout 이름 설정
             List<string> titles = new List<string>();
             List<bool> values = new List<bool>();
-            for (int i = 0; i < 16; i++)
-            {
-                var pin = (DevPLC.DIName)i;
-                titles.Add(pin.ToString());
-                values.Add(false);
-            }
-            for (int i = 0; i < 8; i++)
-            {
-                var pin = (DevPLC.DOName)i;
-                titles.Add(pin.ToString());
-                values.Add(false);
-            }
-            this.gvdPLCInOut.setTitle(titles.ToArray());
-            this.gvdPLCInOut.setValue(values.ToArray());
 
 
-            titles.Clear();
-            values.Clear();
-            for (int i = 0; i < 32; i++)
-            {
-                titles.Add(i.ToString());
-                values.Add(false);
-            }
-            this.gvdPLCFlag.setTitle(titles.ToArray());
-            this.gvdPLCFlag.setValue(values.ToArray());
-            this.gvdPLCInOut.ItemClick += GvdPLCInOut_ItemClick;
-            this.gvdPLCFlag.ItemClick += GvdPLCFlag_ItemClick;
-            this.gvdPLCFlag.ColorList = new arFrame.Control.ColorListItem[] {
-                new arFrame.Control.ColorListItem(){ BackColor1 = Color.DimGray, BackColor2 = Color.Gray },
-                 new arFrame.Control.ColorListItem(){ BackColor1 = Color.Green, BackColor2 = Color.Lime },
-                  new arFrame.Control.ColorListItem(){ BackColor1 = Color.Red, BackColor2 = Color.Tomato },
-            };
-            this.gvdPLCInOut.ColorList = this.gvdPLCFlag.ColorList;
+
 
             var arrs = Enum.GetNames(typeof(DevAGV.esystemflag0));
             foreach (var item in arrs)
@@ -256,15 +219,7 @@ namespace AGVEmulator
             agvViewer1.MarkTouched += AgvViewer1_MarkTouched;
             agvViewer1.Command += AgvViewer1_Command;
         }
-        private void Agv_Command(object sender, commandargs e)
-        {
-            switch (e.Command.ToLower())
-            {
-                case "stopmark":
-                    agvViewer1.StopbyMark = true;
-                    break;
-            }
-        }
+       
         void MakeViewer()
         {
             //태그목록
@@ -385,143 +340,8 @@ namespace AGVEmulator
             button18.PerformClick();
         }
 
-        private void Agv_StsValueChanged(object sender, DevAGV.StsValueChangedArgs e)
-        {
-            Console.WriteLine($"STS [{e.vtype}] VAL={e.Value}");
-            if (this.InvokeRequired)
-            {
-                this.BeginInvoke(new EventHandler<StsValueChangedArgs>(Agv_StsValueChanged), sender, e);
-                return;
-            }
-            switch (e.vtype)
-            {
-                case DevAGV.estsvaluetype.direction:
-                    foreach (RadioButton c in this.groupBox5.Controls)
-                    {
-                        if (c.Text[0].Equals(e.Value))
-                        {
-                            c.Checked = true;
+      
 
-                        }
-                        else
-                        {
-                            c.Checked = false;
-                        }
-                        c.Refresh();
-                    }
-                    groupBox5.Refresh();
-                    break;
-                case DevAGV.estsvaluetype.bunki:
-                    foreach (RadioButton c in this.groupBox2.Controls)
-                    {
-                        if (c.Text[0].Equals(e.Value))
-                        {
-                            c.Checked = true;
-                            c.Refresh();
-                            break;
-                        }
-                    }
-                    break;
-                case DevAGV.estsvaluetype.speed:
-                    foreach (RadioButton c in this.groupBox4.Controls)
-                    {
-                        if (c.Text[0].Equals(e.Value))
-                        {
-                            c.Checked = true;
-                            c.Refresh();
-                            break;
-                        }
-                    }
-                    break;
-                case DevAGV.estsvaluetype.sensor:
-                    foreach (RadioButton c in this.groupBox8.Controls)
-                    {
-                        if (c.Text.Equals(e.Value))
-                        {
-                            c.Checked = true;
-                            c.Refresh();
-                            break;
-                        }
-                    }
-                    break;
-            }
-        }
-
-        private void Agv_ValueChanged(object sender, DevAGV.ValueChangedArgs e)
-        {
-            if (this.InvokeRequired)
-            {
-                this.Invoke(new EventHandler<ValueChangedArgs>(Agv_ValueChanged), sender, e);
-                return;
-            }
-
-            //내부값이 바뀌었다면 컨트롤을 변경해준다.
-            switch (e.vtype)
-            {
-
-                case DevAGV.evaluetype.system0:
-                    foreach (CheckBox c in panel6.Controls)
-                    {
-                        var idx = int.Parse(c.Tag.ToString());
-                        if (idx == e.Idx)
-                        {
-                            c.Checked = e.Value;
-                            break;
-                        }
-                    }
-                    break;
-                case DevAGV.evaluetype.system1:
-
-                    var v = (DevAGV.esystemflag1)e.Idx;
-                    if (e.Value)
-                    {
-                        if (v == esystemflag1.agv_run)
-                        {
-                            agvViewer1.wat.Restart();
-                        }
-                        if (v == esystemflag1.agv_stop)
-                        {
-                            agvViewer1.wat.Stop();
-                        }
-                    }
-
-
-                    foreach (CheckBox c in panel7.Controls)
-                    {
-                        var idx = int.Parse(c.Tag.ToString());
-                        if (idx == e.Idx)
-                        {
-                            c.Checked = e.Value;
-                            break;
-                        }
-                    }
-                    break;
-                case DevAGV.evaluetype.error:
-                    foreach (CheckBox c in panel9.Controls)
-                    {
-                        var idx = int.Parse(c.Tag.ToString());
-                        if (idx == e.Idx)
-                        {
-                            c.Checked = e.Value;
-                            break;
-                        }
-                    }
-                    break;
-                case DevAGV.evaluetype.signal:
-                    foreach (CheckBox c in panel8.Controls)
-                    {
-                        var idx = int.Parse(c.Tag.ToString());
-                        if (idx == e.Idx)
-                        {
-                            c.Checked = e.Value;
-                            break;
-                        }
-                    }
-                    break;
-
-
-            }
-        }
 
         char GetGroupItemCheckbox(GroupBox grp)
         {
@@ -544,60 +364,7 @@ namespace AGVEmulator
         int PLC_LeftDir = 0;
         int PLC_RightDir = 0;
 
-        private void Plc_ValueChanged(object sender, DevPLC.ValueChangedArgs e)
-        {
-            if (e.IsOut)
-            {
-                this.gvdPLCInOut.setValue(e.Idx + 16, e.Value);
-                var doname = (DevPLC.DOName)e.Idx;
 
-                switch (doname)
-                {
-                    case DevPLC.DOName.PINO_GUIDEMOTOR_RRUN:
-                        break;
-                    case DevPLC.DOName.PINO_GUIDEMOTOR_LRUN:
-                        break;
-                }
-            }
-            else
-            {
-                this.gvdPLCInOut.setValue(e.Idx, e.Value);
-
-            }
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void Plc_RequestData(object sender, DevPLC.RequestBatteryDataArgs e)
-        {
-            var idx = 0;
-            UInt32 val = 0;
-            foreach (var data in gvdPLCInOut.Values)
-            {
-                SetBit(ref val, idx++, (data > 0));
-            }
-            e.IOValue = val;
-            idx = 0;
-            val = 0;
-            foreach (var data in gvdPLCFlag.Values)
-            {
-                SetBit(ref val, idx++, (data > 0));
-            }
-            e.FGValue = val;
-        }
-
-        public void SetBit(ref UInt32 _value, int idx, Boolean value)
-        {
-            if (value)
-            {
-                var offset = (UInt32)(1 << idx);
-                _value = _value | offset;
-            }
-            else
-            {
-                var offset = (UInt32)(~(1 << idx));
-                _value = _value & offset;
-            }
-        }
         public void SetBit(ref UInt16 _value, int idx, Boolean value)
         {
             if (value)
@@ -644,76 +411,8 @@ namespace AGVEmulator
 
 
 
-        private void Agv_RequestStatusData(object sender, DevAGV.RequestStatusDataArgs e)
-        {
-            //UInt16 system0 = 0xFFFF;
-            //UInt16 system1 = 0xFFFF;
-            //UInt16 error = 0xFFFF;
-            //byte signal = 0xFF;
-
-            aaplycheckboxbit(ref AGV.system0, panel6);
-            aaplycheckboxbit(ref AGV.system1, panel7);
-            aaplycheckboxbit(ref AGV.error, panel9);
-            aaplycheckboxbit(ref AGV.signal, panel8);
-
-            if (this.agvViewer1.StopbyMark) AGV.sts_speed = 'S';
-            else AGV.sts_speed = GetGroupItemCheckbox(groupBox4);
-            AGV.sts_bunki = GetGroupItemCheckbox(groupBox2);
-            AGV.sts_dir = GetGroupItemCheckbox(groupBox5);
-            AGV.sts_sensor = GetGroupItemCheckbox(groupBox8);
-
-            //this.Invoke(new Action(() =>
-            //{
-            //    e.system0 = system0;
-            //    e.system1 = system1;
-            //    e.error = error;
-            //    e.signal = signal;
-            //    e.speed = GetGroupItemCheckbox(groupBox4);
-            //    e.bunki = GetGroupItemCheckbox(groupBox2);
-            //    e.direction = GetGroupItemCheckbox(groupBox5);
-            //    e.sensor = GetGroupItemCheckbox(groupBox8);
-
-            //    e.volt = 23.4f;
-            //}));
-        }
-        private void BMS_RequestVoltageData(object sender, DevBMS.RequestVoltageDataArgs e)
-        {
-          
-            //cell전압값추가
-            for (int i = 0; i < cellvolt.Length; i++)
-            {
-                this.cellvolt[i] = (UInt16)rnd.Next(3300, 3350);
-            }
-            Array.Copy(this.cellvolt, 0, e.cellVolt, 0, 8);
-            this.btc1.Invoke(new Action(() => {
-                var idx = 0;
-                btc1.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc2.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc3.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc4.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc5.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc6.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc7.Text = (this.cellvolt[idx++] / 1000f).ToString();
-                btc8.Text = (this.cellvolt[idx++] / 1000f).ToString();
-            }));
-
-        }
-        private void Bms_RequestBatteryData(object sender, DevBMS.RequestBatteryDataArgs e)
-        {
-            if (checkBox1.Checked)
-                this.trackBar1.Invoke(new Action(() =>
-                {
-                    this.trackBar1.Value -= 1;
-                    trackBar1_Scroll(null, null);
-                }));
-
-            e.CurA = (int)BMS_CurA;
-            e.MaxA = (int)BMS_MaxA;
-            e.Remain = BMS_Remain;
-            e.Volt = BMS_Volt;
-            
-        }
-
+      
+       
         private void button5_Click(object sender, EventArgs e)
         {
             AGV.WriteData("ACK");
@@ -724,43 +423,7 @@ namespace AGVEmulator
             AGV.WriteData("NAK");
         }
 
-        private void button7_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
-            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
-            var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
-            var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;
 
-            this.gvdPLCInOut.setValue((int)pinDL + 16, true);
-            this.gvdPLCInOut.setValue((int)pinDR + 16, true);
-            this.gvdPLCInOut.setValue((int)pinL + 16, true);
-            this.gvdPLCInOut.setValue((int)pinR + 16, true);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button6_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
-            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
-            var cur = gvdPLCInOut.Values[(int)pinL + 16];
-            this.gvdPLCInOut.setValue((int)pinL + 16, false);
-            this.gvdPLCInOut.setValue((int)pinR + 16, false);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button8_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
-            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
-            var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
-            var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;
-
-            this.gvdPLCInOut.setValue((int)pinDL + 16, false);
-            this.gvdPLCInOut.setValue((int)pinDR + 16, false);
-            this.gvdPLCInOut.setValue((int)pinL + 16, true);
-            this.gvdPLCInOut.setValue((int)pinR + 16, true);
-            this.gvdPLCInOut.Invalidate();
-        }
 
         private void trackBar1_Scroll(object sender, EventArgs e)
         {
@@ -780,14 +443,14 @@ namespace AGVEmulator
         {
             timer1.Stop();
             sbAGV.ForeColor = AGV.IsOpen ? Color.ForestGreen : Color.Red;
-            sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
+            // sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
             sbBMS.ForeColor = BMS.IsOpen ? Color.ForestGreen : Color.Red;
-            sbCAL.ForeColor = CAL.IsOpen ? Color.ForestGreen : Color.Red;
+            sbCAL.ForeColor = XBE.IsOpen ? Color.ForestGreen : Color.Red;
 
-            if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData();  //자동전송해야함
+            //if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData();  //자동전송해야함
             if (checkBox3.Checked && AGV != null && AGV.IsOpen) AGV.AutoSendData();  //자동전송해야함
             if (BMS != null && BMS.IsOpen) BMS.AutoSendData();  //자동전송해야함
-            if (CAL != null && CAL.IsOpen) CAL.AutoSendData();  //자동전송해야함
+            if (XBE != null && XBE.IsOpen) XBE.AutoSendData();  //자동전송해야함
 
             if (chkSimulation.Checked && AGV.GetAGV(esystemflag1.agv_run))
             {
@@ -805,202 +468,23 @@ namespace AGVEmulator
                 agvViewer1.Invalidate();
             }
 
-            UpdatePLC();
-            label7.Text = $"I/O L({PLC_LeftPosition}),R({PLC_RightPosition})";
 
             timer1.Start();
         }
 
-        void UpdatePLC()
-        {
-            //plc값을 업데이트해준다.
-            var LRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN + 16) == 1;
-            var RRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN + 16) == 1;
-            var LDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LDIR + 16) == 1;
-            var RDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RDIR + 16) == 1;
-
-            if (LRun == false) this.PLC_LeftDir = 0;
-            else if (LDir == true) this.PLC_LeftDir = 1;
-            else this.PLC_LeftDir = -1;
-
-            if (RRun == false) this.PLC_RightDir = 0;
-            else if (RDir == true) this.PLC_RightDir = 1;
-            else this.PLC_RightDir = -1;
-
-            this.PLC_LeftPosition += this.PLC_LeftDir;
-            this.PLC_RightPosition += this.PLC_RightDir;
-
-            var maxvalue = 20;
-            if (PLC_LeftPosition >= maxvalue)
-            {
-                PLC_LeftPosition = maxvalue;
-                PLC_LeftDir = 0;//멈춤
-                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
-                gvdPLCInOut.setValue(idx + 16, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
-                gvdPLCInOut.setValue(idx, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
-                gvdPLCInOut.setValue(idx, true);
-            }
-            else if (PLC_LeftPosition <= 0)
-            {
-                PLC_LeftPosition = 0;
-                PLC_LeftDir = 0;
-                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
-                gvdPLCInOut.setValue(idx + 16, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
-                gvdPLCInOut.setValue(idx, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
-                gvdPLCInOut.setValue(idx, true);
-            }
-            else if (PLC_LeftPosition > 5 && PLC_LeftPosition < maxvalue - 5)
-            {
-                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LD) > 0)
-                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LD, false);
-                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LU) > 0)
-                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LU, false);
-            }
-
-            if (PLC_RightPosition >= maxvalue)
-            {
-                PLC_RightPosition = maxvalue;
-                PLC_RightDir = 0;//멈춤
-                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
-                gvdPLCInOut.setValue(idx + 16, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
-                gvdPLCInOut.setValue(idx, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
-                gvdPLCInOut.setValue(idx, true);
-            }
-            else if (PLC_RightPosition <= 0)
-            {
-                PLC_RightPosition = 0;
-                PLC_RightDir = 0;
-                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
-                gvdPLCInOut.setValue(idx + 16, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
-                gvdPLCInOut.setValue(idx, false);
-                idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
-                gvdPLCInOut.setValue(idx, true);
-            }
-            else if (PLC_RightPosition > 5 && PLC_RightPosition < maxvalue - 5)
-            {
-                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RD) > 0)
-                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RD, false);
-                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RU) > 0)
-                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RU, false);
-            }
-        }
 
 
-        private void Bms_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
-        {
-            var dev = sender as AR.Dev.RS232;
-            if (dev is DevBMS)
-            {
-                logBMS.Add(e.Message);
-            }
-            else if (dev is DevAGV)
-            {
-                logAGV.Add(e.Message);
-            }
-            else if (dev is DevPLC)
-            {
-                logPLC.Add(e.Message);
-            }
-            else if (dev is DevCAL)
-            {
-                if (e.MsgType == AR.Dev.RS232.MessageType.Send)
-                    logCAL.Add(">> " + e.Data.HexString());
-                else if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
-                    logCAL.Add("<< " + e.Data.HexString());
-                else logCAL.Add(e.Message);
-            }
-        }
+       
 
         private void Form1_FormClosed(object sender, FormClosedEventArgs e)
         {
             timer1.Stop();
-            logPLC.Flush();
             logAGV.Flush();
             logBMS.Flush();
             logCAL.Flush();
         }
 
-        private void btPLCemg_Click(object sender, EventArgs e)
-        {
-            var pin = DevPLC.DIName.PINI_EMG;
-            var cur = gvdPLCInOut.Values[(int)pin];
-            this.gvdPLCInOut.setValue((int)pin, cur == 0);
-            this.gvdPLCInOut.Invalidate();
-        }
 
-        private void button9_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DIName.PINI_LIMIT_LU;
-            var pinR = DevPLC.DIName.PINI_LIMIT_RU;
-            var cur = gvdPLCInOut.Values[(int)pinL];
-            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
-            this.gvdPLCInOut.setValue((int)pinR, cur == 0);
-
-            pinL = DevPLC.DIName.PINI_LIMIT_LD;
-            pinR = DevPLC.DIName.PINI_LIMIT_RD;
-            this.gvdPLCInOut.setValue((int)pinL, false);
-            this.gvdPLCInOut.setValue((int)pinR, false);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button10_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DIName.PINI_LIMIT_LD;
-            var pinR = DevPLC.DIName.PINI_LIMIT_RD;
-            var cur = gvdPLCInOut.Values[(int)pinL];
-            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
-            this.gvdPLCInOut.setValue((int)pinR, cur == 0);
-
-
-            pinL = DevPLC.DIName.PINI_LIMIT_LU;
-            pinR = DevPLC.DIName.PINI_LIMIT_RU;
-            this.gvdPLCInOut.setValue((int)pinL, false);
-            this.gvdPLCInOut.setValue((int)pinR, false);
-
-
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button13_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DIName.PINI_BTN_1;
-            var cur = gvdPLCInOut.Values[(int)pinL];
-            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button12_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DIName.PINI_BTN_2;
-            var cur = gvdPLCInOut.Values[(int)pinL];
-            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void button11_Click(object sender, EventArgs e)
-        {
-            var pinL = DevPLC.DIName.PINI_BTN_3;
-            var cur = gvdPLCInOut.Values[(int)pinL];
-            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
-            this.gvdPLCInOut.Invalidate();
-        }
-
-        private void panel4_Paint(object sender, PaintEventArgs e)
-        {
-
-        }
-
-        private void groupBox9_Enter(object sender, EventArgs e)
-        {
-
-        }
 
         private void button14_Click(object sender, EventArgs e)
         {
@@ -1069,29 +553,6 @@ namespace AGVEmulator
             AGV.SendTag(numericUpDown1.Value.ToString());
         }
 
-        private void button1_Click(object sender, EventArgs e)
-        {
-            var bt = sender as Button;
-            var kitno = nudBMSKitNo.Value.ToString()[0];
-            var value = bt.Tag.ToString()[0];
-            var barr = new List<byte>();
-            barr.Add(0x02);
-            barr.Add((byte)kitno);
-            barr.Add((byte)value);
-            barr.Add(0x03);
-            CAL.WriteData(barr.ToArray());
-        }
-
-        private void serAGV_Load(object sender, EventArgs e)
-        {
-
-        }
-
-        private void agvViewer1_Click(object sender, EventArgs e)
-        {
-
-        }
-
         private void agvViewer1_MouseDown(object sender, MouseEventArgs e)
         {
             if (e.Button == MouseButtons.Left)
@@ -1104,17 +565,21 @@ namespace AGVEmulator
             }
         }
 
-        private void radioButton20_Click(object sender, EventArgs e)
+        private void button6_Click(object sender, EventArgs e)
         {
-            var rad = sender as RadioButton;
-            var kitno = int.Parse(rad.Text);
-            nudBMSKitNo.Value = (decimal)kitno;
+            var tagno =(uint) nudTagNo.Value;
+            this.XBE.SendGotoTag(tagno);
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            var tagno = (uint)numericUpDown2.Value;
+            this.XBE.SendCurrentPos(tagno);
         }
 
         private void toolStripButton1_Click(object sender, EventArgs e)
         {
             serAGV.Connect();
-            serPLC.Connect();
             serBMS.Connect();
             serCAL.Connect();
         }
@@ -1122,33 +587,10 @@ namespace AGVEmulator
         private void toolStripButton2_Click(object sender, EventArgs e)
         {
             serAGV.Disconnect();
-            serPLC.Disconnect();
             serBMS.Disconnect();
             serCAL.Disconnect();
         }
 
-        private void serBMS_Load(object sender, EventArgs e)
-        {
 
-        }
-
-        void checkboxevent()
-        {
-
-        }
-
-        private void GvdPLCFlag_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
-        {
-            var newvalue = gvdPLCFlag.Values[e.idx];
-            this.gvdPLCFlag.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
-            this.gvdPLCFlag.Invalidate();
-        }
-
-        private void GvdPLCInOut_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
-        {
-            var newvalue = gvdPLCInOut.Values[e.idx];
-            this.gvdPLCInOut.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
-            this.gvdPLCInOut.Invalidate();
-        }
     }
 }

Emulator/AGVEmulator/Properties/AssemblyInfo.cs

@@ -20,7 +20,7 @@ using System.Runtime.InteropServices;
 [assembly: ComVisible(false)]
 
 // 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
-[assembly: Guid("9312ab43-72f6-4365-a266-e767215fa7f5")]
+[assembly: Guid("9312ab43-72f6-FF65-a266-e767215fa7f5")]
 
 // 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
 //

Emulator/AGVEmulator/RS232.cs

@@ -305,6 +305,10 @@ namespace AR.Dev
         /// </summary>
         public event EventHandler<MessageEventArgs> Message;
 
+        public void RaiseMessage(bool iserr, string message)
+        {
+            Message?.Invoke(this, new MessageEventArgs(message, iserr));
+        }
         #endregion
 
         #region "Event Args"
@@ -428,7 +432,7 @@ namespace AR.Dev
         /// <summary>
         /// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
         /// </summary>
-        public Boolean WriteData(byte[] data)
+        public Boolean WriteData(byte[] data, bool useLog=true)
         {
             Boolean bRet = false;
 
@@ -457,7 +461,7 @@ namespace AR.Dev
                 //_device.Write(data, 0, data.Length);
 
                 //171113
-                this.Message?.Invoke(this, new MessageEventArgs(data, false));
+              if(useLog)  this.Message?.Invoke(this, new MessageEventArgs(data, false));
 
                 bRet = true;
                 WriteError = 0;

Emulator/AGVEmulator/RunCode/_AGV.cs

@@ -0,0 +1,214 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using static AGVEmulator.DevAGV;
+
+
+namespace AGVEmulator
+{
+    public partial class Form1
+    {
+        private void Agv_Command(object sender, commandargs e)
+        {
+            switch (e.Command.ToLower())
+            {
+                case "stopmark":
+                    agvViewer1.StopbyMark = true;
+                    break;
+            }
+        }
+        private void Agv_StsValueChanged(object sender, DevAGV.StsValueChangedArgs e)
+        {
+            Console.WriteLine($"STS [{e.vtype}] VAL={e.Value}");
+            if (this.InvokeRequired)
+            {
+                this.BeginInvoke(new EventHandler<StsValueChangedArgs>(Agv_StsValueChanged), sender, e);
+                return;
+            }
+            switch (e.vtype)
+            {
+                case DevAGV.estsvaluetype.direction:
+                    foreach (RadioButton c in this.groupBox5.Controls)
+                    {
+                        if (c.Text[0].Equals(e.Value))
+                        {
+                            c.Checked = true;
+
+                        }
+                        else
+                        {
+                            c.Checked = false;
+                        }
+                        c.Refresh();
+                    }
+                    groupBox5.Refresh();
+                    break;
+                case DevAGV.estsvaluetype.bunki:
+                    foreach (RadioButton c in this.groupBox2.Controls)
+                    {
+                        if (c.Text[0].Equals(e.Value))
+                        {
+                            c.Checked = true;
+                            c.Refresh();
+                            break;
+                        }
+                    }
+                    break;
+                case DevAGV.estsvaluetype.speed:
+                    foreach (RadioButton c in this.groupBox4.Controls)
+                    {
+                        if (c.Text[0].Equals(e.Value))
+                        {
+                            c.Checked = true;
+                            c.Refresh();
+                            break;
+                        }
+                    }
+                    break;
+                case DevAGV.estsvaluetype.sensor:
+                    foreach (RadioButton c in this.groupBox8.Controls)
+                    {
+                        if (c.Text.Equals(e.Value))
+                        {
+                            c.Checked = true;
+                            c.Refresh();
+                            break;
+                        }
+                    }
+                    break;
+            }
+        }
+
+        private void Agv_ValueChanged(object sender, DevAGV.ValueChangedArgs e)
+        {
+            if (this.InvokeRequired)
+            {
+                this.Invoke(new EventHandler<ValueChangedArgs>(Agv_ValueChanged), sender, e);
+                return;
+            }
+
+            //내부값이 바뀌었다면 컨트롤을 변경해준다.
+            switch (e.vtype)
+            {
+
+                case DevAGV.evaluetype.system0:
+                    foreach (CheckBox c in panel6.Controls)
+                    {
+                        var idx = int.Parse(c.Tag.ToString());
+                        if (idx == e.Idx)
+                        {
+                            c.Checked = e.Value;
+                            break;
+                        }
+                    }
+                    break;
+                case DevAGV.evaluetype.system1:
+
+                    var v = (DevAGV.esystemflag1)e.Idx;
+                    if (e.Value)
+                    {
+                        if (v == esystemflag1.agv_run)
+                        {
+                            agvViewer1.wat.Restart();
+                        }
+                        if (v == esystemflag1.agv_stop)
+                        {
+                            agvViewer1.wat.Stop();
+                        }
+                    }
+
+
+                    foreach (CheckBox c in panel7.Controls)
+                    {
+                        var idx = int.Parse(c.Tag.ToString());
+                        if (idx == e.Idx)
+                        {
+                            c.Checked = e.Value;
+                            break;
+                        }
+                    }
+                    break;
+                case DevAGV.evaluetype.error:
+                    foreach (CheckBox c in panel9.Controls)
+                    {
+                        var idx = int.Parse(c.Tag.ToString());
+                        if (idx == e.Idx)
+                        {
+                            c.Checked = e.Value;
+                            break;
+                        }
+                    }
+                    break;
+                case DevAGV.evaluetype.signal:
+                    foreach (CheckBox c in panel8.Controls)
+                    {
+                        var idx = int.Parse(c.Tag.ToString());
+                        if (idx == e.Idx)
+                        {
+                            c.Checked = e.Value;
+                            break;
+                        }
+                    }
+                    break;
+
+
+            }
+        }
+
+        private void Agv_RequestStatusData(object sender, DevAGV.RequestStatusDataArgs e)
+        {
+            //UInt16 system0 = 0xFFFF;
+            //UInt16 system1 = 0xFFFF;
+            //UInt16 error = 0xFFFF;
+            //byte signal = 0xFF;
+
+            aaplycheckboxbit(ref AGV.system0, panel6);
+            aaplycheckboxbit(ref AGV.system1, panel7);
+            aaplycheckboxbit(ref AGV.error, panel9);
+            aaplycheckboxbit(ref AGV.signal, panel8);
+
+            if (this.agvViewer1.StopbyMark) AGV.sts_speed = 'S';
+            else AGV.sts_speed = GetGroupItemCheckbox(groupBox4);
+            AGV.sts_bunki = GetGroupItemCheckbox(groupBox2);
+            AGV.sts_dir = GetGroupItemCheckbox(groupBox5);
+            AGV.sts_sensor = GetGroupItemCheckbox(groupBox8);
+
+            //this.Invoke(new Action(() =>
+            //{
+            //    e.system0 = system0;
+            //    e.system1 = system1;
+            //    e.error = error;
+            //    e.signal = signal;
+            //    e.speed = GetGroupItemCheckbox(groupBox4);
+            //    e.bunki = GetGroupItemCheckbox(groupBox2);
+            //    e.direction = GetGroupItemCheckbox(groupBox5);
+            //    e.sensor = GetGroupItemCheckbox(groupBox8);
+
+            //    e.volt = 23.4f;
+            //}));
+        }
+        private void AGV_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
+        {
+            var dev = sender as AR.Dev.RS232;
+            if (dev is DevBMS)
+            {
+                logBMS.Add(e.Message);
+            }
+            else if (dev is DevAGV)
+            {
+                logAGV.Add(e.Message);
+            }
+            else if (dev is DevXBE)
+            {
+                if (e.MsgType == AR.Dev.RS232.MessageType.Send)
+                    logCAL.Add(">> " + e.Data.HexString());
+                else if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
+                    logCAL.Add("<< " + e.Data.HexString());
+                else logCAL.Add(e.Message);
+            }
+        }
+    }
+}

Emulator/AGVEmulator/RunCode/_BMS.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+
+namespace AGVEmulator
+{
+    public partial class Form1
+    {
+        private void BMS_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
+        {
+         
+                logBMS.Add(e.Message);
+         
+        }
+
+        private void BMS_RequestVoltageData(object sender, DevBMS.RequestVoltageDataArgs e)
+        {
+
+            //cell전압값추가
+            for (int i = 0; i < cellvolt.Length; i++)
+            {
+                this.cellvolt[i] = (UInt16)rnd.Next(3300, 3350);
+            }
+            Array.Copy(this.cellvolt, 0, e.cellVolt, 0, 8);
+            this.btc1.Invoke(new Action(() =>
+            {
+                var idx = 0;
+                btc1.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc2.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc3.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc4.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc5.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc6.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc7.Text = (this.cellvolt[idx++] / 1000f).ToString();
+                btc8.Text = (this.cellvolt[idx++] / 1000f).ToString();
+            }));
+
+        }
+        private void Bms_RequestBatteryData(object sender, DevBMS.RequestBatteryDataArgs e)
+        {
+            if (checkBox1.Checked)
+                this.trackBar1.Invoke(new Action(() =>
+                {
+                    this.trackBar1.Value -= 1;
+                    trackBar1_Scroll(null, null);
+                }));
+
+            e.CurA = (int)BMS_CurA;
+            e.MaxA = (int)BMS_MaxA;
+            e.Remain = BMS_Remain;
+            e.Volt = BMS_Volt;
+
+        }
+
+    }
+}

Emulator/AGVEmulator/RunCode/_XBEE.cs

@@ -0,0 +1,40 @@
+using ENIG;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+
+namespace AGVEmulator
+{
+    public partial class Form1
+    {
+
+        private void CAL_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
+        {
+
+            if (e.MsgType == AR.Dev.RS232.MessageType.Send)
+                logCAL.Add(">> " + System.Text.Encoding.Default.GetString(e.Data));
+            else if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
+                logCAL.Add("<< " + System.Text.Encoding.Default.GetString( e.Data));
+            else logCAL.Add(e.Message);
+
+        }
+        private void CAL_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
+        {
+            //throw new NotImplementedException();
+            var dev = (DeviceType)e.ReceivedPacket.ID;
+            if (dev == DeviceType.AGV1 || dev == DeviceType.AGV2)
+            {
+                //agv에서 들어오는 데이터
+                var cmd = e.ReceivedPacket.Command;
+                if(cmd == 3)
+                {
+                    //status
+                }
+            }
+        }
+    }
+}