..

Cs_HMI/SubProject/AGV/Command.cs

@@ -8,6 +8,7 @@ using System.Threading.Tasks;
 using System.Collections;
 using COMM;
 using System.Security.Cryptography.X509Certificates;
+using AR;
 
 namespace arDev
 {
@@ -41,7 +42,6 @@ namespace arDev
             else cmd += item.ToString()[0];
             cmd += speed.ToString("0000");
             return AddCommand(cmd);
-
         }
         public bool AGVMoveStop(string Reason, eStopOpt opt = eStopOpt.Stop)
         {
@@ -236,6 +236,11 @@ namespace arDev
                     retval = AddCommand(cmdString);
                     break;
 
+                case eAgvCmd.CPUReset:
+                    cmdString = "CRS0000";
+                    retval = AddCommand(cmdString);
+                    break;
+
             }
             return retval;
         }

Cs_HMI/SubProject/AGV/EnumData.cs

@@ -173,6 +173,8 @@ namespace arDev
             /// SRS
             /// </summary>
             SetSpeed,
+
+            CPUReset,
         }
         public enum eForm
         {

Cs_HMI/SubProject/AGV/NARUMI.csproj

@@ -59,6 +59,10 @@
       <Project>{14e8c9a5-013e-49ba-b435-efefc77dd623}</Project>
       <Name>CommData</Name>
     </ProjectReference>
+    <ProjectReference Include="..\CommUtil\arCommUtil.csproj">
+      <Project>{14e8c9a5-013e-49ba-b435-ffffff7dd623}</Project>
+      <Name>arCommUtil</Name>
+    </ProjectReference>
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -8,6 +8,7 @@ using System.Threading.Tasks;
 using System.Collections;
 using COMM;
 using System.Security.Cryptography.X509Certificates;
+using AR;
 
 namespace arDev
 {
@@ -61,7 +62,7 @@ namespace arDev
             Errlog = new Queue();
             MinRecvLength = 4;
 
-            COMM.VAR.Init(128);
+            VAR.Init(128);
         }
 
 

Cs_HMI/SubProject/AGV/Structure/Signals.cs

@@ -26,6 +26,13 @@ namespace arDev
                 front_right_sensor,
                 front_center_sensor,
                 charger_align_sensor,
+
+                lift_up,
+                lift_down,
+                magnet_on,
+
+                cart_detect1,
+                cart_detect2,
             }
 
             public bool GetValue(eflag idx)
@@ -46,6 +53,11 @@ namespace arDev
             public Boolean front_right_sensor { get { return GetValue(eflag.front_right_sensor); } }
             public Boolean front_center_sensor { get { return GetValue(eflag.front_center_sensor); } }
             public Boolean charger_align_sensor { get { return GetValue(eflag.charger_align_sensor); } }
+            public Boolean lift_up { get { return GetValue(eflag.lift_up); } }
+            public Boolean lift_down { get { return GetValue(eflag.lift_down); } }
+            public Boolean magnet_on { get { return GetValue(eflag.magnet_on); } }
+            public Boolean cart_detect1 { get { return GetValue(eflag.cart_detect1); } }
+            public Boolean cart_detect2 { get { return GetValue(eflag.cart_detect2); } }
             public override string ToString()
             {
                 //모든사태값을 탭으로 구분하여 문자를 생성한다